Cleaning Robot

Abstract

The cleaning robot provided by the present invention includes a shell, a working component arranged on the shell, and a battery pack detachably mounted on the shell and used to provide power to the working component. The shell is provided with a housing for accommodating the battery pack. The cleaning robot also includes an ejection mechanism for at least partially rotating the battery pack to eject it from the housing, and a locking mechanism for locking the battery pack in the housing. After unlocking the locking mechanism, the ejection mechanism applies a thrust to the battery pack to move the battery pack out of the housing, ejecting the battery pack at least partially out of the housing, thereby facilitating the operator to grasp the battery pack. When the battery pack is installed, the battery pack docks with the elastic mechanism, and the locking mechanism locks the battery pack, and the operation is simple and quick.

Description

Technical Field

[0001] The invention relates to a cleaning robot. Background Art

[0002] At present, more and more cleaning robots in the market use battery packs as power sources. Usually, a storage space for accommodating the battery pack is set on the shell of the cleaning robot. Most battery packs are inserted into the storage space at a certain angle and taken out from the storage space at a certain angle. After the battery pack is inserted in this way, a fixing structure such as a pressure plate or screws is used to fix the battery pack to prevent the battery pack from falling off. When taking out the battery pack, the fixing structure must be disassembled before taking it out. This method is complicated to operate and requires many parts and occupies a large space. Therefore, it is necessary to propose a new battery pack removal structure for use in cleaning robots, so that the operator can quickly and conveniently install and remove the battery pack in the compact space of the cleaning robot. Summary of the invention

[0003] The object of the present invention is to provide a cleaning robot that enables an operator to quickly and conveniently install and remove a battery pack.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a cleaning robot, comprising a shell, a working component arranged on the shell, and a battery pack detachably mounted on the shell and used to provide power to the working component, the shell being provided with a receiving portion for accommodating the battery pack, the cleaning robot also comprising an ejection mechanism for at least partially ejecting the battery pack from the receiving portion, and a locking mechanism for locking the battery pack in the receiving portion.

[0005] Furthermore, the battery pack is at least partially rotated to pop out of the accommodating portion.

[0006] Furthermore, the pop-up mechanism includes a support frame arranged on one side of the battery pack and an elastic member supported between the shell and the support frame. After the locking mechanism is unlocked, the elastic member drives the support frame to rotate so that the support frame applies a thrust on the battery pack to rotate the battery pack toward the outside of the accommodating portion.

[0007] Furthermore, a rotatable shaft is also provided in the accommodating portion, and the supporting frame is sleeved on the shaft.

[0008] Furthermore, the elastic member includes a first torsion spring.

[0009] Furthermore, the first torsion spring is sleeved on the rotating shaft, a groove is provided at the bottom of the support frame, and a movable end of the first torsion spring is accommodated in the groove.

[0010] Furthermore, two slide rails extending in a horizontal direction are arranged in the accommodating portion, and two ends of the rotating shaft are slidably arranged in the two slide rails.

[0011] Furthermore, a fixed shaft is arranged in the accommodating portion, the elastic member comprises a second torsion spring, the second torsion spring is sleeved on the fixed shaft, a slide groove is arranged on the support frame, and the movable end of the second torsion spring is accommodated in the slide groove and can slide in the slide groove.

[0012] Furthermore, the support frame protrudes upwards along the direction where the support frame is located to form a limiting block, and the limiting block can move relative to the accommodating portion and interfere with the inner wall of the accommodating portion to limit the position state of the support frame.

[0013] Furthermore, the elastic member also includes a compression spring.

[0014] Further, the ejection mechanism includes an ejection point for abutting against the battery pack to provide an ejection force to the battery pack, and the ejection point and the locking mechanism are located on the same side of the battery pack.

[0015] Furthermore, the locking mechanism includes a first locking piece arranged on the battery pack, a second locking piece arranged on the shell and cooperating with the first locking piece, and an unlocking piece driving the second locking piece to move relative to the first locking piece to separate the second locking piece from the first locking piece.

[0016] Furthermore, the locking mechanism also includes an elastic member arranged opposite to the unlocking member.

[0017] Furthermore, the battery pack is installed in the middle of the shell.

[0018] Furthermore, the cleaning robot is provided with a collision plate at the front, a water tank or a dust box at the rear, walking mechanisms at both sides, and the battery pack in the middle, and the ejection mechanism rotates or ejects the battery pack horizontally upward out of the accommodating portion.

[0019] Furthermore, the cleaning robot is provided with a collision plate at the front, walking mechanisms at both sides, a dust box in the middle, and the battery pack at the rear, and the ejection mechanism ejects the battery pack horizontally backward out of the accommodating portion.

[0020] The beneficial effects of the present invention are as follows: the cleaning robot provided by the present invention is provided with a pop-up mechanism and a locking mechanism for facilitating the removal of the battery pack. The locking mechanism locks the battery pack in the accommodating portion. After the locking mechanism is unlocked, the pop-up mechanism applies a thrust on the battery pack to move the battery pack out of the accommodating portion, and the battery pack is at least partially ejected from the accommodating portion, thereby facilitating the operator to grasp the battery pack. When the battery pack is inserted, the battery pack is docked with the elastic mechanism, and the locking mechanism locks the battery pack, and the operation is simple and quick.

[0021] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the battery pack and the housing in the first embodiment of the present invention;

[0023] Figure 2 for Figure 1 A schematic diagram of the structure of the battery pack and the shell in another direction;

[0024] Figure 3 for Figure 1 A schematic diagram of the structure of the battery pack and the housing when the battery pack is in the first state;

[0025] Figure 4 for Figure 1 A schematic diagram of the structure of the battery pack and the housing when the battery pack is in the second state;

[0026] Figure 5 for Figure 1 A schematic diagram of the structure of the battery pack and the housing when the battery pack is in a third state;

[0027] Figure 6 A schematic diagram of the rotation trajectory of the battery pack and the shaft;

[0028] Figure 7 A schematic diagram of a battery pack and a housing in a second embodiment of the present invention;

[0029] Figure 8 for Figure 7 A schematic diagram of the structure of the battery pack and the housing when the battery pack is in the first state;

[0030] Fig. 9 for Figure 7 Schematic diagram of the structure of the battery pack and the shell when the battery pack is in the second state. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the mechanism or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] See also Figures 1 to 6The first embodiment of the present invention relates to a self-moving device, which is a cleaning robot, but is not limited thereto. The self-moving device may also be a lawn mower, a sweeping robot, a mopping robot, a hair dryer, etc., which are not listed here one by one. The cleaning robot includes a shell 11, a working component (not shown) disposed on the shell 11, a battery pack 12 detachably mounted on the shell 11 and used to provide power to the working component, a receiving portion 13 disposed on the shell 11 to accommodate the battery pack 12, an ejection mechanism 14 for at least partially ejecting the battery pack 12 from the receiving portion 13, and a locking mechanism 15 for locking the battery pack 12 in the receiving portion 13. In this embodiment, the receiving portion 13 is disposed in the middle of the shell 11. The working component of the cleaning robot is an electric cleaning head, and the battery pack 12 provides power for the cleaning head. Of course, the cleaning robot is provided with a collision plate (not shown) at the front, a water tank or dust box (not shown) at the rear, a walking mechanism 16 on both sides, and a battery pack 12 in the middle. The walking mechanism 16 is also powered by the battery pack 12. The ejection mechanism 14 can rotate the battery pack 12 or eject it horizontally upward from the accommodating portion 13. In this embodiment, the battery pack 12 at least partially rotates to eject the accommodating portion 13. In other embodiments, the structure of the cleaning robot can also be provided with a collision plate at the front, a walking mechanism on both sides, a dust box in the middle, and a battery pack at the rear, and the ejection mechanism ejects the battery pack horizontally backward from the accommodating portion. The ejection direction and ejection method of the battery pack by the ejection mechanism are not specifically limited here.

[0036] The housing 11 is provided with a first electrical docking portion 1415, and the battery pack 12 is provided with a second electrical docking portion (not shown). The first electrical docking portion 1415 and the second electrical docking portion are electrically connected to realize the battery pack 1 to supply power to the electric cleaning head (not shown) and the walking mechanism 16. The structures of the first electrical docking portion 1415 and the second electrical docking portion can adopt the existing technology, and will not be described in detail here. In order to improve safety performance, the first electrical docking portion 1415 is arranged in the accommodating portion 13.

[0037] The shell 11 has a lower end surface 111, an upper end surface 112 and a plurality of side end surfaces 113. The electric cleaning head is located on the lower end surface 111. The accommodating portion 13 is a square frame structure with an opening at one end formed by the shell 11 being recessed downward from the upper end surface 112. In other embodiments, the shape and structure of the accommodating portion 13 can be determined as needed, and the accommodating portion 13 can also be formed on any side end surface 113. Specifically, the accommodating portion 13 includes a bottom wall 131, a first side wall (not shown) and a second side wall (not shown) arranged opposite to each other, and a third side wall 132 and a fourth side wall 133 connecting the first side wall and the second side wall and arranged opposite to each other. Among them, the bottom wall 131, the first side wall, the second side wall, the third side wall 132 and the fourth side wall 133 are jointly arranged to form a accommodating cavity 134 for accommodating the battery pack 12. Two slide rails 135 are arranged in the horizontal direction in the accommodating portion 13. Specifically, the two slide rails 135 are arranged on the first side wall and the second side wall respectively. Of course, the two slide rails 135 can also be arranged at other positions, which is not specifically limited here. An upper cover 114 is arranged on the accommodating portion 13 to seal the opening. The upper cover 114 is used to prevent dust and moisture, protect the battery pack 12, etc. In this embodiment, when the battery pack 12 needs to be taken out, the upper cover 114 needs to be manually removed first.

[0038] The ejection mechanism 14 is used to rotate and eject the battery pack 12 at least partially from the accommodating cavity 134 and facilitate its removal. The ejection mechanism 14 includes a support frame 141 disposed on one side of the battery pack 12, and an elastic member 142 abutting between the housing 11 and the support frame 141. After the locking mechanism 15 is unlocked, the elastic member 142 drives the support frame 141 to rotate so that the support frame 141 applies a thrust on the battery pack 12 to rotate and move the battery pack 12 out of the accommodating portion 13. The ejection mechanism 14 is disposed on one side of the accommodating cavity 134, and a rotatable shaft 143 is also disposed in the accommodating portion 13. The shaft 143 can be disposed between the first side wall and the second side wall. Of course, the shaft 143 can also be disposed on a structure protruding from the third side wall 132 into the accommodating portion 13. The specific arrangement of the shaft 143 is not specifically limited here and can be arranged according to actual needs. The two ends of the rotating shaft 143 are slidably arranged in the two slide rails 135. Under the push of external force, the rotating shaft 143 can slide freely on the slide rails 135. The supporting frame 141 is sleeved on the rotating shaft 143, and the supporting frame 141 can rotate relative to the rotating shaft 143.

[0039] The support frame 141 comprises a first frame body 1411 sleeved on a rotating shaft 143, and a second frame body 1412 and a third frame body 1413 which are formed by protruding from both ends of the first frame body 1411 in the horizontal direction and are arranged opposite to each other. The first frame body 1411, the second frame body 1412 and the third frame body 1413 form a U-shaped support frame 141. When viewed from the side (such as Figure 1), the first frame 1411 and the second frame 1412 form an L-shaped structure. A groove 1414 is provided at the bottom of the support frame 141. Specifically, grooves 1414 are provided at corresponding positions at the bottoms of the second frame 1412 and the third frame 1413. The first electrical docking portion 1415 is located in the U-shaped structure of the support frame 141 and the first electrical docking portion 1415 has a transmission portion 14151 that passes through the first frame 1411 and extends into the shell. Specifically, the first electrical docking portion 1415 can be a plug-in terminal 1415. When the battery pack 12 is placed in the accommodating cavity 134, the first electrical docking portion 1415 is electrically connected to the second electrical docking portion, thereby realizing the function of the battery pack 12 outputting power. At this time, the battery pack 12 is connected to the support frame 141. Under the action of external force, the battery pack 12 and the support frame 141 move synchronously. The first electrical docking portion 1415 is arranged on the support frame 141 to facilitate docking with the battery pack 12.

[0040] The elastic member 142 includes a first torsion spring 142. In the present embodiment, the structure of the first torsion spring 142 is a U-shaped double first torsion spring 142. The first torsion spring 142 is composed of two single torsion springs arranged symmetrically on the left and right. The adjacent torsion arms of the two single torsion springs are connected together to form an intermediate torsion arm 1421 of the first torsion spring 142. The intermediate torsion arm 1421 is defined as an active end 1421, and the outer torsion arms of the two single torsion springs are two extended torsion arms 1422.

[0041] The first torsion spring 142 is sleeved on the rotating shaft 143 and symmetrically arranged on both sides of the support frame 141. The elastic member 142 can rotate relative to the rotating shaft 143. The movable end 1421 is received in the groove 1414 at the bottom of the support frame 141. When the support frame 141 is horizontal, the movable end 1421 moves downward relative to the torsion arm 1422, and the first torsion spring 142 is deformed and generates a force to drive the support frame 141 to rotate upward.

[0042] The locking mechanism 15 is used to lock the battery pack 12 in the accommodating cavity 134, and the ejection mechanism 14 and the locking mechanism 15 cooperate to facilitate the installation and removal of the battery pack 12. The ejection mechanism 14 includes an ejection point (not shown) for abutting against the battery pack 12 to provide an ejection force to the battery pack 12. The ejection point and the locking mechanism 15 are located on the same side of the battery pack 12, so that the battery pack 12 can be easily and smoothly ejected. Of course, in other embodiments, the ejection point and the locking mechanism can also be relatively arranged on both sides of the battery pack 12, which is not specifically limited here. The locking mechanism 15 includes a first locking member 151 arranged on the battery pack 12, a second locking member 152 arranged on the shell 11 and cooperating with the first locking member 151, an unlocking member 153 driving the second locking member 152 to move relative to the first locking member 151 to separate the second locking member 152 from the first locking member 151, and an elastic member 154 arranged opposite to the unlocking member 153, and the force exerted by the elastic member 154 on the second locking member 152 is opposite in direction to the force exerted by the unlocking member 153 on the second locking member 152.

[0043] When the first locking member 151 cooperates with the second locking member 152, the battery pack 12 is locked with the housing 11, thereby fixing the battery pack 12 in the housing 11. The second locking member 152 includes a pressing rod 1522, a shaft portion 1523 or a shaft hole 1523 formed on the pressing rod 1522, and a hook 1521 formed on one end of the pressing rod 1522, and the hook 1521 cooperates with the first locking member 151. The first locking member 151 is a slot 151 that is engaged with the hook 1521. The shape of the hook 1521 is similar to the number 7, one end of which can enter the slot 151, and the other end is fixedly connected to the pressing rod 1522 at the shaft portion 1523 or the shaft hole 1523. The shaft portion 1523 or the shaft hole 1523 connects the second locking member 152 to the housing 11 through the rotating shaft, which plays a role in stabilizing the second locking member 152. In other embodiments, the shaft portion 1523 or the shaft hole 1523 may not be provided, and the second locking member 152 can also be engaged with the first locking member 151. In this embodiment, the hook 1521 and the pressing rod 1522 are integrally formed. Of course, in other embodiments, the first locking member and the second locking member are interchanged, that is, the first locking member is provided on the housing, and the second locking member is provided on the battery pack. However, the arrangement of this embodiment reduces the weight of the battery pack 12 and the size of the battery pack 12.

[0044] The unlocking member 153 is disposed against the second locking member 152. Specifically, the unlocking member 153 includes a guide rod 1531 with one end abutting against the pressing rod 1522 and a button 1532 fixedly connected to the other end of the guide rod 1531. The guide rod 1531 abuts against the end of the pressing rod 1522 away from the shaft portion 1523 or the shaft hole 1523. A cavity 136 is formed in the fourth side wall 133 near the opening and concave toward the housing 11. The button 1532 is disposed in the cavity 136 and can move up and down in the cavity 136. When the button 1532 is applied, the unlocking member 153 drives the end of the pressing rod 1522 away from the shaft portion 1523 or the shaft hole 1523 to move downward.

[0045] In this embodiment, the elastic member 154 is a spring 154, one end of the spring 154 is fixed on the housing 11, and the other end is connected to the pressing rod 1522. Specifically, one end of the spring 154 is fixed on the bottom wall 131 of the accommodating portion 13. The spring 154 is arranged opposite to the unlocking member 153, and the force of the spring 154 on the pressing rod 1522 is opposite to the force of the unlocking member 153 on the pressing rod 1522. When the spring 154 is in a compressed state, the spring 154 drives the pressing rod 1522 to move upward.

[0046] The working principle for taking out the battery pack 12 is as follows: open the upper cover 114, apply pressure on the button 1532, the button 1532 drives the guide rod 1531 to move downward, drives the second locking piece 152 to move downward, the spring 154 is compressed, the guide rod 1531 presses against the end of the pressing rod 1522 away from the shaft 1523 or the shaft hole 1523 and drives this end of the pressing rod 1522 to move downward, at the same time, the end of the pressing rod 1522 close to the shaft 1523 or the shaft hole 1523 moves upward, the pressing rod 1522 tilts, the hook 1521 rotates away from the first locking piece 151, the hook 1521 separates from the first locking piece 151, and after the locking mechanism 15 is unlocked, the battery pack 12 loses its lock. The elastic member 142 drives the support frame 141 to rotate so as to exert a thrust on the battery pack 12 to push the battery pack out of the accommodating cavity 134. Specifically, the torque generated by the deformed first torsion spring 142 drives the support frame 141 and the battery pack 12 to rotate upward. After the pressure applied to the button 1532 is removed, the button 1532 drives the guide rod 1531 to move upward, the end of the pressing rod 1522 away from the shaft 1523 or the shaft hole 1523 moves upward, the end of the pressing rod 1522 close to the shaft 1523 or the shaft hole 1523 moves downward and drives the hook 1521 to rotate and restore to a position away from the guide rod 1531, and the compressed spring 154 recovers, driving the second locking member 152 to move upward to the initial position. When the battery pack 12 rotates to one end against the third side wall 132, see Figure 3The torsion force generated by the first torsion spring 142 continues to drive the battery pack 12 to rotate upward, and the contact point between the battery pack 12 and the third side wall 132 forms a force F, which is decomposed into a horizontal force Fa and a vertical force Fb. Under the action of the reaction force Fa1 of the force Fa, the battery pack 12 drives the shaft 143 to slide in the slide rail 135 in a direction away from the third side wall 132. Under the remaining force of the force Fb that overcomes the friction force f, the battery pack 12 moves downward, so that the support frame 141 continues to rotate and the shaft 143 slides on the slide rail 135. Finally, the shaft 143 slides to the end of the slide rail 135 away from the third side wall 132, see Figure 4 The motion trajectory diagram of the battery pack 12 and the rotating shaft 143 is shown in FIG. Figure 6 As shown, the movement direction of the point where the battery pack 12 abuts against the third side wall 132 is direction a, and the movement direction of the rotating shaft 143 is direction b. After the support frame 141 rotates to a certain angle, the part of the battery pack 12 that moves outward toward the accommodating cavity 134 is enough to meet the user's removal requirements, and the user pulls out the battery pack 12 obliquely upwards, see Figure 5 , the battery pack 12 can be taken out. After the battery pack 12 is taken out, the ejection mechanism 14 remains in the rotated position, which is convenient for the subsequent insertion of the battery pack 12.

[0047] The working principle of inserting the battery pack 12 is as follows: Figure 5 , the second electrical docking portion on the battery pack 12 is docked with the first electrical docking portion 1415 on the support frame 141, and the battery pack 12 is fixedly connected to the support frame 141, as shown in FIG. Figure 4 A certain force is applied to the battery pack 12 to push the shaft 143 back to the end close to the third side wall 132. Figure 3 Continue to apply a certain force to the battery pack 12 to rotate the battery pack 12 downward into the accommodating chamber 134. The movable end 1421 of the first torsion spring 142 is deformed by the force. When the battery pack 12 contacts the hook 1521 and the hook 1521 rotates away from the battery pack 12, continue to apply pressure until the hook 1521 enters the slot 151 to lock the battery pack 12. See Figure 1 , cover the upper cover 114 to complete the loading of the battery pack 12.

[0048] See also Figures 7 to 9 The structure of the cleaning robot shown in the second embodiment of the present invention is basically similar to the structure of the cleaning robot shown in the first embodiment, with the difference being: a pop-up mechanism, which also rotates the battery pack 22 to pop out of the accommodating portion 23.

[0049] A fixed shaft 244 is also provided in the accommodating portion 23. The fixed shaft 244 can be provided between the first side wall and the second side wall, or on a structure protruding from the third side wall 232 into the accommodating portion 23. The specific arrangement of the fixed shaft 244 is not specifically limited here, and can be arranged according to actual needs. The second torsion spring 242 is sleeved on the fixed shaft 244, and the second torsion spring 242 can rotate relative to the fixed shaft 244.

[0050] The structure of the second torsion spring 242 in this embodiment is the same as that of the first torsion spring 142 in the first embodiment, and will not be described in detail herein.

[0051] The support frame 241 has a support plate 2411 located between the bottom wall 231 and the battery pack 22. The support plate 2411 has a first end 24111 close to the second torsion spring 242 and a second end 24112 away from the torsion spring. A bending plate 2412 is formed at the first end 24111 protruding outward from the support plate 2411. The support plate 2411 and the bending plate 2412 form an L-shaped support frame 241. A slide groove 2414 is provided on one side of the support plate 2411 close to the bottom wall 231. The slide groove 2414 includes a first slide groove portion 24141 and a second slide groove portion 24142. The extension direction of the first slide groove portion 24141 is the same as the connection direction of the first end 24111 and the second end 24112. The second slide groove portion 24142 is formed by being concave from one end of the first slide groove portion 24141 close to the first end 24111 toward the thickness direction of the support plate 2411. The movable end 2421 of the second torsion spring 242 is received in the slide slot 2414 and can slide in the slide slot 2414. The support frame 241 also has a first electrical docking portion 2415 docked with the second electrical docking portion. The first electrical docking portion 2415 is located on the supporting plate 2411.

[0052] The support frame 241 protrudes upward along the direction of the support frame 241 to form a limit block 2416. The limit block 2416 is formed at one end of the support frame 241 close to the rotating shaft 243. The limit block 2416 can move relative to the accommodating portion 13 and interfere with the inner wall of the accommodating portion 13 to limit the position state of the support frame 241. In this embodiment, the inner wall is the third side wall 232, which can interfere with the limit block 2416 or other structures, and no specific restrictions are made here. In this embodiment, the limit block 2416 and the second slide groove portion 24142 jointly limit the rotation angle of the support frame 241. Specifically, the maximum rotation angle of the support frame 241 is 30°, and this state can be maintained.

[0053] The second torsion spring 242 is sleeved on the fixed shaft 244, and the movable end 2421 of the second torsion spring 242 is received in the slide groove 2414 of the support frame 241. With this design structure, when the support frame 241 is horizontal, the movable end 2421 moves downward relative to the torsion arm 2422, and the second torsion spring 242 is deformed and generates a force to drive the support frame 241 to rotate upward.

[0054] The working principle of loading and removing the battery pack 22 in this embodiment is different from the working principle of loading and removing the battery pack 12 shown in the first embodiment in that the ejection mechanism 24 is deformed.

[0055] When the battery pack 22 is taken out, the locking mechanism 25 is unlocked and the battery pack 22 loses its lock. Figure 8 The torque generated by the deformed second torsion spring 242 drives the support frame 241 and the battery pack 22 to rotate upward. At the same time, the movable end 2421 of the second torsion spring 242 slides in the slide groove 2414 toward the first end 24111. After the support frame 241 rotates to an angle of 30°, the limit block 2416 abuts against the third side wall 232, and the movable end 2421 of the second torsion spring 242 enters the second slide groove 24142. The part of the battery pack 22 that moves outward toward the accommodating portion 23 is sufficient to meet the user's removal requirements. Please refer to Fig. 9 The user pulls out the battery pack 22 obliquely upward to complete the removal of the battery pack 22 , and the ejection mechanism 24 maintains this state under the action of the limit block 2416 and the second slide groove portion 24142 .

[0056] When inserting the battery pack 22, refer to Fig. 9 , a certain force is applied to the battery pack 22, so that the battery pack 22 rotates into the accommodating portion 23, the support frame 241 rotates, the movable end 2421 of the second torsion spring 242 slides in the slide groove 2414 in a direction away from the first end 24111, the movable end 2421 of the second torsion spring 242 is deformed by the force, the hook 1521 enters the first locking member 251, and the battery pack 22 is locked. See Figure 7 , cover the upper cover 214 to complete the loading of the battery pack 22.

[0057] The structure of the cleaning robot shown in the third embodiment of the present invention is basically similar to the structure of the cleaning robot shown in the first embodiment, and the difference lies in: a pop-up mechanism, which pops the battery pack horizontally upward out of the accommodating portion.

[0058] The elastic member in this embodiment is a compression spring, and a compression spring is provided between the support frame and the housing. The compression spring provides a force under compression to make the support frame bounce upward. After the locking mechanism is unlocked, the battery pack loses its lock, and the battery and the support frame bounce upward to a certain height under the action of the compression spring. The portion of the battery pack that moves outward toward the accommodating portion is sufficient to meet the user's removal requirements. The user pulls the battery pack upward to complete the removal of the battery pack. When inserting the battery pack, a certain force is applied to the battery pack so that the battery pack enters the accommodating portion, the support frame moves downward, the compression spring is compressed, the hook enters the first locking member, locks the battery pack, and the upper cover is closed to complete the insertion of the battery pack.

[0059] The structure of the cleaning robot shown in the fourth embodiment of the present invention is basically similar to the structure of the cleaning robot shown in the second embodiment, and the difference lies in: a pop-up mechanism.

[0060] In addition to the torsion spring, the elastic member in this embodiment also includes a compression spring. The torsion spring is arranged between the support frame and the shell. When the battery pack is taken out and loaded, the movement mode of the torsion spring and the support frame is the same as that of the second embodiment, and the movement mode of the compression spring and the support frame is the same as that of the third embodiment, which will not be repeated here.

[0061] In summary, the cleaning robot provided by the present invention is provided with a pop-up mechanism and a locking mechanism for facilitating the removal of the battery pack. The locking mechanism locks the battery pack in the accommodating portion. After the locking mechanism is unlocked, the pop-up mechanism applies a thrust on the battery pack to move the battery pack out of the accommodating portion, thereby popping the battery pack at least partially out of the accommodating portion, thereby making it convenient for the operator to grasp the battery pack. When the battery pack is inserted, the battery pack is docked with the elastic mechanism, and the locking mechanism locks the battery pack, and the operation is simple and quick.

[0062] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A cleaning robot, comprising a housing, a working component disposed on the housing, and a battery pack detachably mounted on the housing and used to provide power to the working component, wherein the housing is provided with a receiving portion for receiving the battery pack, wherein: The cleaning robot also includes an ejection mechanism for at least partially rotating the battery pack to eject it from the accommodating portion, and a locking mechanism for locking the battery pack in the accommodating portion; the ejection mechanism includes a support frame arranged on one side of the battery pack, the support frame is provided with a first electrical docking portion, the first electrical docking portion is a plug-in end, the battery pack is provided with a second electrical docking portion, and the battery pack is detachably connected to the support frame via the second electrical docking portion; the ejection mechanism also includes a first elastic member supported between the shell and the support frame, a rotatable shaft is also provided in the accommodating portion, the support frame is sleeved on the shaft, and after the locking mechanism is unlocked, the first elastic member drives the support frame to rotate so that the support frame applies a thrust on the battery pack to rotate and move the battery pack out of the accommodating portion.

2. The cleaning robot according to claim 1, characterized in that: The first elastic member includes a first torsion spring.

3. The cleaning robot according to claim 2, characterized in that: The first torsion spring is sleeved on the rotating shaft, a groove is provided at the bottom of the support frame, and a movable end of the first torsion spring is accommodated in the groove.

4. The cleaning robot according to claim 1, characterized in that: Two slide rails extending in a horizontal direction are arranged in the accommodating portion, and two ends of the rotating shaft are slidably arranged in the two slide rails.

5. The cleaning robot according to claim 1, characterized in that: The ejection mechanism comprises an ejection point for abutting against the battery pack to provide an ejection force to the battery pack, and the ejection point and the locking mechanism are located on the same side of the battery pack.

6. The cleaning robot according to claim 5, characterized in that: The locking mechanism includes a first locking member arranged on the battery pack, a second locking member arranged on the housing and cooperating with the first locking member, and an unlocking member driving the second locking member to move relative to the first locking member to separate the second locking member from the first locking member.

7. The cleaning robot according to claim 6, characterized in that: The locking mechanism further includes a second elastic member disposed opposite to the unlocking member.

8. The cleaning robot according to any one of claims 1 to 7, characterized in that: The battery pack is installed in the middle of the housing.

9. The cleaning robot according to any one of claims 1 to 7, characterized in that: The cleaning robot is provided with a collision plate at the front, a water tank or a dust box at the rear, walking mechanisms at both sides, and the battery pack at the middle, and the ejection mechanism rotates the battery pack to eject it from the accommodating portion.

10. A cleaning robot, comprising a housing, a working component disposed on the housing, and a battery pack detachably mounted on the housing and used to provide power to the working component, wherein the housing is provided with a receiving portion for receiving the battery pack, wherein: The cleaning robot also includes an ejection mechanism for at least partially rotating the battery pack to eject it from the accommodating portion, and a locking mechanism for locking the battery pack in the accommodating portion; the ejection mechanism includes a support frame arranged on one side of the battery pack, the support frame is provided with a first electrical docking portion, the first electrical docking portion is a plug-in end, the battery pack is provided with a second electrical docking portion, and the battery pack is detachably connected to the support frame via the second electrical docking portion; the ejection mechanism also includes a first elastic member that is supported between the shell and the support frame, a fixed shaft is provided in the accommodating portion, the first elastic member includes a second torsion spring, the second torsion spring is sleeved on the fixed shaft, a slide groove is provided on the support frame, the movable end of the second torsion spring is accommodated in the slide groove and can slide in the slide groove, and after the locking mechanism is unlocked, the first elastic member drives the support frame to rotate so that the support frame applies a thrust on the battery pack to rotate and move the battery pack toward the outside of the accommodating portion.

11. The cleaning robot according to claim 10, characterized in that: The support frame protrudes upwards along the direction where the support frame is located to form a limiting block, and the limiting block can move relative to the accommodating portion and interfere with the inner wall of the accommodating portion to limit the position state of the support frame.

12. The cleaning robot according to claim 11, characterized in that: The first elastic member further includes a compression spring.

13. The cleaning robot according to claim 10, characterized in that: The ejection mechanism comprises an ejection point for abutting against the battery pack to provide an ejection force to the battery pack, and the ejection point and the locking mechanism are located on the same side of the battery pack.

14. The cleaning robot according to claim 13, characterized in that: The locking mechanism includes a first locking member arranged on the battery pack, a second locking member arranged on the housing and cooperating with the first locking member, and an unlocking member driving the second locking member to move relative to the first locking member to separate the second locking member from the first locking member.

15. The cleaning robot according to claim 14, characterized in that: The locking mechanism further includes a second elastic member disposed opposite to the unlocking member.

16. The cleaning robot according to any one of claims 10 to 15, characterized in that: The battery pack is installed in the middle of the housing.

17. The cleaning robot according to any one of claims 10 to 15, characterized in that: The cleaning robot is provided with a collision plate at the front, a water tank or a dust box at the rear, walking mechanisms at both sides, and the battery pack at the middle, and the ejection mechanism rotates the battery pack to eject it from the accommodating portion.

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