Dust collection device and cleaning robot system

Abstract

The present application discloses a dust collecting device and a cleaning robot system, wherein the dust collecting device includes a base station body and a docking interface structure arranged outside the base station body, the base station body is provided with a dust collecting chamber, a dust inlet pipe and a fan assembly, one end of the dust inlet pipe is connected to the dust collecting chamber, the fan assembly is pneumatically connected to the dust collecting chamber, the fan assembly is used to generate negative pressure in the dust collecting chamber, so as to suck garbage into the dust collecting chamber through the dust inlet pipe under the action of negative pressure, the docking interface structure is provided with a fixed end and a docking end arranged relative to the fixed end, and a flexible channel structure extending from the fixed end to the docking end, the fixed end is fixedly installed at one end of the dust inlet channel away from the dust collecting chamber, and the docking end is used to dock with the dust exhaust port of the cleaning robot. The above device and system can solve the technical problem that the docking fault tolerance rate of the original dust collecting device's docking interface structure is low, which leads to a high failure rate of docking between the cleaning robot and the dust collecting device.

Description

Technical Field

[0001] The present application relates to the technical field of dust collecting devices, and in particular to a dust collecting device and a cleaning robot system. Background Art

[0002] At present, general cleaning robots are equipped with dust collection devices, which can be used to recycle dust and debris collected by the cleaning robots. In the prior art, the cleaning robot is provided with a dust discharge port, and the dust collection device is provided with a docking interface structure. Under the guidance of the sensor system, the cleaning robot can find the dust collection device and dock with the dust collection device in a specific direction. The docking interface structure is used to dock and communicate with the dust discharge port to establish a dust conveying channel connecting the dust collection device and the cleaning robot. Among them, the dust collection device is generally provided with an annular sealing ring as the docking interface structure. The annular sealing ring is used to seal the gap between the cleaning robot and the dust collection device. The cleaning robot needs to move to a specific position to squeeze the annular sealing ring with greater force to ensure the sealing performance. The docking fault tolerance rate of the above-mentioned docking interface structure is low. On the one hand, the docking interface structure can only be close to the cleaning robot in a specific position. If the cleaning robot does not move to the specific position accurately, it is easy to cause the sealing performance to decrease and the dust collection to be abnormal. On the other hand, the cleaning robot may slide backward during the dust collection process, further causing the cleaning robot to lose contact with the annular sealing ring, resulting in dust collection failure. Summary of the Invention

[0003] The main purpose of this application is to provide a dust collection device and a cleaning robot system, aiming to solve the technical problem that the docking fault tolerance rate of the docking interface structure of the original dust collection device is low, resulting in a high failure rate in docking between the cleaning robot and the dust collection device.

[0004] To achieve the above purpose, the present application proposes a dust collecting device.

[0005] The dust collecting device is used in conjunction with a cleaning robot, and the dust collecting device includes a base station body and a docking interface structure arranged on the outside of the base station body, the base station body is provided with a dust collecting chamber, a dust inlet pipe and a fan assembly, one end of the dust inlet pipe is connected to the dust collecting chamber, and the fan assembly is pneumatically connected to the dust collecting chamber, and the fan assembly is used to generate negative pressure in the dust collecting chamber so as to suck garbage into the dust collecting chamber through the dust inlet pipe under the action of negative pressure, the docking interface structure is provided with a fixed end and a docking end arranged relative to the fixed end, and a flexible channel structure extending from the fixed end to the docking end, the fixed end is fixedly installed on one end of the dust inlet channel away from the dust collecting chamber, and the docking end is used to dock with the dust exhaust port of the cleaning robot.

[0006] Optionally, the flexible channel structure includes a first segment and a second segment connected to the first segment, the first segment extends from the fixed end toward the docking end, and the second segment extends from the docking end toward the fixed end, and both the first segment and the second segment can be elastically stretched and deformed in the extension direction, and the average elastic modulus of the first segment is greater than the average elastic modulus of the second segment.

[0007] Optionally, the first segment is an outward-expanding cylindrical structure, the small end of the first segment is connected to the fixed end, and the large end of the first segment is connected to the second segment, so that the first segment can bend and deform as the docking end moves toward the fixed end.

[0008] Optionally, the first segment is a gradual structure, the outer diameter of the first segment increases gradually from the fixed end to the butt end, and the wall thickness of the first segment decreases gradually from the fixed end to the butt end.

[0009] Optionally, the second segment is a folded cylindrical structure, the large end of the second segment is connected to the large end of the first segment, and the small end of the second segment is connected to the docking end, so that the second segment can move from the docking end toward the fixed end and fold and deform relative to the first segment.

[0010] Optionally, the docking end is provided with an annular reinforcement rib, which is arranged around the end of the second segment away from the first segment. The annular reinforcement rib has an opening connected to the flexible channel structure and an annular mating surface arranged around the opening. The annular mating surface is used to seal and fit around the dust exhaust port of the cleaning robot.

[0011] Optionally, the average tube wall thickness of the first segment is greater than the average tube wall thickness of the second segment.

[0012] Optionally, the flexible channel structure includes a first sub-channel and a second sub-channel connected to the first sub-channel, the first sub-channel is arranged in the first segment, the first sub-channel passes through the fixed end face to form a first opening, the second sub-channel is arranged in the second segment, the second sub-channel passes through the docking end face to form a second opening, wherein the cross-sectional area of ​​the connection between the second sub-channel and the first sub-channel is greater than the opening area of ​​the first opening and the opening area of ​​the second opening.

[0013] Optionally, the first sub-channel has a first conical surface, the second sub-channel has a second conical surface, the large end of the first conical surface and the large end of the second conical surface are connected to each other, the small end of the first conical surface forms the first opening, and the small end of the second sub-channel forms the second opening.

[0014] Optionally, the dust collection device also includes a charging electrode structure arranged on the outside of the base station body, and the charging electrode structure and the docking interface structure are at least partially protruding and arranged on the same side of the base station body, and the maximum protruding distance of the docking end of the docking interface structure exceeds the maximum protruding distance of the charging electrode.

[0015] Optionally, the pair of charging electrodes can be telescopically arranged relative to the side wall of the base station body. When the cleaning robot docks with the pair of charging electrodes, the pair of charging electrodes shrink relative to the side wall under the thrust of the cleaning robot; when the cleaning robot withdraws the thrust on the pair of charging electrodes, the pair of charging electrodes extend relative to the side wall under the action of the elastic member.

[0016] Optionally, the flexible channel structure is an elastic and foldable structure, which can be folded or stretched in the relative directions between the fixed end and the docking end. The docking end is pushed by the cleaning robot to move toward the fixed end and drive the flexible channel structure to fold.

[0017] The present application also provides a cleaning robot system, which includes a cleaning robot and the dust collection device as described above.

[0018] The technical solution of the present application is through a dust collecting device and a cleaning robot system, wherein the docking interface structure is provided with a fixed end and a docking end arranged relative to the fixed end, and a flexible channel structure extending from the fixed end to the docking end, wherein the flexible channel structure can adapt to the change of the docking position of the cleaning robot and deform, thereby improving the docking fault tolerance of the docking interface structure. On the one hand, the flexible channel structure can be deformed under the push of the cleaning robot, and the reverse force of the docking end on the cleaning robot gradually increases from small to large, so that the cleaning robot is subjected to little resistance interference in the initial stage of the docking process between the cleaning robot and the dust collecting device, which is convenient for real-time adjustment to the correct docking direction, and convenient for the cleaning robot to move to the accurate position. At the same time, even if the cleaning robot does not move to the accurate position and deviates within a certain error range in the forward direction, the docking end can still be tightly docked with the cleaning robot under the action of the flexible channel structure; on the other hand, even if the position of the cleaning robot changes, the docking end can always remain close to the cleaning robot, which can avoid the following situation: the cleaning robot slides backward during the dust collection process, further causing the cleaning robot to lose contact with the dust collecting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0020] Figure 1 This is a schematic structural diagram of a cleaning robot system provided in an embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of the front structure of the dust collecting device provided in an embodiment of the present application;

[0022] Figure 3 is a schematic cross-sectional structural diagram of a dust collecting device provided in an embodiment of the present application;

[0023] Figure 4 yes Figure 3 A in the middle is an enlarged schematic diagram;

[0024] Figure 5 It is a schematic cross-sectional structural diagram of the docking interface structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0027] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0028] See also Figure 1 An embodiment of the present application provides a cleaning robot system 1000 , which includes a cleaning robot 100 and a dust collection device 200 .

[0029] See also Figures 2 to 5 The dust collecting device 200 is used to cooperate with the cleaning robot 100. The dust collecting device 200 includes a base station body 10 and a docking interface structure 20 arranged on the outside of the base station body 10. The base station body 10 is provided with a dust collecting chamber 11, a dust inlet pipe 12 and a fan assembly 13. One end of the dust inlet pipe 12 is connected to the dust collecting chamber 11, and the fan assembly 13 is pneumatically connected to the dust collecting chamber 11. The fan assembly 13 is used to generate negative pressure in the dust collecting chamber 11, so as to suck garbage into the dust collecting chamber 11 through the dust inlet pipe 12 under the action of negative pressure. The docking interface structure 20 is provided with a fixed end 21 and a docking end 22 arranged opposite to the fixed end 21, and a flexible channel structure 23 extending from the fixed end 21 to the docking end 22. The fixed end 21 is fixedly installed at the end of the dust inlet channel away from the dust collecting chamber 11, and the docking end 22 is used to dock with the dust exhaust port 30 of the cleaning robot 100.

[0030] The docking interface structure 20 is provided with a fixed end 21 and a docking end 22 arranged relative to the fixed end 21, and a flexible channel structure 23 extending from the fixed end 21 to the docking end 22, wherein the flexible channel structure 23 can adapt to the change of the docking position of the cleaning robot and deform, thereby improving the docking fault tolerance of the docking interface structure 20. On the one hand, the flexible channel structure 23 can be deformed under the push of the cleaning robot 100, and the reverse force of the docking end 22 on the cleaning robot 100 gradually increases from small to large, thereby reducing the resistance in the initial stage of the docking process between the cleaning robot 100 and the dust collecting device 200. The force interference is small, which makes it convenient to adjust to the correct docking direction in real time and facilitate the cleaning robot 100 to move to the exact position. At the same time, even if the cleaning robot 100 does not move to the exact position and deviates within a certain error range in the forward direction, the docking end 22 can still be tightly docked with the cleaning robot 100 under the action of the flexible channel structure 23; on the other hand, even if the position of the cleaning robot 100 changes, the docking end 22 can always remain close to the cleaning robot 100, which can avoid the following situation: the cleaning robot 100 slides backward during the dust collection process, further causing the cleaning robot 100 to lose contact with the dust collection device 200.

[0031] In some embodiments, the flexible channel structure 23 is an elastic and foldable structure, and the flexible channel structure 23 can be folded or stretched in the relative directions between the fixed end 21 and the docking end 22. The docking end 22 is pushed by the cleaning robot 100 to move toward the fixed end 21 and drive the flexible channel structure 23 to fold.

[0032] The docking interface structure 20 is provided with a fixed end 21 and a docking end 22 arranged relative to the fixed end 21, and a flexible channel structure 23 extending from the fixed end 21 to the docking end 22, wherein the flexible channel structure 23 is an elastic foldable structure, and the flexible channel structure 23 can be folded or stretched in the relative direction between the fixed end 21 and the docking end 22, that is, the docking fault tolerance of the docking interface structure 20 is improved through a specially designed folding structure. On the one hand, the flexible channel structure 23 can be folded under the push of the cleaning robot 100, and the reverse force of the docking end 22 on the cleaning robot 100 gradually increases from small to large, so that the cleaning robot 100 and the dust collecting device 200 can be docked together. In the initial stage, the resistance interference is small, which makes it convenient to adjust to the correct docking direction in real time, and to facilitate the cleaning robot 100 to move to the accurate position. At the same time, even if the cleaning robot 100 does not move to the accurate position and deviates from the forward direction within a certain error range, the docking end 22 can still be tightly docked with the cleaning robot 100 under the elastic force of the flexible channel structure 23; on the other hand, since the flexible channel structure 23 is an elastic and foldable structure, even if the position of the cleaning robot 100 changes, the docking end 22 can always remain close to the cleaning robot 100, and the following situation can be avoided: the cleaning robot 100 slides backward during the dust collection process, further causing the cleaning robot 100 to lose contact with the dust collection device 200.

[0033] It is understandable that the cleaning robot 100 can be any one of a sweeping robot, a sweeping and mopping robot, a driving cleaning robot 100, a handheld cleaning robot 100, a floor scrubbing robot or a floor mopping robot.

[0034] The cleaning robot 100 can be designed to autonomously plan a path on the ground, or can be designed to move on the ground in response to remote control commands. The cleaning robot 100 can navigate by using one or a combination of a gyroscope, an accelerometer, a camera, a GPS positioning system, and / or a laser radar. For example, the cleaning robot 100 can be provided with a laser radar protruding from the top surface, and the laser radar can be used to scan the surrounding environment and collect obstacle data. An environmental map can be established based on the obstacle data, and real-time positioning can be performed based on the environmental map to facilitate planning of the cleaning path.

[0035] It can be understood that the cleaning robot 100 can autonomously navigate to the dust collection device 200, so that the cleaning robot 100 and the dust collection device 200 are docked, and the dust exhaust port 30 of the cleaning robot 100 is docked and connected with the dust collection port of the dust collection device 200, so that the dust collection device 200 can suck the garbage in the cleaning robot 100 through the above-mentioned dust collection port and dust exhaust port 30, thereby realizing the recycling of the garbage in the cleaning robot 100 to the dust collection device 200.

[0036] In this embodiment, the base station body 10 is the main part of the dust collection device 200. The base station body 10 is provided with an opening and a flip cover covering the opening on one side of the dust collection chamber 11. The user can open the flip cover to install a dust bag in the dust collection chamber 11. The bag opening of the dust bag is connected to the dust inlet duct 12. The dust bag can filter the airflow entering the dust collection chamber 11 from the dust inlet duct 12, so as to collect dust and debris in the airflow into the dust bag. When a large amount of dust and debris is collected in the dust bag, the user can open the flip cover, remove the dust bag, and replace it with a new one.

[0037] In other embodiments, the base station body 10 may not be provided with a flip cover structure, and the base station body 10 may also be provided with a drawer structure in the dust collecting chamber 11. The user opens the drawer structure and can install the dust bag on the drawer structure, and then return the drawer structure to the dust collecting chamber 11 so that the bag opening of the dust bag is connected to the dust inlet pipe 12; similarly, the user opens the drawer structure and can remove the dust bag from the drawer structure.

[0038] In other embodiments, a dust bag may not be provided in the dust collection chamber 11. A detachable dust collection container may be provided on the dust collection body, the dust collection chamber 11 being formed inside the dust collection container, and a filter being provided at the connection between the dust collection chamber 11 and the fan assembly 13, so that garbage and debris in the air flow can be intercepted by the filter within the dust collection chamber 11 of the dust collection container.

[0039] In this embodiment, the docking interface structure 20 is roughly located at the bottom position of the base station body 10 to facilitate the cleaning robot 100 to dock with the docking interface structure 20 at a lower position. The base station body 10 has a side wall, and the side wall extends along the height direction of the base station body 10. The docking interface structure 20 is at least partially protruded on the side wall of the base station body 10, that is, the relative direction of the docking end 22 and the fixed end 21 is roughly perpendicular to the height direction of the base station body 10, the relative direction of the docking end 22 and the fixed end 21 is roughly perpendicular to the side wall of the base station body 10, the extension direction of the flexible channel structure 23 is roughly perpendicular to the side wall of the base station body 10, and the folding direction or stretching direction of the flexible channel structure 23 is perpendicular to the side wall of the base station body 10.

[0040] In this embodiment, the docking end 22, the flexible channel structure 23, and the fixed end 21 are integrally formed. The flexible channel structure 23 is an elastic, foldable structure and can be made of rubber, silicone, thermoplastic elastomer, or other elastic composite materials. The docking end 22, the fixed end 21, and the flexible channel structure 23 can be made of the same material or different materials. The docking end 22, the fixed end 21, and the flexible channel structure 23 can be formed by integral injection molding, compression molding, or insert molding.

[0041] The end of the dust inlet duct 12 away from the dust collecting chamber 11 is located at the bottom of the base station body 10. The fixed end 21 of the docking interface structure 20 is fixedly mounted on the end of the dust inlet duct 12 away from the dust collecting chamber 11. The fixed end 21 can be fixedly connected to the dust inlet duct 12 in various ways. For example, the fixed end 21 can be fixedly mounted on the end of the dust inlet duct 12 by screw connection, gluing, riveting, or snap connection. Those skilled in the art can make their own settings according to actual needs.

[0042] See also Figure 1 and Figure 2 In some embodiments, the dust collection device 200 also includes a charging electrode structure 40 arranged on the outside of the base station body 10, and the charging electrode structure 40 and the docking interface structure 20 are at least partially protruding and arranged on the same side of the base station body 10, and the maximum protruding distance of the docking end 22 of the docking interface structure 20 exceeds the maximum protruding distance of the charging electrode 41.

[0043] The charging electrode structure 40 includes a pair of charging electrodes 41, which are protruding from the side walls of the base station body 10. The pair of charging electrodes 41 are used to dock with a pair of metal electrodes of the cleaning robot 100 to charge the cleaning robot 100. The pair of charging electrodes 41 can be retracted relative to the side walls of the base station body 10. When the cleaning robot 100 docks with the pair of charging electrodes 41, the pair of charging electrodes 41 retract relative to the side walls under the thrust of the cleaning robot 100. When the cleaning robot 100 removes the thrust on the pair of charging electrodes 41, the pair of charging electrodes 41 extend relative to the side walls under the action of the elastic member.

[0044] Since the charging electrode structure 40 and the docking interface structure 20 are at least partially protruded and arranged on the same side of the base station body 10, and the maximum protruding distance of the docking end 22 of the docking interface structure 20 exceeds the maximum protruding distance of the charging electrode 41, that is, the docking interface structure 20 has a larger rebound distance, the cleaning robot 100 can preferentially dock with the docking end 22 of the docking interface structure 20 before docking with the charging electrode structure 40, so that the cleaning robot 100 can push the docking end 22 of the docking interface structure 20 toward the fixed end 21 in advance, so that when the cleaning robot 100 docks with the charging electrode structure 40, the flexible channel structure 23 has been compressed (folded) a certain distance; the pair of charging electrode 41 During the process of contraction relative to the side wall under the thrust of the cleaning robot 100, the cleaning robot 100 can further push the docking end 22 of the docking interface structure 20 toward the fixed end 21, thereby pushing the flexible channel structure 23 to further compress (fold) a certain distance, thereby achieving the flexible channel structure 23 to be compressed (folded) a sufficient distance, so that the ability of the docking interface structure 20 to resist deformation is enhanced, which is conducive to ensuring the close contact between the docking end 22 and the cleaning robot 100, thereby ensuring the sealing performance, and preventing the vacuum negative pressure generated by the dust collection device 200 at the docking interface structure 20 at the docking end 22 from being too large, causing the docking end 22 to move toward the fixed end 21 under the action of negative pressure and lose contact with the cleaning robot 100.

[0045] In other embodiments, the charging electrode structure 40 and the docking interface structure 20 are at least partially protruded and arranged at different positions on the base station body 10. For example, the charging electrode structure 40 is at least partially protruded and arranged on the bottom plate of the base station body 10, and the docking interface structure 20 is at least partially protruded and arranged on the side panel of the base station body 10.

[0046] See also Figures 3 to 5In some embodiments, the flexible channel structure 23 includes a first segment 231 and a second segment 232 connected to the first segment 231, the first segment 231 extends from the fixed end 21 toward the docking end 22, and the second segment 232 extends from the docking end 22 toward the fixed end 21, the first segment 231 and the second segment 232 are both elastically stretchable and deformable in the extension direction, and the average elastic modulus of the first segment 231 is greater than the average elastic modulus of the second segment 232.

[0047] The first segment 231 and the second segment 232 are both cylindrical. The cross-sectional shape of the first segment 231 can be any shape such as rectangular, circular, elliptical, or irregular, and the cross-sectional shape of the second segment 232 can be any shape such as rectangular, circular, elliptical, or irregular, and those skilled in the art can adjust the cross-sectional shape according to actual needs.

[0048] The extension direction of the first segment 231 is roughly perpendicular to the side wall of the base station body 10, the extension direction of the second segment 232 is roughly perpendicular to the side wall of the base station body 10, and the extension center line of the first segment 231 and the extension center line of the second segment 232 are arranged to coincide with each other.

[0049] Among them, the first segment 231 and the second segment 232 are both elastically deformable in the extension direction, and the average elastic modulus of the first segment 231 is greater than the average elastic modulus of the second segment 232, that is, in the initial stage of the cleaning robot 100 pushing the docking interface structure 20, since the average elastic modulus of the second segment 232 is relatively small, the second segment 232 produces obvious compression deformation in response to the thrust of the cleaning robot 100, and the elastic reaction force generated by the compression deformation of the second segment 232 is relatively small, so that the cleaning robot 100 is subject to little resistance interference in the initial stage of the docking process with the dust collecting device 200, which is convenient for real-time adjustment to the correct docking direction, so that the cleaning robot 100 can dock correctly direction, accurately docking with the charging electrode structure 40 and the docking interface structure 20; in the further stage of the cleaning robot 100 pushing the docking interface structure 20, the second segment 232 has been compressed and deformed into place, and the first segment 231 produces obvious compression deformation in response to the thrust of the cleaning robot 100. Since the average elastic modulus of the first segment 231 is relatively large, the elastic reaction force generated by the compression deformation of the first segment 231 is relatively large, so that the docking end 22 is tightly fitted with the surrounding side of the dust exhaust port 30 of the cleaning robot 100, preventing the vacuum negative pressure generated by the dust collecting device 200 at the docking interface structure 20 at the docking end 22 from being too large, causing the docking end 22 to move toward the fixed end 21 under the action of the negative pressure and lose contact with the cleaning robot 100.

[0050] In some embodiments, the base station body 10 can be provided with a carrying platform, which is provided with a pair of wheel grooves. The carrying platform is used to carry the cleaning robot 100, and the pair of wheel grooves of the carrying platform are used to position and cooperate with a pair of wheels of the cleaning robot 100, thereby preventing the cleaning robot 100 from sliding backward under excessive elastic force, and preventing the cleaning robot 100 from losing contact with the docking end 22.

[0051] See also Figures 3 to 5 In some embodiments, the first segment 231 is an outward-flared cylindrical structure, the small end of the first segment 231 is connected to the fixed end 21, and the large end of the first segment 231 is connected to the second segment 232, so that the first segment 231 can bend and deform as the docking end 22 moves toward the fixed end 21, so that the first segment 231 can generate a greater elastic force within a shorter contraction distance, so that the docking end 22 fits tightly with the side of the dust exhaust port 30 of the cleaning robot 100, which is conducive to compressing the overall length and volume of the docking interface structure 20.

[0052] Among them, the first segment 231 can bend and deform as the docking end 22 moves toward the fixed end 21, that is, the first segment 231 can be folded outward under the thrust of the cleaning robot 100, so that the first segment 231 is bent and deformed, which is beneficial to enhance the ability of the first segment 231 and the second segment 232 to resist the vacuum negative pressure in the flexible channel structure 23, and prevent the first segment 231 and the second segment 232 from collapsing and deforming inward under the action of the internal and external negative pressure difference, causing the docking end 22 to fail to fit tightly with the dust outlet 30 of the cleaning robot 100.

[0053] See also Figures 3 to 5 In some embodiments, the first segment 231 is a gradient structure, the outer diameter of the first segment 231 increases from the fixed end 21 to the docking end 22, and the wall thickness of the first segment 231 decreases from the fixed end 21 to the docking end 22.

[0054] The cross-sectional shape of the first segment 231 can be any shape such as rectangular, circular, elliptical or irregular, and those skilled in the art can set it according to actual needs.

[0055] The outer diameter of the first segment 231 increases gradually in the direction approaching the butt end 22. The outer diameter of the first segment 231 increases gradually in the direction from the fixed end 21 to the butt end 22, that is, the transverse dimension of the cross section of the first segment 231 increases gradually in the direction from the fixed end 21 to the butt end 22, and the longitudinal dimension of the cross section of the first segment 231 increases gradually in the direction from the fixed end 21 to the butt end 22.

[0056] The wall thickness of the first segment 231 increases in the direction approaching the docking end 22. The wall thickness of the first segment 231 decreases in the direction from the fixed end 21 to the docking end 22. In the further stage of the cleaning robot 100 pushing the docking interface structure 20, the second segment 232 has been compressed and deformed into place, and the first segment 231 gradually produces compression deformation in response to the thrust of the cleaning robot 100. As the distance the cleaning robot 100 advances forward increases, the first segment 231 near the fixed end 21 can produce bending deformation and can generate a greater elastic reaction force, which is conducive to enhancing the ability of the first segment 231 and the second segment 232 to resist the vacuum negative pressure in the flexible channel structure 23, and prevent the first segment 231 and the second segment 232 from collapsing and deforming inwardly under the action of the internal and external negative pressure difference, causing the docking end 22 to fail to fit tightly with the dust outlet 30 of the cleaning robot 100.

[0057] See also Figures 3 to 5 In some embodiments, the second segment 232 is a collapsed cylindrical structure, with the large end of the second segment 232 connected to the large end of the first segment 231, and the small end of the second segment 232 connected to the docking end 22, so that the second segment 232 can be folded and deformed relative to the first segment 231 as the docking end 22 moves toward the fixed end 21. The average wall thickness of the first segment 231 is greater than that of the second segment 232, resulting in a smaller average elastic modulus of the second segment 232 and a relatively small elastic reaction force generated by the compression deformation of the second segment 232. This reduces the resistance interference encountered by the cleaning robot 100 during the initial docking process with the dust collection device 200, facilitates real-time adjustment to the correct docking direction, and allows the cleaning robot 100 to accurately dock with the charging electrode structure 40 and the docking interface structure 20 in the correct docking direction.

[0058] See also Figures 3 to 5In some embodiments, the docking end 22 is provided with an annular reinforcement rib 221, and the annular reinforcement rib 221 is arranged around the end of the second segment 232 away from the first segment 231. The annular reinforcement rib 221 has an opening 222 connected to the flexible channel structure 23 and an annular mating surface 223 arranged around the opening 222. The annular mating surface 223 is used to seal and fit around the dust exhaust port 30 of the cleaning robot 100.

[0059] Among them, the annular reinforcement rib 221 plays a reinforcing role on the peripheral side of the end of the second segment 232, which is conducive to enhancing the ability of the second segment 232 to resist the vacuum negative pressure in the flexible channel structure 23, and preventing the second segment 232 from collapsing and deforming inwardly under the action of the internal and external negative pressure difference, causing the docking end 22 to fail to fit tightly with the peripheral side of the dust outlet 30 of the cleaning robot 100. On the other hand, when the annular reinforcement rib 221 is sealed and fitted with the peripheral side of the dust outlet 30 of the cleaning robot 100 through the annular mating surface 223, the annular reinforcement rib 221 is face-to-face fitted with the side of the cleaning robot 100, which can support the docking end 22 of the docking interface structure 20, which is conducive to enhancing the ability of the second segment 232 to resist the vacuum negative pressure in the flexible channel structure 23, and preventing the second segment 232 from collapsing and deforming inwardly under the action of the internal and external negative pressure difference, causing the docking end 22 to fail to fit tightly with the peripheral side of the dust outlet 30 of the cleaning robot 100.

[0060] See also Figures 3 to 5 In some embodiments, the flexible channel structure 23 includes a first sub-channel 233 and a second sub-channel 234 connected to the first sub-channel 233, the first sub-channel 233 is arranged in the first segment 231, the first sub-channel 233 passes through the end surface of the fixed end 21 to form a first opening 235, the second sub-channel 234 is arranged in the second segment 232, the second sub-channel 234 passes through the end surface of the docking end 22 to form a second opening 236, wherein the cross-sectional area of ​​the connection between the second sub-channel 234 and the first sub-channel 233 is greater than the opening area of ​​the first opening 235 and the opening area of ​​the second opening 236, so that a sinking space is formed at the connection between the second sub-channel 234 and the first sub-channel 233, and the dust and debris remaining in the docking interface structure 20 can be collected through the sinking space to prevent the dust and debris remaining in the docking interface structure 20 from leaking to the outside after the cleaning robot 100 is out of contact with the dust collecting device 200.

[0061] See also Figures 3 to 5Furthermore, the first sub-channel 233 has a first conical surface, the second sub-channel 234 has a second conical surface, the large end of the first conical surface and the large end of the second conical surface are connected to each other, the small end of the first conical surface is formed with the first opening 235, and the small end of the second sub-channel 234 is formed with the second opening 236.

[0062] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application description and drawings under the inventive concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A dust collecting device, which is used in conjunction with a cleaning robot, characterized in that: The dust collecting device includes a base station body and a docking port structure arranged on the outside of the base station body, the base station body is provided with a dust collecting chamber, a dust inlet pipe and a fan assembly, one end of the dust inlet pipe is connected to the dust collecting chamber, the fan assembly is pneumatically connected to the dust collecting chamber, the fan assembly is used to generate negative pressure in the dust collecting chamber, so as to suck garbage into the dust collecting chamber through the dust inlet pipe under the action of the negative pressure, the docking port structure is provided with a fixed end and a docking end arranged opposite to the fixed end, and a flexible channel structure extending from the fixed end to the docking end, the fixed end is fixedly mounted on the end of the dust inlet channel away from the dust collecting chamber, and the docking end is used to dock with the dust exhaust port of the cleaning robot; The flexible channel structure includes a first segment and a second segment connected to the first segment, the first segment extends from the fixed end toward the docking end, and the second segment extends from the docking end toward the fixed end. Both the first segment and the second segment are elastically deformable in the extension direction, and the average elastic modulus of the first segment is greater than the average elastic modulus of the second segment. The extension centerline of the first segment is arranged to coincide with the extension centerline of the second segment.

2. The dust collecting device according to claim 1, wherein The first segment is an outwardly flared cylindrical structure, the small end of the first segment is connected to the fixed end, and the large end of the first segment is connected to the second segment, so that the first segment can bend and deform as the docking end moves toward the fixed end.

3. The dust collecting device according to claim 2, wherein: The first segment is a gradual structure, the outer diameter of the first segment increases from the fixed end to the butt end, and the wall thickness of the first segment decreases from the fixed end to the butt end.

4. The dust collecting device according to claim 2, wherein: The second segment is a folded cylindrical structure, the large end of the second segment is connected to the large end of the first segment, and the small end of the second segment is connected to the docking end, so that the second segment can move from the docking end toward the fixed end and fold and deform relative to the first segment.

5. The dust collecting device according to claim 4, wherein: The docking end is provided with an annular reinforcement rib, which is arranged around the end of the second segment away from the first segment. The annular reinforcement rib has an opening connected to the flexible channel structure and an annular mating surface arranged around the opening. The annular mating surface is used to seal and fit around the dust exhaust port of the cleaning robot.

6. The dust collecting device according to claim 1, wherein: The average tube wall thickness of the first segment is greater than the average tube wall thickness of the second segment.

7. The dust collecting device according to claim 1, wherein: The flexible channel structure includes a first sub-channel and a second sub-channel connected to the first sub-channel, the first sub-channel is arranged in the first segment, the first sub-channel passes through the fixed end face to form a first opening, the second sub-channel is arranged in the second segment, the second sub-channel passes through the docking end face to form a second opening, wherein the cross-sectional area of ​​the connection between the second sub-channel and the first sub-channel is greater than the opening area of ​​the first opening and the opening area of ​​the second opening.

8. The dust collecting device according to claim 7, wherein: The first sub-channel has a first conical surface, the second sub-channel has a second conical surface, the large end of the first conical surface and the large end of the second conical surface are connected to each other, the small end of the first conical surface forms the first opening, and the small end of the second sub-channel forms the second opening.

9. The dust collecting device according to any one of claims 1 to 8, characterized in that: The dust collection device also includes a charging electrode structure arranged on the outside of the base station body, and the charging electrode structure and the docking interface structure are at least partially protruding and arranged on the same side of the base station body, and the maximum protruding distance of the docking end of the docking interface structure exceeds the maximum protruding distance of the charging electrode.

10. The dust collecting device according to claim 9, wherein: A pair of charging electrodes can be telescopically arranged relative to the side wall of the base station body. When the cleaning robot docks with the pair of charging electrodes, the pair of charging electrodes shrink relative to the side wall under the thrust of the cleaning robot; when the cleaning robot withdraws the thrust on the pair of charging electrodes, the pair of charging electrodes extend relative to the side wall under the action of the elastic member.

11. The dust collecting device according to any one of claims 1 to 8, characterized in that: The flexible channel structure is an elastic and foldable structure, which can be folded or stretched in the relative directions between the fixed end and the docking end. The docking end is pushed by the cleaning robot to move toward the fixed end and drive the flexible channel structure to fold.

12. A cleaning robot system, characterized in that: The cleaning robot system includes a cleaning robot and the dust collection device according to any one of claims 1 to 11.

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