Blocking control mechanism and cleaning robot

Abstract

The present application provides a plugging control mechanism and a cleaning robot. The plugging control mechanism is used for plugging an opening and includes: a plugging structure for plugging the opening; a lever structure having a middle end, a first end located on one side of the middle end, and a second end located on the other side of the middle end opposite to the one side; the middle end is used for rotatably connecting to the plugging structure to drive the plugging structure to move; an elastic structure connected to the lever structure for controlling the lever structure to move along the plugging direction of the plugging structure; a first triggering structure connected to the first end for controlling the first end to move in the direction opposite to the plugging direction under the action of an external force; a second triggering structure connected to the second end for controlling the second end to move in the direction opposite to the plugging direction under the action of an external force. The plugging control mechanism and the cleaning robot can solve the technical problems in the prior art that the cleaning robot may not be able to plug the opening in an inclined state and the forces on the two driving wheels are different.

Description

Technical Field

[0001] This application belongs to the technical field of robots, and more specifically, relates to a plugging control mechanism and a cleaning robot. Background Art

[0002] A cleaning robot generally has two driving wheels and a guiding wheel. When the cleaning robot performs a cleaning operation, the two driving wheels and the guiding wheel are all in contact with the working surface to be cleaned. During the operation, the cleaning robot may tip over or be lifted. In this case, the two driving wheels and the guiding wheel are all separated from the working surface. If the openings of the sewage tank, dust box and other boxes of the cleaning robot are kept open at this time, it may cause the leakage of the dirt in the sewage tank, dust box and other boxes.

[0003] In related technologies, usually one of the two driving wheels is used to control the plugging structure of the opening. When the driving wheel is separated from the working surface, the plugging structure is controlled to plug the opening to prevent the leakage of the dirt in the sewage tank, dust box and other boxes. However, since the cleaning robot may tilt during operation, in this case, only one driving wheel is in contact with the working surface, while the other driving wheel is separated from the working surface. When the driving wheel that controls the plugging structure to plug the opening is the driving wheel in contact with the working surface, the plugging structure cannot plug the opening at this time, which may cause the leakage of the dirt in the sewage tank, dust box and other boxes; and because the structures of the two driving wheels are different, the forces on the two driving wheels are different, which has an adverse effect on the obstacle-crossing ability of the cleaning robot. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a plugging control mechanism and a cleaning robot to solve the technical problems in the prior art that the cleaning robot may not be able to plug the opening and the forces on the two driving wheels are different when the cleaning robot is in an inclined state.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] Provide a plugging control mechanism for plugging an opening, including: a plugging structure for plugging the opening; a lever structure having an intermediate end, a first end on one side of the intermediate end, and a second end on the other side of the intermediate end opposite to the one side; the intermediate end is used for rotatably connecting to the plugging structure to drive the plugging structure to move; an elastic structure connected to the lever structure for controlling the lever structure to move along the plugging direction of the plugging structure; a first trigger structure connected to the first end for controlling the first end to move in the opposite direction of the plugging direction under the action of an external force; a second trigger structure connected to the second end for controlling the second end to move in the opposite direction of the plugging direction under the action of an external force.

[0007] In one embodiment, the elastic structure includes: a first elastic member connected to the first end for controlling the movement of the first end along the blocking direction; a second elastic member connected to the second end for controlling the movement of the second end along the blocking direction.

[0008] In one embodiment, the opening includes: a first opening and a second opening spaced apart from the first opening; the blocking structure includes: a connecting member, a first blocking member connected to one end of the connecting member, and a second blocking member connected to the other end of the connecting member opposite to the one end; wherein, the connecting member is rotatably connected to the middle end, the first blocking member is used for blocking the first opening, and the second blocking member is used for blocking the second opening.

[0009] In one embodiment, the first triggering structure includes: a first traveling wheel rotatably connected to the first end.

[0010] In one embodiment, the second triggering structure includes: a second traveling wheel rotatably connected to the second end.

[0011] In one embodiment, a plurality of the first triggering structures are provided, and the plurality of first triggering structures are spaced apart from each other in a direction perpendicular to the line connecting the first end and the second end.

[0012] In one embodiment, a plurality of the second triggering structures are provided, and the plurality of second triggering structures are spaced apart from each other in a direction perpendicular to the line connecting the first end and the second end.

[0013] There is also provided a cleaning robot, including: a main body having an opening; the above-mentioned blocking control mechanism, the blocking structure being used for blocking the opening; one end of the elastic structure is connected to the lever structure, and the other end of the elastic structure opposite to the one end is connected to the main body.

[0014] In one embodiment, it further includes: a blower, the main body having a receiving cavity, the opening communicating with the receiving cavity, and the blower being used for providing negative pressure to the receiving cavity.

[0015] In one embodiment, it further includes: a control mechanism connected to the blocking structure and the blower, and being used for controlling the blower to stop working in a state where the blocking structure blocks the opening.

[0016] The beneficial effects of the plugging control mechanism and the cleaning robot provided by this application are as follows: The plugging control mechanism provided by this application includes: a plugging structure for plugging an opening, a lever structure, an elastic structure, a first triggering structure, and a second triggering structure; the middle end of the lever structure is rotatably connected to the plugging structure and is used to drive the plugging structure to move; the elastic structure is connected to the lever structure and is used to control the lever structure to move in the plugging direction of the plugging structure. Under the action of the elastic structure, the lever structure moves in the plugging direction, and during this process, it will drive the plugging structure to plug the opening; the first triggering structure is connected to the first end of the lever structure and is used to control the first end to move in the opposite direction of the plugging direction under the action of an external force; the second triggering structure is connected to the second end of the lever structure and is used to control the second end to move in the opposite direction of the plugging direction under the action of an external force; wherein, the first triggering structure can be one of the two driving wheels, and the second triggering structure can be the other of the two driving wheels. In the normal working state, both driving wheels are in contact with the working surface. Under the action of gravity, both the first triggering structure and the second triggering structure can overcome the elastic force of the elastic structure and move in the opposite direction of the plugging direction relative to the opening, which can make the lever structure drive the plugging structure to open the opening; in the state of tipping over or being lifted, both driving wheels are separated from the working surface, and the first triggering structure and the second triggering structure cannot move in the opposite direction of the plugging direction relative to the opening under the action of gravity. Under the action of the elastic structure, the lever structure drives the plugging structure to move in the plugging direction to plug the opening; in the state of tilting, one driving wheel is in contact with the working surface while the other driving wheel is separated from the working surface. Under the action of gravity, the first of the first triggering structure and the second triggering structure can overcome the elastic force of the elastic structure and move in the opposite direction of the plugging direction relative to the opening, but the other of the first triggering structure and the second triggering structure moves in the plugging direction under the action of the elastic structure. Since the middle end of the lever structure is rotatably connected to the plugging structure, in this case, only the lever structure will tilt and cannot drive the plugging structure to open the opening. Therefore, the opening is in a plugged state; and because the two driving wheels can have the same structure, the forces on the two driving wheels are the same, which will not have an adverse impact on the obstacle-crossing ability of the entire structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of the cleaning robot provided by the embodiment of this application;

[0019] Figure 2 Explosion diagram of the cleaning robot provided by the embodiment of the present application;

[0020] Figure 3 Structural schematic diagram of the plugging control mechanism provided by the embodiment of the present application.

[0021] Among them, each reference numeral in the figure:

[0022] 100 - Cleaning robot; 110 - Robot body; 120 - Opening; 121 - First opening; 122 - Second opening; 200 - Plugging control mechanism; 210 - Plugging structure; 211 - Connecting member; 212 - First plugging member; 213 - Second plugging member; 220 - Lever structure; 221 - Intermediate end; 222 - First end; 223 - Second end; 230 - Elastic structure; 231 - First elastic member; 232 - Second elastic member; 241 - First triggering structure; 242 - Second triggering structure. Detailed implementation manners

[0023] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0026] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0027] The cleaning robot provided by the embodiments of the present application will now be described.

[0028] As Figure 1 shown, the cleaning robot 100 provided by the embodiments of the present application can be a floor washing robot, a sweeping robot, etc. The cleaning robot 100 includes a robot body 110 and a plugging control mechanism 200.

[0029] As Figure 1 and Figure 3 shown, the robot body 110 can have boxes such as a sewage tank and a dust box. Among them, the sewage tank can be used to hold sewage to collect the sewage collected by the cleaning robot 100 during operation for centralized treatment; the dust box can be used to hold dust to collect the dust collected by the cleaning robot 100 during operation for centralized treatment. Each box can have an opening 120, and the opening 120 is used to connect the inside and outside of the box, so that dirt can be collected from the outside of the box to the inside of the box, and it is also convenient for the dirt to be cleaned from the inside of the box to the outside of the box.

[0030] As Figure 2 and Figure 3 shown, the plugging control mechanism 200 is used to control the plugging and opening of the opening 120. Specifically, when the robot body 110 is in a normal working state, the plugging control mechanism 200 is used to control the opening 120 to be in an open state, so that dirt can be collected from the outside of the box to the inside of the box; when the robot body 110 is in a state of being overturned or lifted, the plugging control mechanism 200 is used to control the opening 120 to be in a plugged state to prevent dirt from leaking from the inside of the box to the outside of the box.

[0031] As Figure 2 and Figure 3 shown, the plugging control mechanism 200 includes: a plugging structure 210, a lever structure 220, an elastic structure 230, a first trigger structure 241, and a second trigger structure 242.

[0032] As Figure 2 and Figure 3As shown, the plugging structure 210 is used to plug the opening 120. Specifically, the plugging structure 210 can be a plug-shaped structure that matches the shape of the opening 120. In this case, the plugging structure 210 can move from a position far away from the opening 120 towards a position close to the opening 120 along the opposite direction of the orientation of the opening 120 until the side wall of the plugging structure 210 closely adheres to the inner wall of the opening 120, thereby completing the plugging of the opening 120; the plugging structure 210 can move from a position close to the opening 120 towards a position far away from the opening 120 along the orientation of the opening 120 until the side wall of the plugging structure 210 separates from the inner wall of the opening 120, thereby completing the opening of the opening 120. The plugging structure 210 can also be a structure with a surface that can cover the opening 120. In this case, the plugging structure 210 can move from a position far away from the opening 120 towards a position close to the opening 120 along any direction until the surface on the plugging structure 210 closely adheres to the opening 120 and the surface on the plugging structure 210 completely covers the opening 120, thereby completing the plugging of the opening 120; the plugging structure 210 can move from a position close to the opening 120 towards a position far away from the opening 120 along any direction until the surface on the plugging structure 210 does not completely adhere to the opening 120 or does not completely cover the opening 120, thereby completing the opening of the opening 120.

[0033] As Figure 2 and Figure 3 As shown, the lever structure 220 has an intermediate end 221, a first end 222, and a second end 223. The intermediate end 221 is disposed at the middle position of the lever structure 220, and the intermediate end 221 is used for rotatably connecting to a fulcrum to realize the lever function of the lever structure 220. Specifically, the intermediate end 221 can be disposed at the geometric center of the lever structure 220, or can be disposed at other positions at a certain distance away from the geometric center of the lever structure 220, as long as the intermediate end 221 can be rotatably connected to the fulcrum. The first end 222 is disposed on one side of the intermediate end 221. Specifically, the first end 222 can be located at the end of the lever structure 220, or can be located at a position between the end of the lever structure 220 and the intermediate end 221. The second end 223 is disposed on the other side opposite to this side of the intermediate end 221, that is, the second end 223 is located on the other side opposite to the first end 222 with respect to the intermediate end 221. When the position of the first end 222 rises relative to the position of the intermediate end 221, the position of the second end 223 will drop accordingly relative to the position of the intermediate end 221; when the position of the second end 223 drops relative to the position of the intermediate end 221, the position of the first end 222 will rise accordingly relative to the position of the intermediate end 221.

[0034] As Figure 2 and Figure 3As shown, the middle end 221 can be rotatably connected to the plugging structure 210. In this case, the fulcrum is located on the plugging structure 210. When the position of the first end 222 rises relative to the robot body 110, the position of the second end 223 can rise synchronously relative to the robot body 110. At this time, the position of the middle end 221 relative to the robot body 110 will rise driven by the first end 222 and the second end 223, thereby driving the position of the plugging structure 210 relative to the robot body 110 to rise; the position of the second end 223 relative to the robot body 110 can also descend accordingly. At this time, the position of the middle end 221 relative to the robot body 110 can remain unchanged, so that the position of the plugging structure 210 relative to the robot body 110 remains unchanged. When the position of the first end 222 descends relative to the robot body 110, the position of the second end 223 can descend synchronously relative to the robot body 110. At this time, the position of the middle end 221 relative to the robot body 110 will descend driven by the first end 222 and the second end 223, thereby driving the position of the plugging structure 210 relative to the robot body 110 to descend; the position of the second end 223 relative to the robot body 110 can also rise accordingly. At this time, the position of the middle end 221 relative to the robot body 110 can remain unchanged, so that the position of the plugging structure 210 relative to the robot body 110 remains unchanged. In summary, when both the first end 222 and the second end 223 rise or fall relative to the robot body 110, the middle end 221 can drive the plugging structure 210 to move; when one of the first end 222 and the second end 223 rises relative to the robot body 110 while the other descends relative to the robot body 110, the middle end 221 cannot drive the plugging structure 210 to move.

[0035] As Figure 2 and Figure 3As shown, the elastic structure 230 is connected to the lever structure 220. The elastic structure 230 is used to provide an elastic force for the lever structure 220 to move in the plugging direction towards the plugging structure 210, so as to control the movement of the lever structure 220 in the plugging direction towards the plugging structure 210. Specifically, the plugging direction is the direction in which the plugging structure 210 can plug the opening 120. When the plugging structure 210 is a plug-shaped structure whose shape matches that of the opening 120, the plugging direction can be the direction from a position far from the opening 120 towards a position close to the opening 120 along the orientation of the opening 120; when the plugging structure 210 is a structure with a surface that can cover the opening 120, the plugging direction can be the direction from a position far from the opening 120 towards a position close to the opening 120 along the orientation of the opening 120, or it can be other directions; as long as the plugging structure 210 can plug the opening 120 when moving in this direction.

[0036] As Figure 2 and Figure 3 shown, one end of the elastic structure 230 can be connected to the robot body 110, and the other end of the elastic structure 230 opposite to this end can be connected to the lever structure 220. The elastic structure 230 can have a certain elastic potential energy in the initial state to maintain providing an elastic force to the lever structure 220 along the plugging direction of the plugging structure 210. Even when the plugging structure 210 has plugged the opening 120 in this state, that is, when the lever structure 220 can no longer move along the plugging direction in this state, the elastic structure 230 still exerts an elastic force on the lever structure 220 to move along the plugging direction, so as to control the plugging structure 210 to tightly plug the opening 120.

[0037] As Figure 2 and Figure 3 shown, the first trigger structure 241 is connected to the first end 222 and is used to control the first end 222 to move in the direction opposite to the plugging direction under the action of an external force. Specifically, the external force can be gravity or other forces. The second trigger structure 242 is connected to the second end 223 and is used to control the second end 223 to move in the direction opposite to the plugging direction under the action of an external force. Specifically, the external force can be gravity or other forces. When the first trigger structure 241 and the second trigger structure 242 are triggered simultaneously, both the first end 222 and the second end 223 move in the direction opposite to the plugging direction relative to the robot body 110. At this time, the middle end 221 of the lever structure 220 also moves in the direction opposite to the plugging direction relative to the robot body 110, thereby driving the plugging structure 210 to move in the direction opposite to the plugging direction, so as to open the opening 120.

[0038] The plugging control mechanism 200 provided by this application includes: a plugging structure 210 for plugging the opening 120, a lever structure 220, an elastic structure 230, a first trigger structure 241, and a second trigger structure 242; the middle end 221 of the lever structure 220 is rotatably connected to the plugging structure 210 and is used to drive the plugging structure 210 to move; the elastic structure 230 is connected to the lever structure 220 and is used to control the lever structure 220 to move in the plugging direction of the plugging structure 210. Under the action of the elastic structure 230, the lever structure 220 moves in the plugging direction, and during this process, it will drive the plugging structure 210 to plug the opening 120; the first trigger structure 241 is connected to the first end 222 of the lever structure 220 and is used to control the first end 222 to move in the opposite direction of the plugging direction under the action of an external force; the second trigger structure 242 is connected to the second end 223 of the lever structure 220 and is used to control the second end 223 to move in the opposite direction of the plugging direction under the action of an external force; wherein, the first trigger structure 241 can be one of the two driving wheels, and the second trigger structure 242 can be the other of the two driving wheels. In the normal working state, both driving wheels are in contact with the working surface. Under the action of gravity, both the first trigger structure 241 and the second trigger structure 242 can overcome the elastic force of the elastic structure 230 and move in the opposite direction of the plugging direction relative to the opening 120, which can cause the lever structure 220 to drive the plugging structure 210 to open the opening 120; in the state of tipping over or being lifted, both driving wheels are separated from the working surface, and the first trigger structure 241 and the second trigger structure 242 cannot move in the opposite direction of the plugging direction relative to the opening 120 under the action of gravity. Under the action of the elastic structure 230, the lever structure 220 drives the plugging structure 210 to move in the plugging direction to plug the opening 120; in the state of tilting, one driving wheel is in contact with the working surface while the other driving wheel is separated from the working surface. Under the action of gravity, the first of the first trigger structure 241 and the second trigger structure 242 can overcome the elastic force of the elastic structure 230 and move in the opposite direction of the plugging direction relative to the opening 120, but the other of the first trigger structure 241 and the second trigger structure 242 moves in the plugging direction under the action of the elastic structure 230. Since the middle end 221 of the lever structure 220 is rotatably connected to the plugging structure 210, in this case, it will only cause the lever structure 220 to tilt and cannot drive the plugging structure 210 to open the opening 120. Therefore, the opening 120 is in a plugged state; and since the two driving wheels can have the same structure, the forces on the two driving wheels are the same, which will not have an adverse impact on the obstacle-crossing ability of the entire structure.

[0039] As Figure 2 and Figure 3 shown, in some embodiments of this application, the elastic structure 230 may include: a first elastic member 231 and a second elastic member 232.

[0040] One end of the first elastic member 231 is connected to the first end 222, and the other end of the first elastic member 231 opposite to this end is connected to the robot body 110. The first elastic member 231 is used to provide an elastic force for the first end 222 to move in the plugging direction, so as to control the movement of the first end 222 in the plugging direction. Specifically, the first elastic member 231 can be a spring. In the initial state, the first elastic member 231 can be in a compressed state to store potential energy, so that the first end 222 always has a tendency to move in the plugging direction.

[0041] One end of the second elastic member 232 is connected to the second end 223, and the other end of the second elastic member 232 opposite to this end is connected to the robot body 110. The second elastic member 232 is used to provide an elastic force for the second end 223 to move in the plugging direction, so as to control the movement of the second end 223 in the plugging direction. Specifically, the second elastic member 232 can be a spring. In the initial state, the second elastic member 232 can be in a compressed state to store potential energy, so that the second end 223 always has a tendency to move in the plugging direction.

[0042] The first elastic member 231 is arranged at the first end 222, and the second elastic member 232 is arranged at the second end 223. The combined action of the first elastic member 231 and the second elastic member 232 can make the force on different positions of the lever structure 220 uniform, and can keep the positions of the first trigger structure 241 and the second trigger structure 242 stable.

[0043] Such as Figure 2 and Figure 3As shown, in some embodiments of the present application, the opening 120 may include a first opening 121 and a second opening 122. The first opening 121 and the second opening 122 may be spaced apart for facilitating separate control of the first opening 121 and the second opening 122. Specifically, the first opening 121 may be a suction port, and the second opening 122 may be a dust suction port. The blocking structure 210 may include: a connecting member 211, a first blocking member 212, and a second blocking member 213. The first blocking member 212 is disposed at one end of the connecting member 211. The first blocking member 212 may be fixedly connected to the connecting member 211, and the first blocking member 212 is used to block the first opening 121. The second blocking member 213 is disposed at the other end of the connecting member 211 opposite to this end. The second blocking member 213 may be fixedly connected to the connecting member 211, and the second blocking member 213 is used to block the second opening 122. The connecting member 211 may be configured as a rod shape to connect the first blocking member 212 and the second blocking member 213. The connecting member 211 may be rotatably connected to the middle end 221 of the lever structure 220 to move under the drive of the lever structure 220, thereby driving the first blocking member 212 and the second blocking member 213 to block the opening 120 along the blocking direction and driving the first blocking member 212 and the second blocking member 213 to open the opening 120 along the direction opposite to the blocking direction.

[0044] As Figure 2 and Figure 3 shown, in some embodiments of the present application, the first trigger structure 241 may include a first walking wheel. The first walking wheel may be rotatably connected to the first end 222. When the cleaning robot 100 is in a working state, the first walking wheel contacts the working surface to walk on the working surface. When the first walking path contacts the working surface, the position of the first walking wheel in the vertical direction is fixed. Under the action of gravity, the robot body 110 will overcome the elastic force of the elastic structure 230 and move towards the direction close to the first walking wheel (i.e., downward), which may be the direction opposite to the blocking direction. In this case, the first walking wheel drives the first end 222 to move in the direction opposite to the blocking direction. At this time, as long as the second trigger structure 242 drives the second end 223 to move in the direction opposite to the blocking direction, the blocking structure 210 can be driven to open the opening 120.

[0045] As Figure 2 and Figure 3As shown, in some embodiments of the present application, the second triggering structure 242 may include a second traveling wheel, and the second traveling wheel may be rotatably connected to the second end 223. When the cleaning robot 100 is in a working state, the second traveling wheel contacts the working surface to travel on the working surface. When the second traveling wheel contacts the working surface, the position of the second traveling wheel in the vertical direction is fixed. Under the action of gravity, the robot body 110 will overcome the elastic force of the elastic structure 230 and move in the direction close to the second traveling wheel (i.e., downward), which is the opposite direction of the blocking direction. In this case, the second traveling wheel drives the second end 223 to move in the opposite direction of the blocking direction. At this time, as long as the first traveling wheel also contacts the working surface, the blocking structure 210 can be driven to open the opening 120.

[0046] As Figure 2 and Figure 3 As shown, in some embodiments of the present application, multiple first triggering structures 241 may be provided, and the multiple first triggering structures 241 may be spaced apart from each other. Specifically, the arrangement of the multiple first triggering structures 241 may be spaced apart in a direction perpendicular to the connection line between the first end 222 and the second end 223, and some of the first triggering structures 241 may be provided on one side of the connection line between the first end 222 and the second end 223, while some are provided on the other side opposite to this side of the connection line between the first end 222 and the second end 223. Since the lever structure 220 and the support structure are rotatably connected, and the connection between the lever structure 220 and the support structure may be a point connection, the first triggering structures 241 located on both sides of the connection line between the first end 222 and the second end 223 need to move in the opposite direction of the blocking direction simultaneously to drive the first end 222 to move in the opposite direction of the blocking direction.

[0047] As Figure 2 and Figure 3 As shown, in some embodiments of the present application, multiple second triggering structures 242 may be provided, and the multiple second triggering structures 242 may be spaced apart from each other. Specifically, the arrangement of the multiple second triggering structures 242 may be spaced apart in a direction perpendicular to the connection line between the first end 222 and the second end 223, and some of the second triggering structures 242 may be provided on one side of the connection line between the first end 222 and the second end 223, while some are provided on the other side opposite to this side of the connection line between the first end 222 and the second end 223. Since the lever structure 220 and the support structure are rotatably connected, and the connection between the lever structure 220 and the support structure may be a point connection, the second triggering structures 242 located on both sides of the connection line between the first end 222 and the second end 223 need to move in the opposite direction of the blocking direction simultaneously to drive the second end 223 to move in the opposite direction of the blocking direction.

[0048] As Figure 2 andFigure 3 As shown, in some embodiments of the present application, the cleaning robot 100 may further include: a blower.

[0049] The main body has a receiving cavity, which may be located in boxes such as a sewage tank and a dust bin. The opening 120 communicates with the receiving cavity, and the blower is used to provide negative pressure for the receiving cavity. Specifically, the blower can extract the gas in the receiving cavity to the external environment, so that the inside of the receiving cavity is a negative pressure environment. When the receiving cavity is a dust bin, the dust bin with a negative pressure environment inside can adsorb dust into it to collect the dust.

[0050] Such as Figure 2 and Figure 3 As shown, in some embodiments of the present application, the cleaning robot 100 may further include: a control mechanism.

[0051] The control mechanism is connected to the blocking structure 210 and the blower. The control mechanism is used to control the blower to stop working when the blocking structure 210 blocks the opening 120. Specifically, the control mechanism can be electrically connected to the contact opening 120, and the contact opening 120 can be fixedly installed on the blocking structure 210. When the blocking structure 210 blocks the opening 120, the control mechanism receives the signal of the contact switch, and then controls the blower to stop working. Specifically, the control mechanism can be electrically connected to the blower to transmit an instruction to control the blower to stop working.

[0052] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A plugging control mechanism for plugging an opening, characterized in that, Comprising: A plugging structure for plugging an opening; A lever structure having a middle end, a first end located on one side of the middle end, and a second end located on the other side of the middle end opposite to the one side; the middle end is used for rotatably connecting to the plugging structure to drive the plugging structure to move; An elastic structure connected to the lever structure for controlling the lever structure to move along the plugging direction of the plugging structure; A first trigger structure connected to the first end for controlling the first end to move in a direction opposite to the plugging direction under the action of an external force; A second trigger structure connected to the second end for controlling the second end to move in a direction opposite to the plugging direction under the action of an external force; The elastic structure includes: a first elastic member connected to the first end for controlling the first end to move along the plugging direction; The first trigger structure includes: a first traveling wheel rotatably connected to the first end.

2. The plugging control mechanism according to claim 1, characterized in that The elastic structure further includes: A second elastic member connected to the second end for controlling the second end to move along the plugging direction.

3. The plugging control mechanism according to claim 1, wherein The opening includes: a first opening and a second opening spaced apart from the first opening; The plugging structure includes: a connecting member, a first plugging member connected to one end of the connecting member, and a second plugging member connected to the other end of the connecting member opposite to the one end; Wherein, the connecting member is rotatably connected to the middle end, the first plugging member is used for plugging the first opening, and the second plugging member is used for plugging the second opening.

4. The plugging control mechanism according to claim 1, wherein, The second trigger structure includes: a second traveling wheel rotatably connected to the second end.

5. The plugging control mechanism according to claim 1, wherein The first trigger structure is provided in a plurality, and the plurality of first trigger structures are spaced apart from each other in a direction perpendicular to the direction of the line connecting the first end and the second end.

6. The plugging control mechanism according to claim 1 or 5, characterized in that, The second trigger structure is provided in a plurality, and the plurality of second trigger structures are spaced apart from each other in a direction perpendicular to the direction of the line connecting the first end and the second end.

7. A cleaning robot, characterized in that, Comprising: A body having the opening; The plugging control mechanism according to any one of claims 1-6, wherein the plugging structure is used for plugging the opening; One end of the elastic structure is connected to the lever structure, and the other end of the elastic structure opposite to the one end is connected to the body.

8. The cleaning robot according to claim 7, characterized in that, Further comprising: A blower, the body having a receiving cavity, the opening communicating with the receiving cavity, and the blower is used for providing negative pressure for the receiving cavity.

9. The cleaning robot according to claim 8, wherein, Further comprising: A control mechanism connected to the plugging structure and the blower for controlling the blower to stop working in a state where the plugging structure plugs the opening.

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