Garbage bag sealing device and cleaning robot

Abstract

The present invention discloses a garbage bag sealing device and a cleaning robot. The garbage bag sealing device comprises: a frame, a through hole is formed in the middle of the frame for the garbage bag to pass through; a sealing mechanism, the sealing mechanism is installed on the frame, the sealing mechanism comprises a sealing drive assembly, a sealing assembly and an ultrasonic welding assembly, the sealing drive assembly is used to drive the sealing assembly to move across the through hole toward the ultrasonic welding assembly; the detection mechanism is used to send a contact signal when it detects that the sealing assembly and the ultrasonic welding assembly are in contact; the controller is configured to control the ultrasonic welding assembly to stop working in response to the contact signal, so as to avoid the situation where the garbage bag cannot be completely sealed and cut, and to avoid the ultrasonic welding assembly and the sealing assembly from colliding with each other and making noise, which is beneficial to extending the service life of the garbage bag sealing device.

Description

Technical Field

[0001] The present invention relates to the technical field of sealing and cutting equipment, and in particular to a garbage bag sealing device and a cleaning robot. Background Art

[0002] To eliminate the need for the cleaning robot to dump trash at a designated location when it's full, the applicant added a garbage bag sealing device to the robot. This allows the robot to place the filled bag directly on the roadside. The garbage bag sealing device operates as follows: When the pressure plate of the garbage bag sealing device pushes the garbage bag to the designated location, the ultrasonic welding assembly activates and seals and cuts the bag. Because the ultrasonic welding assembly operates for a fixed, pre-set duration, if a large amount of debris (such as branches, leaves, or paper scraps) is present at the bag opening during sealing, the ultrasonic welding assembly will not be able to complete the sealing and cutting process within the original activation time. To ensure sealing and cutting of the garbage bag in the presence of a large amount of debris, the applicant extended the activation time of the ultrasonic welding assembly. However, in situations where there is no or only a small amount of debris at the bag opening, the bag can be quickly sealed and cut. During the remaining activation time, the ultrasonic welding assembly's die head and the pressure plate come into direct, hard contact, generating a loud noise and significantly shortening the life of the garbage bagging device. Summary of the Invention

[0003] The purpose of the present invention is to provide a garbage bag sealing device and a cleaning robot, which have the advantages of low noise and long service life.

[0004] In order to achieve the above-mentioned object, the present invention provides a garbage bag sealing device in a first aspect, comprising:

[0005] A frame, with a through hole formed in the middle of the frame for the garbage bag to pass through; a sealing mechanism, the sealing mechanism is installed on the frame, the sealing mechanism includes a sealing drive assembly, a sealing assembly and an ultrasonic welding assembly, the sealing drive assembly is used to drive the sealing assembly to move across the through hole toward the ultrasonic welding assembly; a detection mechanism, used to send a contact signal when detecting that the sealing assembly and the ultrasonic welding assembly are in contact; a controller, configured to control the ultrasonic welding assembly to stop working in response to the contact signal.

[0006] In an embodiment of the present invention, the detection mechanism includes:

[0007] A first electrode, the first electrode is installed on the ultrasonic welding assembly, and the ultrasonic welding assembly is insulated from the frame; a second electrode, the second electrode is movably installed on the sealing assembly, and the sealing assembly is insulated from the sealing drive assembly; a conductive circuit assembly, the conductive circuit assembly is electrically connected to the first electrode and the second electrode; wherein, when the sealing assembly and the ultrasonic welding assembly are in contact, a closed loop is formed between the first electrode, the second electrode and the conductive circuit assembly, and a contact signal is emitted.

[0008] In an embodiment of the present invention, the sealing assembly includes: a sealing rod, which is connected to the output end of the sealing drive assembly; a pressure plate, which is arranged on the end surface of the sealing rod facing the ultrasonic welding assembly; and a second insulating assembly, which is arranged between the sealing rod and the pressure plate or between the sealing rod and the output end of the sealing drive assembly.

[0009] In an embodiment of the present invention, the second insulating component includes: a second insulating pad, which is arranged between the pressure plate and the sealing rod; a first fastener, which is passed through the pressure plate and the second insulating pad; a second fastener, which is passed through the sealing rod and the second insulating pad and is offset from the first fastener, and the first fastener and the second fastener are made of metal.

[0010] In an embodiment of the present invention, the ultrasonic welding assembly includes: a mounting base, which is mounted on the frame; a flange, which is mounted on the mounting base; an ultrasonic vibrator, which is mounted on the flange; a die head, which is mounted on the output end of the ultrasonic vibrator and is used to focus the ultrasonic waves emitted by the ultrasonic vibrator; and a first insulating assembly, which is mounted between the mounting base and the frame, or between the flange and the mounting base.

[0011] In an embodiment of the present invention, the first insulating component includes: a first insulating pad, which is sleeved on the outer peripheral side of the ultrasonic vibrator and located between the flange and the mounting seat; and an insulating fastener, which is passed through the flange, the first insulating pad and the mounting seat to fix the mounting flange on the mounting seat.

[0012] In an embodiment of the present invention, the detection mechanism includes a sound sensor for detecting the collision sound of the ultrasonic welding component and the sealing component; the sound sensor is configured to emit a contact signal when detecting sound within a preset frequency range and a preset amplitude range.

[0013] In an embodiment of the present invention, the frame has a side plate located on one side of the ultrasonic welding assembly; the detection mechanism includes a distance sensor for detecting the moving distance between the sealing assembly and the side plate, and the distance sensor is configured to emit a contact signal when the detected moving distance reaches a preset distance.

[0014] In an embodiment of the present invention, the ultrasonic welding component is configured to stop working after continuously working for a first preset time period; or the controller is further configured to control the ultrasonic welding component to stop working if no contact signal is received within the first preset time period.

[0015] In an embodiment of the present invention, the controller is further configured to control the sealing mechanism to perform a sealing operation: control the sealing drive assembly to drive the sealing assembly to move toward the direction close to the ultrasonic welding assembly; when the sealing assembly moves to a preset position close to the ultrasonic welding assembly, control the ultrasonic welding assembly to start working.

[0016] In an embodiment of the present invention, the controller is further configured to: determine that the ultrasonic welding component has not received a contact signal when performing the sealing action for a first preset time; control the ultrasonic welding component to suspend work; control the sealing drive component to drive the sealing component to retract, so as to control the sealing mechanism to re-execute the sealing operation; determine that the number of retractions reaches a preset number; and control the ultrasonic welding component to terminate work.

[0017] In an embodiment of the present invention, the preset position includes a first preset position and a second preset position, and the first preset position is closer to the ultrasonic welding assembly than the second preset position; the controller is further configured to: when the sealing assembly moves to the first preset position, control the sealing drive assembly to stop driving; and control the ultrasonic welding assembly to start working; or when the sealing assembly moves to the second preset position, control the sealing drive assembly to maintain a driving state and control the ultrasonic welding assembly to start working; when the sealing assembly moves to the first preset position, control the sealing drive assembly to stop driving, and control the ultrasonic welding assembly to keep working.

[0018] A second aspect of the present invention provides a cleaning robot, the cleaning robot comprising:

[0019] chassis; a garbage bin, which is mounted at the bottom of the chassis and is provided with a garbage bin entrance; a garbage bag box, which is located above the garbage bin, has garbage bags stored inside, and is provided with a garbage bag box outlet; and the above-mentioned garbage bag sealing device, which is mounted on the chassis and is located between the garbage bin and the garbage bag box, and the through hole of the garbage bag sealing device is connected to the garbage bin entrance and the garbage bag box outlet.

[0020] Through the above technical solution, a sealing mechanism, a detection mechanism and a controller are provided. The sealing mechanism includes a sealing drive assembly, a sealing assembly and an ultrasonic welding assembly. The sealing drive assembly can drive the sealing assembly to move across the through hole toward the ultrasonic welding assembly; when the detection mechanism detects that the sealing assembly and the ultrasonic welding assembly are in contact, the controller controls the ultrasonic welding assembly to stop working, which can ensure that the garbage bag can be completely welded, sealed and cut when there is a large amount of debris at the opening of the garbage bag, and can avoid the ultrasonic welding assembly and the sealing assembly from colliding hard and making noise when there is no or only a small amount of debris at the opening of the garbage bag, and extend the service life of the garbage bag sealing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0022] Figure 1 2 is a schematic structural diagram of a garbage bag sealing device according to an embodiment of the present invention from a first perspective;

[0023] Figure 2 2 is a schematic structural diagram of a garbage bag sealing device according to an embodiment of the present invention from a second perspective;

[0024] Figure 3 Schematic diagram of the structure of the die head in an embodiment of the present invention;

[0025] Figure 4 This is a schematic structural diagram of a sealing assembly in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the partial structure of the cleaning robot in an embodiment of the present invention;

[0027] Figure 6 Schematic diagram of the overall structure of the cleaning robot in an embodiment of the present invention.

[0028] Description of Reference Numerals

[0029] DETAILED DESCRIPTION

[0030] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0031] The embodiment of the present invention provides a new type of garbage bag sealing device, such as Figure 1-4 As shown, the garbage bag sealing device includes:

[0032] Frame 1, a through hole 101 is formed in the middle of frame 1 for the garbage bag to pass through; sealing mechanism 2, sealing mechanism 2 is installed on frame 1, sealing mechanism 2 includes a sealing drive component 201, a sealing component 202 and an ultrasonic welding component 203, the sealing drive component 201 is used to drive the sealing component 202 to move across the through hole 101 toward the ultrasonic welding component 203; detection mechanism 3, used to send a contact signal when detecting that the sealing component 202 and the ultrasonic welding component 203 are in contact; controller, configured to control the ultrasonic welding component 203 to stop working in response to the contact signal.

[0033] In this embodiment, when a garbage bag is filled with garbage and needs to be sealed and cut, the sealing drive assembly 201 drives the sealing assembly 202 toward the ultrasonic welding assembly 203, causing the ultrasonic welding assembly 203 and the sealing assembly 202 to clamp the garbage bag from both sides. Once the garbage bag is clamped, the controller controls the ultrasonic welding assembly 203 to weld and seal the top opening of the used garbage bag and the bottom opening of the garbage bag to be used. While welding and sealing the garbage bag, the ultrasonic welding assembly 203 also cuts the two adjacent garbage bags.

[0034] After the two garbage bags are cut and separated, the ultrasonic welding assembly 203 and the sealing assembly 202 come into contact. Since both the ultrasonic welding assembly 203 and the sealing assembly 202 are rigid components, if the ultrasonic welding assembly 203 continues to perform the welding, sealing, and cutting operations, a hard collision between the rigid components will occur, which will not only generate noise but also shorten the service life of the ultrasonic welding assembly 203 and the sealing assembly 202. However, the detection mechanism 3 in this embodiment will immediately send a detection signal to the controller upon detecting that the ultrasonic welding assembly 203 and the sealing assembly 202 are in contact. Upon receiving the detection signal, the controller controls the ultrasonic welding assembly 203 to stop operating. This control method detects whether the garbage bag is welded, sealed, and cut, and then controls the stopping time of the ultrasonic welding component 203 according to the above detection results. That is, this control method can not only ensure that the garbage bag can be completely welded, sealed, and cut, but also avoid the situation where the ultrasonic welding component 203 does not work enough due to a large amount of debris (such as branches, leaves, or paper scraps, etc.) at the opening of the garbage bag, and the garbage bag cannot be completely sealed and cut; it can also solve the problem that when there is no debris or only a small amount of debris at the opening of the garbage bag, the ultrasonic welding component 203 completes welding and cutting too early, resulting in the ultrasonic welding component 203 and the sealing component 202 colliding and making noise, and the problem of shortening the service life of the ultrasonic welding component 203 and the sealing component 202.

[0035] The garbage bag sealing device also includes a sensor switch disposed on the frame 1 and configured to sense whether the sealing assembly 202 has reached a preset position. The sensor switch is in communication with the controller. When the sensor switch senses that the sealing assembly 202 has reached the preset position, it transmits a sensing signal to the controller. Upon receiving the sensing signal, the controller activates the ultrasonic welding assembly 203. Of course, if the sealing drive assembly 201 includes a servo drive motor, the servo motor's built-in encoder can also be used to determine whether the sealing assembly has reached the preset position. In this embodiment, the preset position refers to the position where the sealing assembly 202 and the ultrasonic welding assembly 203 cooperate to clamp the garbage bag. At this position, activating the ultrasonic welding assembly 203 immediately welds and seals the garbage bag. Alternatively, the preset position refers to the position where there is a certain distance between the sealing assembly 202 and the ultrasonic welding assembly 203. At this point, activating the ultrasonic welding assembly 203 prolongs the vibration time of the garbage bag, thereby helping to shake debris originally at the opening of the garbage bag to the bottom of the bag or shattering the debris, facilitating the smooth implementation of subsequent welding, sealing, and cutting operations.

[0036] In one embodiment of the present invention, the detection mechanism 3 includes:

[0037] A first electrode 301, the first electrode 301 is installed on the ultrasonic welding component 203, and the ultrasonic welding component 203 is insulated from the frame 1; a second electrode 302, the second electrode 302 is movably installed on the sealing component 202, and the sealing component 202 is insulated from the sealing drive component 201; a conductive circuit component, the conductive circuit component is electrically connected to the first electrode 301 and the second electrode 302; wherein, when the sealing component 202 and the ultrasonic welding component 203 are in contact, a closed loop is formed between the first electrode 301, the second electrode 302 and the conductive circuit component, and a contact signal is sent.

[0038] Specifically, the circuit containing the first electrode 301 and the second electrode 302 includes a power supply and a conductive circuit assembly. The conductive circuit assembly includes a first wire, a second wire, a trigger switch, and a first connector and a second connector connected to the first electrode 301 and the second electrode 302, respectively. In this embodiment, the first electrode 301 serves as the negative power supply, and the second electrode 302 serves as the positive power supply. The power supply voltage is 24V. In this embodiment, the operating voltage of the ultrasonic welding assembly 203 is 240V, so the circuit containing the detection mechanism 3 has minimal interference with the circuit containing the ultrasonic welding assembly 203. However, the electric push rod of the sealing drive assembly has a Hall element with an operating voltage of 24V, the motor of the retraction drive assembly mounted on the frame has an operating voltage of approximately 48V, and the circuits controlling the cleaning and travel mechanisms of the cleaning robot operate at voltages between 24V and 48V. Therefore, it is necessary to prevent the detection mechanism circuit from interfering with these circuit elements. Therefore, this embodiment provides insulation between the sealing assembly 202 and the sealing drive assembly 201, and also between the ultrasonic welding assembly 203 and the frame 1. The first electrode 301 is connected to the ultrasonic welding assembly 203 via a first wire and a first connector. The second electrode 302 is connected to the sealing assembly 202 via a second wire and a second connector. A trigger switch is communicatively connected to the controller. In this embodiment, the trigger switch is a relay switch. Under the control of the relay switch, the circuit containing the first electrode 301 and the second electrode 302 is normally open. When the sealing assembly 202 and the ultrasonic welding assembly 203 are not in contact, the circuit containing the first electrode 301 and the second electrode 302 is in an open state. In this state, the controller does not send a control instruction to the ultrasonic welding assembly 203 to stop operation. When the sealing assembly 202 and the ultrasonic welding assembly 203 make contact (i.e., the garbage bag is cut), the relay switch closes the circuit and sends a contact signal to the controller. This means that the circuit containing the first electrode 301 and the second electrode 302 changes from an open state to a closed state.

[0039] The circuit trigger switch where the first electrode 301 and the second electrode 302 are located can also use a signal transmitter (or PLC) that is communicatively connected to the controller. Once a closed loop is formed between the first electrode 301 and the second electrode 302, the signal transmitter sends a contact signal to the controller. After receiving the signal, the controller can determine that a closed loop is formed between the first electrode 301 and the second electrode 302, and then determine that the sealing component 202 and the ultrasonic welding component 203 are in contact. Thereafter, the ultrasonic welding component 203 is immediately controlled to stop operating. This detection method has a fast detection speed and accurate detection results, which can further improve the accuracy of control.

[0040] In one embodiment of the present invention, the sealing assembly 202 includes: a sealing rod 2021, which is connected to the output end of the sealing drive assembly 201; a pressure plate 2022, which is arranged on the end face of the sealing rod 2021 facing the ultrasonic welding assembly 203; and a second insulating assembly 7, which is arranged between the sealing rod 2021 and the pressure plate 2022 or between the sealing rod 2021 and the output end of the sealing drive assembly 201.

[0041] Specifically, when the garbage bag needs to be sealed, the sealing drive component 201 drives the sealing rod 2021 to move toward the direction of the ultrasonic welding component 203, and the pressure plate 2022 moves accordingly and cooperates with the ultrasonic welding component 203 to squeeze the opening of the garbage bag, so that the two sides of the opening of the garbage bag are welded and cut off. After the cutting is completed, the garbage bag below falls, and the ultrasonic welding component 203 and the sealing component 202 can be in contact with each other; the second insulating component 7; the second insulating component 7 is used to achieve insulation between the sealing component 202 and the sealing drive component 201, thereby avoiding interference with the internal components of the sealing drive component 201 (the internal components refer to the Hall element with an operating voltage of 24V).

[0042] The second insulating component 7 includes: a second insulating pad 701, which is arranged between the pressing plate 2022 and the sealing rod 2021; a first fastener, which is passed through the pressing plate 2022 and the second insulating pad 701; a second fastener, which is passed through the sealing rod 2021 and the second insulating pad 701 and is offset from the first fastener, and the first fastener and the second fastener are made of metal.

[0043] Specifically, the first fastener realizes the fastening connection between the pressing plate 2022 and the second insulating pad 701, and the second fastener realizes the fastening connection between the second insulating pad 701 and the sealing rod 2021. Since the position of the pressing plate 2022 is easily subject to vibration, and the strength of the insulating screws made of non-metallic materials is weak, in order to ensure the tightness of the connection between the pressing plate 2022, the second insulating pad 701, and the sealing rod 2021, the first fastener and the second fastener are both conventional metal screws. The first fastener and the second fastener are respectively realized through the first fastener mounting hole 702 and the second fastener mounting hole 703. Now installed, the first fastener mounting hole 702 and the second fastener mounting hole 703 are staggered along the extension direction of the sealing rod, thereby realizing the staggered setting of the first fastener and the second fastener. Compared with the method of fixing the pressure plate and the second insulating pad on the sealing rod by a single fastener, it can prevent the pressure plate 2022 and the sealing rod 2021 from forming a conductive phenomenon through the fastener; further, the second insulating component 7 realizes the insulation between the pressure plate 2022 and the sealing rod 2021, and also realizes the insulation between the pressure plate 2022 and the frame 1, and other components of the cleaning robot on the frame 1.

[0044] In an embodiment of the present invention, the sealing drive assembly 201 includes: a first linear drive member 2011, which is drivingly connected to the first end of the sealing rod 2021; a second linear drive member 2012, which is arranged parallel to and spaced apart from the first linear drive member 2011 and is drivingly connected to the second end of the sealing rod 2021.

[0045] Specifically, the first linear drive member 2011 and the second linear drive member 2012 are respectively arranged on both sides of the frame 1 and are both electric push rods (a Hall element with an operating voltage of 24V is provided inside the electric push rod). The first end of the first linear drive member 2011 and the second linear drive member 2012 are respectively arranged at one end close to the ultrasonic welding assembly 203, and the second end of the first linear drive member 2011 and the second linear drive member 2012 are respectively connected to the two ends of the sealing rod 2021. The first telescopic member and the second telescopic member are both communicatively connected to the controller. When the garbage bag needs to be clamped, the controller controls the first linear drive member 2011 and the second linear drive member 2012 to retract, thereby driving the sealing rod 2021 to move toward the direction of the ultrasonic welding assembly 203, and the pressing plate 2022 moves with the sealing rod 2021; after the garbage bag is sealed and cut, the first linear drive member 2011 and the second linear drive member 2012 extend, so that the pressing plate 2022 and the sealing rod 2021 move in a direction away from the ultrasonic welding assembly 203.

[0046] In one embodiment of the present invention, the ultrasonic welding assembly 203 includes: a mounting base 4, which is mounted on the frame 1; a flange 6, which is mounted on the mounting base 4; an ultrasonic vibrator 2031, which is mounted on the flange 6; a die 2032, which is mounted at the output end of the ultrasonic vibrator 2031 and is used to focus the ultrasonic waves emitted by the ultrasonic vibrator 2031; and a first insulating assembly 5, which is mounted between the mounting base 4 and the frame 1, or between the flange 6 and the mounting base 4.

[0047] Specifically, the mounting base 4 is mounted on the frame 1 and is provided with a flange 6. The ultrasonic vibrator 2031 is mounted on the flange 6 and is used to generate ultrasonic waves. The die head 2032 is located at the vibration output end of the ultrasonic vibrator 2031 and is capable of focusing the ultrasonic waves emitted by the ultrasonic vibrator 2031 to concentrate the ultrasonic energy. The die head 2032 is separated by an upper die head 2033 and a lower die head 2034, each of which is provided with a plurality of protrusions. The cutter 2035 is located between the upper die head 2033 and the lower die head 2034 and is used to cut the garbage bag connected to each other after sealing. The first insulating component 5 can insulate the frame 1 from the ultrasonic vibrator 2031 and also insulate the ultrasonic vibrator 2031 from other components on the frame 1, thereby preventing interference with the normal operation of the sealing drive component 201 or the retracting drive component 1101, as well as other electrical components on the cleaning robot, thereby improving the safety of the garbage bag sealing device.

[0048] In one embodiment of the present invention, the first insulating component 5 includes: a first insulating pad 501, which is sleeved on the outer peripheral side of the ultrasonic vibrator 2031 and located between the flange 6 and the mounting base 4; an insulating fastener 502, which is passed through the flange 6, the first insulating pad 501 and the mounting base 4 to fix the mounting flange 6 on the mounting base 4.

[0049] Specifically, the mounting base 4 includes a horizontal portion and a vertical portion that are perpendicular to each other (that is, the mounting base 4 in this embodiment is L-shaped), the horizontal portion is fixed to the frame 1, and the vertical side surface of the vertical portion close to the die head 2032 is the side end surface for mounting the flange 6, and a U-shaped groove is formed on the vertical portion for the ultrasonic vibrator 2031 to pass through. In this embodiment, there are two flanges 6, and the ultrasonic vibrator 2031 is provided with a convex ring. The two flanges 6 clamp the convex ring on the ultrasonic vibrator 2031 to achieve the installation of the ultrasonic vibrator 2031. The first insulating pad 501 is sleeved on the outer peripheral side of the ultrasonic vibrator 2031 and is located between the flange 6 and the mounting base 4, so that the flange 6 and the mounting base 4 are insulated; the insulating fastener 502 is used to fix the flange 6 on the mounting base 4. The insulating fastener 502 in this embodiment is an insulating screw, one end of the insulating screw is clamped on the side end surface of the flange 6, and the other end passes through the flange 6, the first insulating pad 501 and the mounting base 4 in sequence and is threaded together, further improving the safety performance of the garbage bag sealing device.

[0050] In one embodiment of the present invention, the garbage bag sealing device also includes a folding mechanism 11 installed on the frame 1, and the folding mechanism 11 includes a folding drive component 1101 and a folding rod 1102. The folding drive component 1101 drives the folding rod 1102 along the second direction to fold the opening of the garbage bag to the width of the ultrasonic die 2032. The second direction and the first direction intersect vertically, so as to facilitate the sealing drive component 201 and the ultrasonic welding component 203 to press the garbage bag and seal the garbage bag, which can improve the efficiency of folding the garbage bag.

[0051] The frame 1 includes a base plate, a through hole 101 is provided in the middle of the base plate, a side plate 204 is provided on a side of the through hole 101 close to the ultrasonic welding assembly 203, and the side plate 204 is vertically mounted on the base plate. There are two folding rods 1102, and the folding drive assembly 1101 includes a folding drive motor 1103, a first synchronous pulley 1104, a second synchronous pulley 1105, and a synchronous belt 1106, all of which are arranged on the side wall of the side plate 204 away from the sealing rod 2021. The first synchronous pulley 1104 and the second synchronous pulley 1105 are correspondingly provided at both ends of the side plate 204, and a synchronous belt 1106 is wound around the first synchronous pulley 1104 and the second synchronous pulley 1105. The folding drive motor 1103 is used to drive the first synchronous pulley 1104 and the second synchronous pulley 1105 to rotate, and the two folding rods 1102 are fixedly connected to the synchronous belts 1106 on the upper and lower parts of the side plate 204, so as to drive the two folding rods 1102 to approach or move away from each other along the second direction under the transmission of the synchronous belt 1106.

[0052] In one embodiment of the present invention, the detection mechanism 3 includes a sound sensor for detecting the collision sound between the ultrasonic welding component 203 and the sealing component 202; the sound sensor is configured to emit a contact signal when detecting sound within a preset frequency range and a preset amplitude range.

[0053] Specifically, the sound sensor is set in the area where the garbage bag sealing device is located. Since the cleaning robot will generate various noises during operation, the sealing component 202 and the ultrasonic welding component 203 will collide after contact, that is, the die head 2032 and the pressure plate 2022 will collide after contact, and the sound generated during the collision has a specific frequency and amplitude. Therefore, in order to avoid the sound sensor transmitting a detection signal to the controller when detecting other noises, thereby causing the ultrasonic welding component 203 to be mistakenly stopped, the controller pre-stores sounds within a preset frequency range and a preset amplitude range. The sounds within the preset frequency range and the preset amplitude range are the sounds generated when the die head 2032 and the pressure plate 2022 collide. The sound sensor will only transmit a detection signal to the controller after detecting the sounds within the above-mentioned preset frequency range and preset amplitude range. After receiving the above-mentioned detection signal, the controller immediately controls the ultrasonic welding component 203 to stop operating.

[0054] In one embodiment of the present invention, a side panel 204 is provided on the frame 1 and is located on one side of the ultrasonic welding assembly 203; the detection mechanism 3 includes a distance sensor for detecting the moving distance between the sealing assembly 202 and the side panel 204, and the distance sensor is configured to send a contact signal when the detected moving distance reaches a preset distance.

[0055] Specifically, the frame 1 includes a base plate, a through hole 101 is provided in the middle of the base plate, and a side panel 204 is provided on the side of the through hole 101 close to the ultrasonic welding assembly 203. The side panel 204 is vertically mounted on the base plate, which can not only realize the sealing between the garbage bag box 10 and the garbage bin 9, but also be used to install the folding drive motor 1103, the first synchronous pulley 1104, the second synchronous pulley 1105 and the synchronous belt 1106; the distance sensor is a photoelectric sensor. When the moving distance between the sealing assembly 202 and the side panel 204 is a preset distance, the pressure plate 2022 in the sealing assembly 202 and the die head 2032 in the ultrasonic welding assembly 203 are in contact. At this time, the distance sensor immediately sends a signal to the controller, and the controller immediately controls the ultrasonic welding assembly 203 to stop operating after receiving the above signal.

[0056] In one embodiment of the present invention, the controller is configured to perform the following steps:

[0057] The ultrasonic welding assembly 203 is configured to stop working after continuously working for a first preset time period; or the controller is further configured to control the ultrasonic welding assembly 203 to stop working if no contact signal is received within the first preset time period.

[0058] Specifically, in one embodiment of the present invention, a timer and a processor in communication with the timer are provided inside the ultrasonic welding assembly 203. The timer is used to time the working time of the ultrasonic welding assembly 203. When the working time of the ultrasonic welding assembly 203 reaches a first preset time, the timer sends a signal to the processor, and the processor controls the ultrasonic welding assembly 203 to stop working. The ultrasonic vibrator 2031 in the ultrasonic welding assembly 203 has a vibration cycle, and one vibration cycle is approximately 8 to 10 seconds. The first preset time is N times the vibration cycle.

[0059] In another embodiment of the present invention, the ultrasonic welding component 203 is not provided with a timer and a processor therein, but a program for controlling the working time of the ultrasonic welding component 203 is provided in the controller. The program is set to stop working if the ultrasonic welding component 203 does not receive a contact signal within a first preset time period.

[0060] In one embodiment of the present invention, the controller is further configured to control the sealing mechanism 2 to perform the following sealing operations:

[0061] Step S101: controlling the sealing drive assembly 201 to drive the sealing assembly 202 to move toward the ultrasonic welding assembly 203;

[0062] Step S102: When the sealing assembly 202 moves to a preset position close to the ultrasonic welding assembly 203, the ultrasonic welding assembly 203 is controlled to start working.

[0063] Specifically, when the sealing assembly 202 moves to a preset position, the sealing drive assembly 201 extends a preset distance and sends a position-reaching signal to the controller. In response to this position-reaching signal, the controller controls the ultrasonic welding assembly 203 to begin operation. Alternatively, a photoelectric sensor can be provided on the sealing assembly 202 or the frame 1. When triggered, the photoelectric sensor sends a position-reaching signal to the controller.

[0064] In one embodiment of the present invention, the controller is further configured to perform the following steps:

[0065] Step S201: determining that the ultrasonic welding assembly 203 has not received a contact signal when performing a sealing action for a first preset time period;

[0066] Step S202: Control the ultrasonic welding assembly 203 to suspend operation;

[0067] Step S203: controlling the sealing drive assembly 201 to drive the sealing assembly 202 to retreat, so as to control the sealing mechanism 2 to re-perform the sealing operation.

[0068] Specifically, while sealing mechanism 2 is performing a sealing operation, if the controller does not receive a contact signal after ultrasonic welding assembly 203 has operated for a first predetermined period of time, the controller controls ultrasonic welding assembly 203 to pause operation and causes sealing drive assembly 201 to retract sealing assembly 202. Once sealing assembly 202 has retracted, sealing mechanism 2 restarts the sealing operation from step S101. After sealing assembly 202 retracts, trash such as tree branches can fall into the garbage bag through the opening due to repeated vibration.

[0069] In one embodiment of the present invention, the controller is further configured to perform the steps of:

[0070] Step S301: Determine whether the number of rollbacks reaches a preset number;

[0071] Step S302: Control the ultrasonic welding assembly 203 to stop working.

[0072] Specifically, when the garbage bag fails to be sealed due to some reasons (such as paper scraps, leaves or other debris stuck at the bag opening), the sealing mechanism 2 fails to seal the garbage bag even after repeating the sealing operation for a preset number of times. If the ultrasonic welding component 203 continues to work without removing the sealing obstacle, the garbage bag is likely to still not be sealed, which will also affect the service life of the ultrasonic welding component 203. Therefore, it is necessary to control the ultrasonic welding component 203 to stop working so that other measures can be taken to remove the sealing obstacle.

[0073] In one embodiment of the present invention, the preset position includes a first preset position and a second preset position, and the first preset position is closer to the ultrasonic welding assembly 203 than the second preset position;

[0074] The controller is further configured to perform the following steps:

[0075] Step S401: When the sealing assembly 202 moves to the first preset position, control

[0076] The sealing drive assembly 201 stops driving;

[0077] Step S402: Control the ultrasonic welding assembly 203 to start working; or

[0078] Step S403: When the sealing assembly 202 moves to the second preset position, control

[0079] The sealing drive assembly 201 maintains the driving state and controls the ultrasonic welding assembly 203 to start working;

[0080] Step S404: When the sealing assembly 202 moves to the first preset position, control

[0081] The sealing drive assembly 201 stops driving;

[0082] Step S405: Control the ultrasonic welding assembly 203 to keep working.

[0083] Specifically, the first preset position refers to the position where the sealing assembly 202 and the ultrasonic welding assembly 203 can cooperate to clamp the opening of the garbage bag. In one embodiment of the present invention (i.e., steps S401 and S402), after the sealing assembly 202 moves to the first preset position, it sends a signal to the controller, which immediately stops the sealing drive assembly 201, causing the sealing assembly 202 to stop moving, and starts the ultrasonic welding assembly 203 to vibrate and seal the garbage bag.

[0084] The second preset position refers to a position where the sealing assembly 202 is a certain distance away from the garbage bag, that is, the distance between the sealing assembly 202 and the ultrasonic welding assembly 203 when it is in the second preset position is greater than the distance between the sealing assembly 202 and the ultrasonic welding assembly 203 when it is in the first preset position. In another embodiment of the present invention (i.e., steps S403-S405), after the sealing assembly 202 moves to the second preset position, it sends a signal to the controller. The controller controls the sealing drive assembly 201 to maintain the driving state, the sealing assembly 202 continues to move forward, and simultaneously controls the ultrasonic welding assembly 203 to start working. The ultrasonic welding assembly 203 starts vibrating in advance to help shake the debris at the opening of the garbage bag to the bottom of the bag or to break the debris into pieces. When the sealing assembly 202 moves to the first preset position, it sends a signal to the controller again. At this time, the controller controls the sealing drive assembly 201 to immediately stop driving, the sealing assembly 202 stops moving forward, and the ultrasonic welding assembly 203 to maintain the vibration state so as to cooperate with the sealing assembly 202 to complete the sealing operation of the garbage bag.

[0085] Another embodiment of the present invention provides a cleaning robot, such as Figure 5-6 As shown, the cleaning robot includes: a chassis 8; a garbage bin 9, which is installed at the bottom of the chassis 8 and has a garbage bin entrance; a garbage bag box 10, which is located above the garbage bin 9, has garbage bags stored inside, and has a garbage bag box outlet; and

[0086] The garbage bag sealing device in the above embodiment is installed on the chassis 8 and is located between the garbage bin 9 and the garbage bag box 10. The through hole 101 of the garbage bag sealing device is connected to the garbage bin inlet and the garbage bag box outlet.

[0087] The cleaning robot also includes a side brush device 12, a roller brush device 13 and a dust filtering device 14. The side brush device 12 is arranged at the front of the lower part of the chassis 8, and the roller brush device 13 is arranged on the chassis 8 and is located between the side brush device 12 and the garbage bin 9; the garbage bin 9 is installed at the bottom of the chassis 8 and is provided with a garbage bin entrance, and the garbage bag box 10 is located above the garbage bin 9, and garbage bags are stored inside the garbage bag box 10; the garbage bag sealing device is installed on the chassis 8 and is located between the garbage bin 9 and the garbage bag box 10, and the through hole 101 of the garbage bag sealing device is connected to the garbage bin entrance and the garbage bag box outlet, and the dust filtering device 14 is arranged above the garbage bag box 10. When the cleaning robot is working, the side brush device 12 sweeps the garbage to the middle position below the chassis 8, and the roller brush in the roller brush device 13 rolls to send the garbage upward to the inside of the garbage bag in the garbage bin 9. Before the garbage enters the garbage bag, the dust filtering device 14 will absorb the dust on the garbage into the filter element inside it and shake the dust off the filter element into the garbage bin 9 through the flapping mechanism to prevent the dust from escaping from the cleaning robot and causing secondary pollution to the environment; when the garbage in the garbage bag reaches a certain depth, the folding mechanism 11 in the garbage bag sealing device will close the bag mouth of the garbage bag, and the sealing mechanism 2 will then weld, seal and cut the folded garbage bag.

[0088] The present invention provides a garbage bag sealing device and a cleaning robot, which are provided with a sealing mechanism, a detection mechanism and a controller. The sealing mechanism includes a sealing drive component, a sealing component and an ultrasonic welding component. The sealing drive component can drive the sealing component to move across the through hole toward the ultrasonic welding component; when the detection mechanism detects that the sealing component and the ultrasonic welding component are in contact, the controller controls the ultrasonic welding component to stop working, ensuring that the garbage bag can be completely welded, sealed and cut, avoiding the ultrasonic welding component and the sealing component from colliding head-on and making noise, and also helping to extend the service life of the garbage bag sealing device.

[0089] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention may be subjected to various simple modifications, including combining the specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as disclosed in the present invention and fall within the scope of protection of the present invention.

Claims

1. A garbage bag sealing device, characterized in that: include: A frame (1), wherein a through hole (101) is formed in the middle of the frame (1) for a garbage bag to pass through; A sealing mechanism (2), the sealing mechanism (2) being mounted on the frame (1), the sealing mechanism (2) comprising a sealing drive assembly (201), a sealing assembly (202), and an ultrasonic welding assembly (203), the sealing drive assembly (201) being used to drive the sealing assembly (202) to move across the through hole (101) toward the ultrasonic welding assembly (203); A detection mechanism (3) is used to send a contact signal when detecting that the sealing component (202) and the ultrasonic welding component (203) are in contact; A controller is configured to control the ultrasonic welding assembly (203) to stop working in response to the contact signal, and the controller is further configured to: determining that the ultrasonic welding component (203) has not received the contact signal when the sealing action has been performed for a first preset time; Controlling the ultrasonic welding component (203) to suspend operation; Controlling the sealing drive component (201) to drive the sealing component (202) to retract, so as to control the sealing mechanism to re-perform the sealing operation; Determining that the number of rollbacks reaches a preset number; The ultrasonic welding component (203) is controlled to stop working.

2. The garbage bag sealing device according to claim 1, characterized in that: The detection mechanism (3) comprises: a first electrode (301), the first electrode (301) being mounted on the ultrasonic welding assembly (203), the ultrasonic welding assembly (203) being insulated from the frame (1); a second electrode (302), the second electrode (302) being rotatably mounted on the sealing assembly (202), the sealing assembly (202) being insulated from the sealing drive assembly (201); a conductive circuit component, the conductive circuit component being electrically connected to the first electrode (301) and the second electrode (302); When the sealing component (202) and the ultrasonic welding component (203) are in contact, a closed loop is formed between the first electrode (301), the second electrode (302) and the conductive circuit component, and the contact signal is emitted.

3. The garbage bag sealing device according to claim 2, characterized in that: The sealing component (202) comprises: A sealing rod (2021), the sealing rod (2021) being connected to an output end of the sealing drive assembly (201); a pressing plate (2022), the pressing plate (2022) being arranged on an end surface of the sealing rod (2021) facing the ultrasonic welding assembly (203); A second insulating component (7), the second insulating component (7) is arranged between the sealing rod (2021) and the pressing plate (2022) or between the sealing rod (2021) and the output end of the sealing drive component (201).

4. The garbage bag sealing device according to claim 3, characterized in that: The second insulating component (7) comprises: a second insulating pad (701), the second insulating pad (701) being arranged between the pressing plate (2022) and the sealing rod (2021); a first fastener, the first fastener being passed through the pressing plate (2022) and the second insulating pad (701); A second fastener, the second fastener is passed through the sealing rod (2021) and the second insulating pad (701) and is offset from the first fastener, and the first fastener and the second fastener are made of metal.

5. The garbage bag sealing device according to claim 2, characterized in that: The ultrasonic welding assembly (203) comprises: A mounting seat (4), the mounting seat (4) being mounted on the frame (1); A flange (6), the flange (6) being mounted on the mounting seat (4); an ultrasonic vibrator (2031), the ultrasonic vibrator (2031) being mounted on the flange (6); a die head (2032), the die head (2032) being installed at the output end of the ultrasonic vibrator (2031) and being used for focusing the ultrasonic waves emitted by the ultrasonic vibrator (2031); A first insulating component (5), the first insulating component (5) is installed between the mounting seat (4) and the frame (1), or between the flange (6) and the mounting seat (4).

6. The garbage bag sealing device according to claim 5, characterized in that: The first insulating component (5) comprises: A first insulating pad (501) is sleeved on the outer peripheral side of the ultrasonic vibrator (2031) and is located between the flange (6) and the mounting seat (4); An insulating fastener (502) is provided through the flange (6), the first insulating pad (501) and the mounting seat (4) to fix the flange (6) on the mounting seat (4).

7. The garbage bag sealing device according to claim 1, characterized in that: The detection mechanism (3) comprises a sound sensor for detecting the collision sound between the ultrasonic welding component (203) and the sealing component (202); The sound sensor is configured to send the contact signal when detecting sound within a preset frequency range and a preset amplitude range.

8. The garbage bag sealing device according to claim 1, characterized in that: The frame (1) has a side plate (204) located on one side of the ultrasonic welding component (203); The detection mechanism (3) comprises a distance sensor for detecting the moving distance between the sealing component (202) and the side plate (204), and the distance sensor is configured to send the contact signal when the detected moving distance reaches a preset distance.

9. The garbage bag sealing device according to any one of claims 1 to 8, characterized in that: The ultrasonic welding component (203) is configured to stop working after continuously working for a first preset time period; or The controller is further configured to control the ultrasonic welding component (203) to stop working if the contact signal is not received within the first preset time period.

10. The garbage bag sealing device according to any one of claims 1 to 8, characterized in that: The controller is further configured to control the sealing mechanism to perform a sealing operation: Controlling the sealing drive assembly (201) to drive the sealing assembly (202) to move in a direction close to the ultrasonic welding assembly (203); When the sealing component (202) moves to a preset position close to the ultrasonic welding component (203), the ultrasonic welding component (203) is controlled to start working.

11. The garbage bag sealing device according to claim 10, characterized in that: The preset positions include a first preset position and a second preset position, the first preset position being closer to the ultrasonic welding assembly (203) than the second preset position; The controller is further configured to: When the sealing assembly (202) moves to the first preset position, control The sealing drive component (201) stops driving; Controlling the ultrasonic welding component (203) to start working; or When the sealing assembly (202) moves to the second preset position, control The sealing drive component (201) maintains a driving state and controls the ultrasonic welding component (203) Start working; When the sealing assembly (202) moves to the first preset position, control The sealing drive component (201) stops driving, and controls the ultrasonic welding component (203) to keep working.

12. A cleaning robot, characterized in that: include: chassis (8); A garbage bin (9), the garbage bin (9) being mounted on the bottom of the chassis (8), and the garbage bin (9) being provided with a garbage bin entrance; A garbage bag box (10), the garbage bag box (10) being located above the garbage bin (9), the garbage bag box (10) containing garbage bags, and the garbage bag box (10) being provided with a garbage bag box outlet; as well as According to any one of claims 1 to 11, the garbage bag sealing device is mounted on the chassis (8) and is located between the garbage bin (9) and the garbage bag box (10), and the through hole (101) of the garbage bag sealing device is connected to the garbage bin inlet and the garbage bag box outlet.

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