Cleaning robot and cleaning robot system

Abstract

The utility model provides a cleaning robot and a cleaning robot system, the cleaning robot comprises a main body, the main body is provided with a dust box assembly, and the dust box assembly comprises a dust box main body, a dust inlet and an air outlet; the first driving module is connected to the dust box main body; a bracket is arranged in the dust box main body; the first filtering part is connected to the dust box main body through the bracket; the first driving module is configured to act on the bracket, so that the bracket and the first filtering part move between a first position and a second position; at the first position, the first filtering part stops close to the center of the dust box body; the first filtering part stops away from the center of the dust box body relative to the first position; when the first filtering part moves from the second position to the first position and stops at the first position, dust attached to the first filtering part at least falls into the dust box body under the inertia effect. According to the cleaning robot, the dust box assembly does not need to be manually cleaned, frequent disassembly and assembly of the dust box assembly are avoided, and the cleaning capacity of the cleaning robot is not affected.

Description

Technical Field

[0001] The present disclosure relates to the technical field of electric tools, and in particular to a dust box assembly and a cleaning robot system. Background Art

[0002] Self-propelled robots can automatically identify the working area and work within the working area; taking the self-propelled sweeping robot as an example, the sweeping robot can automatically complete the cleaning work on the ground.

[0003] Existing robot vacuums are equipped with a dust box assembly, which includes a filter frame and a HEPA (High Efficiency Particulate Air Filter) mounted on the filter frame. After the robot vacuum is operating, a large amount of debris, such as lint, hair, and dust, may remain on the HEPA. This can clog the HEPA, significantly reducing the air intake of the fan and, in turn, the fan's suction power. This results in a "failure to suck up debris" phenomenon, affecting the robot's cleaning performance.

[0004] To address these issues, one type of robot vacuum replaces its HEPA with a washable material, allowing users to manually rinse it, reducing HEPA clogging and extending its lifespan. Another type of cyclone-cone robot vacuum incorporates a separate Cyclone pre-filter in front of the HEPA to filter dust, lint, hair, and other debris from entering the HEPA, thereby reducing the frequency of manual HEPA cleaning. For cyclone-cone robots, the Cyclone pre-filter can easily become stuck when the floor is heavily soiled, contains a lot of particulate matter, or contains pet hair. Furthermore, the Cyclone pre-filter itself takes up a lot of space and is expensive, hindering the development of the robot. Utility Model Content

[0005] In view of this, the present disclosure proposes a dust box assembly and a cleaning robot system, which automatically clean the dust box assembly without affecting the cleaning ability of the cleaning robot.

[0006] In order to achieve one of the above-mentioned disclosed purposes, an embodiment of the present disclosure provides a cleaning robot, comprising: a main body, wherein the main body is provided with a dust box assembly; the dust box assembly comprises: a hollow dust box main body, with a dust inlet and an air outlet respectively opened on the dust box main body; and a first driving module connected to the dust box main body; a bracket is provided in the dust box main body, and a first filter part is connected to the dust box main body through the bracket; the first driving module is configured to act on the bracket to move the bracket and the first filter part between a first position and a second position; in the first position, the first filter part is parked close to the center of the dust box main body; in the second position, the first filter part is parked away from the center of the dust box main body relative to the first position; when the first filter part moves from the second position to the first position and stops at the first position, the dust attached to the first filter part falls into the dust box main body at least under the action of inertia.

[0007] In order to achieve one of the above-mentioned disclosed purposes, the present disclosure also provides a cleaning robot system, including the above-mentioned cleaning robot and a base station for maintaining the cleaning robot.

[0008] The cleaning robot provided by the present disclosure can automatically clean the garbage on the first filter part of the dust box assembly, so that the cleaning robot can maintain a better suction force for a long time while reducing the intervention of the user.

[0009] The cleaning robot system provided by the present disclosure can automatically clean the garbage in the dust box assembly, including the dust cleaned on the first filter part, so that the cleaning robot can maintain a better suction force for a long time while reducing user intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A schematic diagram of a cleaning robot system provided in one embodiment of the present disclosure;

[0011] Figure 2 Based Figure 1 A schematic diagram of a cleaning robot in a provided cleaning robot system;

[0012] Figure 3 A schematic diagram of a dust box assembly in a cleaning robot system provided in the first embodiment of the present disclosure;

[0013] Figure 4 for Figure 3 A partial schematic diagram of the internal structure of the dust box assembly is shown;

[0014] Figure 5 A schematic diagram of a cleaning robot system provided in a first embodiment of the present disclosure;

[0015] Figure 6 This is an enlarged schematic diagram of the dust box assembly when the cleaning robot performs cleaning work in the first embodiment of the present disclosure;

[0016] Figure 7 Schematic diagram of the dust box assembly when the bracket is in the second position in the first embodiment of the present disclosure;

[0017] Figure 8 Schematic diagram of the dust box assembly when the bracket is in the first position and the second filter part is separated from the first filter part in the first embodiment of the present disclosure;

[0018] Figure 9 This is an exploded view of the dust box assembly in the first embodiment of the present disclosure;

[0019] Figure 10-13 This is an example of the first driving assembly driving the bracket to move between the first position and the second position in the first embodiment of the present disclosure;

[0020] Figure 14 This is a schematic cross-sectional view of the first filter portion of the dust box assembly provided by the present disclosure in a first position;

[0021] Figure 15 To correspond Figure 14 A schematic structural diagram of the dust box assembly shown in FIG. 1 abutting the top cone against the first step surface;

[0022] Figure 16 for Figure 14 A schematic structural diagram of the dust box assembly shown in FIG. 1 abutting the top cone against the second step surface;

[0023] Figure 17 for Figure 14 A schematic cross-sectional view of the first filter portion of the dust box assembly in the second position is provided;

[0024] Figure 18 To correspond Figure 17 A schematic diagram of the structure of the dust box assembly in which the top cone abuts against the third step surface and the bracket is separated from the protrusion;

[0025] Figure 19 for Figure 14 A schematic cross-sectional view of a first filter portion of a dust box assembly when the first filter portion is between a first position and a second position is provided;

[0026] Figure 20 To correspond Figure 19 A schematic diagram of the structure of the dust box assembly shown, in which the top cone abuts against the third step surface and the bracket hits the protrusion;

[0027] Figure 21 for Figure 14 The schematic diagram of the structure of the shaft sleeve in the dust box assembly shown;

[0028] Figure 22A side cross-sectional view of a first filter portion of a dust box assembly in an embodiment of the present disclosure in a second position;

[0029] Figure 23 for Figure 22 A side cross-sectional view of the first filter portion of the middle dust box assembly in a first position;

[0030] Figure 24a This is a side cross-sectional schematic diagram of a first filter portion in a dust box assembly in another embodiment of the present disclosure in a first position;

[0031] Figure 24b for Figure 24a A side cross-sectional schematic diagram of the first filter portion of the middle dust box assembly in the second position;

[0032] Figure 25 A side cross-sectional view of a first filter portion in a dust box assembly in another embodiment of the present disclosure is in a second position;

[0033] Figure 26 for Figure 25 A side cross-sectional view of the first filter portion of the middle dust box assembly in a first position;

[0034] Figure 27 This is a top cross-sectional view of a first filter portion in a dust box assembly in another embodiment of the present disclosure in a second position;

[0035] Figure 28 This is a schematic diagram of a cleaning robot system when the recycling component provided in the second embodiment of the present disclosure is not started;

[0036] Figure 29 A schematic diagram of a cleaning robot system when a recycling component provided in a second embodiment of the present disclosure is activated;

[0037] Figure 30 This is an enlarged schematic diagram of the dust box assembly when the cleaning robot performs cleaning work in the second embodiment of the present disclosure;

[0038] Figure 31 This is an enlarged schematic diagram of the dust box assembly when the cleaning robot returns to the base station for central dust collection in the second embodiment of the present disclosure;

[0039] Figure 32 This is an exploded view of the dust box assembly in the second embodiment of the present disclosure;

[0040] Figure 33a for Figure 32 A schematic diagram of the impact assembly in the cleaning device shown in FIG is in an extended position;

[0041] Figure 33b for Figure 32Schematic diagram of the impact assembly in the dust cleaning device shown in the retracted position;

[0042] Figure 34 A schematic diagram of a cleaning robot provided in a third embodiment of the present disclosure;

[0043] Figure 35 for Figure 34 An enlarged schematic diagram of the dust box assembly of the cleaning robot, with its bracket in the second position;

[0044] Figure 36 for Figure 34 An enlarged schematic diagram of the dust box assembly of the cleaning robot, with its bracket in the first position;

[0045] Figure 37 A side cross-sectional view of a first filter portion in a dust box assembly in a first position according to an embodiment of the present disclosure;

[0046] Figure 38 for Figure 37 A side cross-sectional view of the first filter portion of the middle dust box assembly in a second position;

[0047] Figure 39 A side cross-sectional view of a first filter portion in a dust box assembly in another embodiment of the present disclosure in a second position;

[0048] Figure 40 for Figure 39 A side cross-sectional view of the first filter portion of the middle dust box assembly in a first position;

[0049] Figure 41 This is a top cross-sectional view of the first filter portion in the dust box assembly in another embodiment of the present disclosure in the second position.

[0050] Description of the accompanying drawings:

[0051] 10. Cleaning robot; 101. Main body; 103. Wheel; 105. Rolling brush; 110. Dust box assembly; 111. First filter; 1111. Channel; 112. Dust box body; 1121. Top wall; 11211. Larger surface; 11212. Smaller surface; 1122. Bottom wall; 1123. Side wall; 1124. Abutment platform; 1125. Air inlet; 113. Second filter; 1131. First hinge; 1132. First elastic member; 11 4. Bracket; 1141. Second elastic member; 115. Dust inlet; 116. Rotating shaft; 117. Air outlet; 118. Connecting rod; 1181. First cam; 1182. Driving motor; 1183. Transmission gear; 1184. Shaft; 1185. Push rod; 1186. First sub-resistance pendulum; 1187. Second sub-resistance pendulum; 119. Dust collection port; 120. Sealing member; 121. Flexible member; 122. Sealing structure; 130. Extending member; 131. Bushing ; 1311, first step surface; 1312, second step surface; 1313, third step surface; 132, protrusion; 133, linkage member; 134, top cone; 140, first fan assembly; 30, base station; 301, second fan assembly; 302, dust collection channel; 303, trash can; 800, second drive module; 810, impact assembly mounting frame; 8101, impact slot; 811, impact motor; 812, third elastic member; 813, impact block; 81 31. Impact surface; 8132. Driven surface; 814. Pushing member; 8141. First surface; 8142. Second surface; 8143. Release surface; 8144. Guide surface; 815. Impact assembly housing; 820. Sealing vibration member; 821. Anti-blocking member; 822. Sealing strip; 823. Spring; 830. Pressure plate; 841. First magnetic member; 842. Second magnetic member; 851. First Hall element; 852. Second Hall element; D. Rotation direction. DETAILED DESCRIPTION

[0052] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings:

[0053] To make the above-mentioned objects, features, and advantages of the present disclosure more clearly understood, specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without violating the scope of the present disclosure. Therefore, the present disclosure is not limited to the specific embodiments disclosed below.

[0054] The cleaning robot system of this embodiment includes a cleaning robot 10, which walks and works in a working area;

[0055] In an implementation of the present disclosure, the cleaning robot 10 includes a housing, a mobile module located at the bottom of the housing for driving the cleaning robot 10 to walk on a work surface, an energy supply unit (e.g., a battery pack) located on the housing, and a control module located on the housing and electrically connected to the energy supply unit. The cleaning module is typically located at the bottom of the housing to perform cleaning tasks. The mobile module includes at least one wheel 103 located at the bottom of the robot housing, and a motor that drives the wheel 103 to rotate.

[0056] The cleaning module may include: a suction port disposed at the bottom of the housing; a dust box assembly 110 disposed within the housing; and a roller brush 105 that cleans the work surface and collects debris on the work surface in the dust box assembly 110. The cleaning module may also include a roller brush 105 disposed at the suction port, which is used to sweep up debris on the work surface and then suck the debris into the dust box assembly 110 through the suction port.

[0057] To achieve the basic functions of the cleaning robot 10, the cleaning robot 10 in the embodiment of the present disclosure may also include other necessary modules or components, such as a side brush, a suction nozzle, a battery, a motor, etc. It should be noted that the other necessary modules or components included in the cleaning robot 10 can be selected from any suitable existing structures. To clearly and briefly explain the technical solutions provided by the present disclosure, the above-mentioned parts will not be repeated here.

[0058] The cleaning robot 10 of the specific embodiment of the present disclosure may be a sweeping robot that sweeps and mops all in one. The sweeping robot can drive the cleaning module to contact a working surface, such as the ground, to clean the ground.

[0059] Combined with reference Figures 1 to 4, a cleaning robot system provided by the first embodiment of the present disclosure includes a cleaning robot 10; the cleaning robot 10 includes a main body 101, a dust box assembly 110 and a first fan assembly 140 are provided on the main body 101, the dust box assembly 110 includes: a hollow dust box main body 112, a dust inlet 115 and an air outlet 117 respectively provided on the dust box main body 112, and a filter body connected to the dust box main body 112; the first fan assembly 140 is used to generate a first airflow to drive the garbage on the working surface into the dust box assembly 110 through the dust inlet 115; the filter body includes, which can be selectively combined or separated from each other. The first filter part 111 and the second filter part 113 are provided, and the second filter part 113 is arranged at a position relative to the first filter part 111 to first contact the first airflow; wherein, the first filter part 111 and the second filter part 113 have a first state and a second state, in the first state, the first filter part 111 and the second filter part 113 are combined with each other, so that the second filter part filters garbage in the first airflow before the first filter part; in the second state, at least one of the first filter part 111 and the second filter part 113 moves, so that at least parts of the two move away from or approach each other, forming a channel 1111 for garbage to fall.

[0060] With this arrangement, when the first and second filter sections are in the first state, waste entering the dust box body 112 driven by the first airflow first passes through the second filter section 113. The second filter section 113 removes a portion of the waste, such as lint, hair, and large particles. The waste then passes through the first filter section 111, where the smaller portions of the waste are filtered out by the second filter section 113. This prevents lint, hair, and large particles from adhering to the first filter section 111, making them difficult to clean. Furthermore, when the first and second filter sections are in the second state, the first and second filter sections 111, 113, are at least partially separated from each other, facilitating manual or automatic cleaning of the waste between them. Specifically, the second filter section 113 is configured as a filter mesh that easily intercepts lint, hair, and large particles in the first airflow and facilitates removal of any adhering waste. The filter mesh can be a metal filter mesh, as metal filters have less adhesion to waste, making it easier to clean. The first filter section 111 is configured as a HEPA filter.

[0061] In a further embodiment, the cleaning robot system also includes a base station 30 for maintaining the cleaning robot 10; the base station 30 is configured to dock with the cleaning robot 10 to recycle the garbage in the dust box assembly 110 into the interior of the base station 30; when the cleaning robot 10 performs cleaning work, the first filter part 111 and the second filter part 113 are in a first state; during at least part of the process of the base station 30 reclaiming the garbage in the dust box assembly 110, the first filter part 111 and the second filter part 113 are in a second state.

[0062] The base station 30 is used for the cleaning robot 10 to dock, return to replenish energy when energy is insufficient, or perform central dust collection when docked. When the amount of garbage in the dust box assembly 110 reaches a certain amount, the garbage in the dust box assembly 110 is automatically centrally collected and recycled through the base station 30, eliminating the need for the user to manually clean the dust box assembly 110.

[0063] It should be noted that the process of the base station 30 collecting garbage in the dust box assembly 110 includes: after the base station 30 receives the signal from the cleaning robot 10 that dust collection is required, the cleaning robot 10 docks with the base station 30. After the docking is successful, the recycling component of the base station 30 is started once or multiple times (including the process between the two starts of the recycling component), and the garbage in the dust box assembly 110 is recycled to the base station 30.

[0064] Combined with reference Figure 6 、 Figure 7 Place, Figure 9 As shown, in an implementation of the present disclosure, the second filter portion 113 is attached to the first filter portion 111 by the elastic force of an elastic structure (first elastic member 1132 ) and is combined with the first filter portion 111 .

[0065] In other possible implementations of the present disclosure, a variety of methods can be selected to combine the first filter section 111 and the second filter section 113 with each other. For example, when the cleaning robot 10 performs cleaning work, the first airflow generated by the first fan assembly 140 flows from the second filter section 113 to the first filter section 111, so that the first filter section 111 and the second filter section 113 are combined with each other. This arrangement does not increase the manufacturing and use costs, and the first fan assembly 140 can be shared to combine the first filter section 111 and the second filter section 113, saving costs and space. For another example, a motor can be provided for at least one of the first filter section 111 and the second filter section 113 to drive the two to combine with each other. This combination method can be one of the first filter section 111 and the second filter section 113 moving toward the other, or the two can move toward each other. This will not be described in detail here.

[0066] In one embodiment, the combination of the first filter portion and the second filter portion can be in the form of a distance between the second filter portion and the first filter portion within a preset range. The preset range here can be freely set. For example, it can be selected between [0-3cm]. Furthermore, a bracket is provided in the dust box body, and the first filter portion is connected to the dust box body through the bracket; the outer periphery of the second filter portion is at least partially in contact with the outer periphery of the bracket, that is, the four sides of the second filter portion are tightly in contact with the four sides of the bracket to prevent dust from reaching the first filter portion directly without passing through the second filter portion.

[0067] It is understood that the preferred form of the mutual combination is that the first filter portion 111 and the second filter portion 113 are completely in contact with each other; in addition, the second filter portion 113 may also be in at least partial contact with the surface of the first filter portion 111, or may not be in contact at all, that is, a certain gap is left between the first filter portion 111 and the second filter portion 113, so that the filter body can better filter garbage and dust, and also facilitate the circulation of air between the first filter portion 111 and the second filter portion 113. Here, as long as it is ensured that when the cleaning robot 10 performs the cleaning work, the second filter portion 113 covers at least a portion of the surface of the first filter portion 111, so that the sucked garbage reaches the second filter portion 113 first and then reaches the first filter portion 111; the mutual combination of the first filter portion 111 and the second filter portion 113 can be satisfied.

[0068] Preferably, when the cleaning robot 10 performs cleaning work, the second filter portion 113 is arranged parallel to the first filter portion 111 , and the second filter portion 113 completely covers the first filter portion 111 .

[0069] It is understood that at least portions of the first filter portion 111 and the second filter portion 113 may be spaced apart from each other to form a passage for garbage to fall through. This may be manifested in that one of the first filter portion 111 and the second filter portion 113 is opened at an angle relative to the other, forming a passage 1111 through which garbage attached to the first filter portion 111 and garbage between the first filter portion 111 and the second filter portion 113 can fall through. For example, the second filter portion 113 may be rotated at an angle relative to the first filter portion 111 in a direction away from the first filter portion 111, so that the position of the second filter portion 113 opened relative to the first filter portion 111 forms the passage 1111. Alternatively, a portion of the structure of one of the first filter portion 111 and the second filter portion 113 may be displaced to form a passage for the garbage to fall through. Alternatively, the first filter portion 111 and the second filter portion 113 may be completely separated, that is, the second filter portion 113 may move translationally relative to the first filter portion 111. This differs from the above-mentioned second filter portion 113 opening at an angle relative to the first filter portion 111 in that, here, the second filter portion 113 is entirely spaced apart from the first filter portion 111. This will not be further described herein. As long as the recycling component ensures that when collecting the garbage in the dust box component 110, a relative displacement occurs between the first filter part 111 and the second filter part 113 to form the above-mentioned channel 1111, it can ensure that the garbage (dust) on the first filter part 111 and the garbage (dust) between the first filter part 111 and the second filter part 113 fall from the channel 1111, thereby improving the cleaning effect.

[0070] It is also understood that at least portions of the first filter portion 111 and the second filter portion 113 may be positioned close to each other to form a passage for waste to fall through. This can be achieved by, for example, a certain distance between the first filter portion 111 and the second filter portion 113 during cleaning operations, with the second filter portion 113 covering at least a portion of the first filter portion 111. In this embodiment, the second filter portion 113 completely covers the first filter portion 111. The first airflow first passes through the second filter portion 113 to filter out large particles of waste, hair, etc., and then passes through the first filter portion 111 to remove fine dust. To form the passage, one of the second filter portion 113 and the first filter portion 111 is moved toward the other. For example, the second filter portion 113 is rotated a certain angle toward the first filter portion 111, so that the second filter portion 113 is positioned relative to the first filter portion 111 to form the passage 1111. Similarly, the second filter portion 113 may be partially or entirely positioned close to the first filter portion 111 to form the passage.

[0071] In the aforementioned cleaning robot system, when the cleaning robot 10 performs cleaning operations, the cleaning robot 10 generates a first airflow through the first fan assembly 140 to suck up trash from the floor, causing the trash to enter the dust box body 112 through the dust inlet 115 of the dust box body 112. Simultaneously, as the first airflow flows from the second filter portion 113 toward the first filter portion 111, the first airflow drives the trash through the filter. The trash entering the dust box body 112 driven by the first airflow first passes through the second filter portion 113, which filters out a portion of the trash, such as lint, hair, and large particles. The trash then passes through the first filter portion 111, where the smaller portions of the trash are filtered out by the second filter portion 113. This prevents lint, hair, and large particles from adhering to the first filter portion 111, making them difficult to clean. Preferably, the second filter portion 113 is configured as a filter screen, which easily intercepts lint, hair, and large particles of trash in the first airflow and facilitates removal of the trash adhering thereto. The filter can be set as a metal filter. The metal filter has less adhesion to garbage, which makes it easier to clean the garbage on the filter. Further preferably, the first filter part 111 is set as a HEPA.

[0072] At the same time, the first filter part 111 and the second filter part 113 combined with each other filter out the garbage and dust carried by the first airflow under the action of their filtering function; after the first airflow passes through the filter body, it flows out from the air outlet 117 of the dust box main body 112.

[0073] In this way, when the cleaning robot 10 performs cleaning work, the first filter part 111 and the second filter part 113 are combined with each other so that the second filter part 113 covers at least part of the surface of the first filter part 111; through double filtration, the cleaning ability of the cleaning robot is improved.

[0074] During at least a portion of the process in which the base station 30 collects trash from the dust box assembly 110, the first filter 111 and the second filter 113 are at least partially separated from each other. Since the second filter 113 covers the surface of the first filter 111 when the cleaning robot 10 is performing cleaning operations, some dust may remain between the first and second filters, making them difficult to clean. When the base station 30 collects trash from the dust box, the first and second filters 111, 113 separate, allowing the dust between them, along with the trash from the dust box body 112, to be collected back into the base station 30.

[0075] The above-mentioned cleaning robot system can automatically clean the garbage in the dust box assembly 110, including the dust remaining in the space between the first filter part 111 and the second filter part 113, so that the cleaning robot 10 can maintain a better suction force for a long time while reducing user intervention.

[0076] In one embodiment, the cleaning robot system includes a second fan assembly 301, which is configured to generate a second airflow to drive the second filter part 113 to move relative to the first filter part 111, so that at least part of the second filter part is away from the first filter part, forming a channel. The second fan assembly can include a fan, which is connected to an air duct (such as a dust collection channel 302), and the air duct is connected to the dust box assembly (for example, connected to the dust collection port 119 on the dust box body). When the fan is started, a second airflow is generated in the dust box body, and the second airflow then drives the second filter part 113 to move relative to the first filter part 111. Specifically, it can drive the second filter part to move in a direction away from the first filter part 111.

[0077] Specifically, since the cleaning robot system also includes a base station 30 for maintaining the cleaning robot, the base station 30 includes a recycling component, which is configured to communicate with the dust box component for airflow so as to suck the garbage in the dust box component into the base station; the recycling component includes a second fan component, and the second airflow generated by the second fan component is also configured to recycle the garbage in the dust box component. In other words, the second fan component in the cleaning robot system is set as the recycling component of the base station (the structure of the recycling component refers to the structure of the second fan component and will not be repeated here), and the recycling component of the base station is directly used to generate the second airflow. The second airflow can not only drive the second filter part 113 to move relative to the first filter part 111, but also suck all the garbage in the dust box body into the interior of the base station (such as the dust box provided inside the base station), without the need for an additional fan component, which can effectively reduce the cost and volume of the cleaning robot system.

[0078] In another preferred embodiment of the present disclosure, the cleaning robot 10 is further provided with a first drive motor (not shown), which is connected to the second filter portion 113 to drive at least a portion of the second filter portion 113 away from the first filter portion 111. In a preferred embodiment of the present disclosure, when the recycling assembly recycles the garbage in the dust box assembly 110, the second filter portion 113 is angled with the first filter portion 111.

[0079] Accordingly, in an implementation of the present disclosure, the second filter portion 113 can be rotatably connected to the dust box body 112, so as to facilitate the independent driving of the second filter portion 113 and / or the first filter portion 111, so that the two can be combined with each other or separated from each other.

[0080] Specifically, taking the example of the first drive motor providing power to the second filter part 113 to drive its rotation, when the cleaning robot 10 performs cleaning work, the second filter part 113 is driven to rotate by the first drive motor so that the second filter part 113 covers at least part of the surface of the first filter part 111; when the cleaning robot 10 returns to the base station 30 to perform dust collection work, the second filter part 113 is driven to rotate in the opposite direction by the first drive motor to drive at least part of the second filter part 113 away from the first filter part 111.

[0081] Furthermore, a bracket 114 is provided within the dust box body 112, and the first filter portion 111 is connected to the dust box body 112 via the bracket 114. One end of the second filter portion 113 is rotatably connected to the inner wall of the dust box body 112, with the other end being free. Alternatively, one end of the second filter portion 113 is rotatably connected to the bracket 114 or the first filter portion 111, with the other end being free. The second airflow drives the free end to move, thereby moving the free end away from the first filter portion.

[0082] In a preferred embodiment of the present disclosure, the dust box body 112 includes a bottom wall 1122, a top wall 1121, and a side wall 1123 connecting the bottom wall 1122 and the top wall 1121. The first filter portion 111 is close to the side wall 1123 or the top wall 1121. When the cleaning robot is on a working surface, the bottom wall is closer to the working surface than the top wall.

[0083] When the first filter part 111 is arranged on the top wall 1121 of the dust box body 112, the first filter part 111 can be parallel to the top wall 1121 of the dust box body 112; or it can be at an angle to the top wall 1121 of the dust box body 112; in this arrangement, when the cleaning robot 10 returns to the base station 30 to collect dust, the second filter part 113 can be at least partially away from the first filter part 111 under the action of its own gravity; at this time, the garbage attached to the first filter part 111 and the second filter part 113 also falls off under the action of gravity.

[0084] When the first filter part 111 is set close to the side wall 1123 of the dust box body 112, the first filter part 111 can be set parallel to the side wall 1123 of the dust box body 112; it can also be set at an angle to the side wall 1123 of the dust box body 112; when the cleaning robot 10 returns to the base station 30 to collect dust, the second filter part 113 is partially opened away from the first filter part 111, and the garbage between the second filter part 113 and the first filter part 111 falls under the action of the second airflow and its own gravity; at this time, since the first filter part 111 is set close to the side wall 1123 of the dust box body 112, the garbage falling from the second filter part 113 will not fall on the first filter part 111 again, achieving a better dust collection effect.

[0085] In this embodiment, a rotating shaft 116 is disposed between the second filter section 113 and the dust box body 112. The second filter section 113 is configured to rotate about the rotating shaft 116. The first filter section 111 is positioned adjacent to the sidewall 1123 on one side and adjacent to the first filter section 111 on the other side. The rotating shaft 116 is connected to the upper end of the second filter section 113, with its free end forming the lower end of the second filter section. In this manner, when the recycling assembly collects waste within the dust box assembly 110, the second airflow pulls the lower end of the second filter section 113 away from the lower end of the first filter section 111. At this point, the second filter section 113 is angled relative to the first filter section 111. When the cleaning robot 10 is performing cleaning operations, the second filter section 113 is positioned parallel to the first filter section 111. Specifically, the first filter section 111 is parallel to the height of the main body 101, and when the cleaning robot 10 is performing cleaning operations, the second filter section 113 is also parallel to the first filter section 111.

[0086] In an alternative embodiment, the rotating shaft 116 may be perpendicular to the top wall 1121 of the dust box body 112, or may be arranged parallel to the top wall 1121 of the dust box body 112, as long as the second filter portion 113 can be selectively combined with or separated from the first filter portion 111. In this embodiment, the rotating shaft 116 is preferably arranged parallel to the top wall 1121 of the dust box body 112. With this arrangement, the second filter portion 113 only needs to be opened at a small angle relative to the first filter portion 111 to allow dust between the first filter portion 111 and the second filter portion 113 to leak through and be carried away by the second airflow. If the rotating shaft 116 is perpendicular to the top wall 1121 of the dust box body 112, the second filter portion 113 must be opened at a larger angle relative to the first filter portion 111 to allow dust between the first filter portion 111 and the second filter portion 113 near the rotating shaft 116 to leak through.

[0087] When the cleaning robot system of the present disclosure is in operation, the second filter part 113 rotates with the rotating shaft 116 as the rotating axis 116 through the rotating shaft 116 provided between the second filter part 113 and the dust box body 112 , and is combined with or separated at an angle relative to the first filter part 111 .

[0088] When the cleaning robot 10 is performing cleaning operations, the second filter section 113 is arranged parallel to the first filter section 111. The first airflow generated by the first fan assembly 140 flows from the second filter section 113 toward the first filter section 111, causing the first and second filter sections 111 to combine. At this point, the airflow drives the cleaned trash through the first and second filter sections 111, undergoing double filtration. When the cleaning robot 10 returns to the base station 30 to perform dust collection operations, a second airflow flows from the first filter section 111 toward the second filter section 113. The second filter section 113 rotates about the rotation axis 116, separating it from the first filter section 111 at an angle. This separation can be driven by a motor or by the second airflow, which causes the second filter section 113 to separate at an angle relative to the first filter section 111. Trash attached to the first and second filter sections 111, as well as dust remaining between the first and second filter sections 111, follow the second airflow into the recovery assembly, completing the dust collection process.

[0089] In further embodiments, please refer to Figure 5-Figure 9 As shown, the cleaning robot 10 is internally provided with a dust cleaning device, at least part of which is configured to act on the first filter portion 111 to remove dust adhering to the first filter portion 111. In order to further reduce the user's maintenance of the dust box assembly 110, the dust cleaning device is provided internally in the cleaning robot 10 to automatically clean the dust on the first filter portion 111, thereby avoiding the user frequently removing the first filter portion 111 from the dust box body 112 for manual cleaning.

[0090] Furthermore, the dust cleaning device is configured to start after the base station has collected the garbage in the dust box assembly at least once. In this way, most of the garbage in the collection assembly has been collected back to the base station before the dust cleaning device is started, which will not affect the operation range of the dust cleaning device.

[0091] For details, please refer to Figures 34 to 41A bracket 114 is disposed within the dust box body 112, and the first filter portion 111 is connected to the dust box body 112 via the bracket 114. In one embodiment, the dust cleaning device includes a first driving module connected to the dust box body 112, and the first driving module is configured to act on the bracket 114 to move the bracket 114 and the first filter portion 111 between a first position and a second position; in the first position, the first filter portion 111 is parked near the center of the dust box body 112; in the second position, the first filter portion 111 is parked away from the center of the dust box body 112 relative to the first position; when the first filter portion 111 moves from the second position and stops at the first position, dust attached to the first filter portion 111 falls into the dust box body 112 due to at least inertia. By moving the first filter portion 111 from the second position to the first position and momentarily stopping at the first position, dust on the first filter portion 111 falls into the dust box body 112 due to inertia, eliminating the need for manual cleaning of the dust box assembly 110, avoiding frequent disassembly and assembly of the dust box assembly 110, and not affecting the cleaning capability of the cleaning robot 10. In other embodiments, the dust cleaning device may have other structures, which will be described in detail below.

[0092] In this embodiment, the first filter portion 111 is mounted on the bracket 114 and moves synchronously with the bracket 114. In other embodiments, the dust box assembly 110 may not be provided with the bracket 114, and the first filter portion 111 may be directly mounted on the inner wall of the dust box body 112 and driven by the first driving module to move between the first position and the second position.

[0093] It should be noted that, the first filter part 111 moves from the second position and stops at the first position once, which means that the first filter part 111 is beaten once. The bracket 114 and the first filter part 111 move between the first position and the second position multiple times. The first filter part 111 moves from the second position and stops at the first position multiple times, which means that the first filter part 111 is beaten multiple times, and the dust cleaning effect is better.

[0094] Combine Figure 6-Figure 8 As shown, in an implementation method of the present disclosure, the dust box body 112 includes a bottom wall 1122, a top wall 1121, and a side wall 1123 connecting the bottom wall 1122 and the top wall 1121, and the first filter part 111 is arranged close to the top wall 1121. When the first filter part 111 is close to the top wall 1121 and is in the first position, the first filter part 111 is at an angle to the top wall 1121. This arrangement makes it easier for garbage attached to the first filter part 111 to fall into the dust box body 112 under the action of gravity. Furthermore, along the direction of gravity, the first position is closer to the working surface than the second position, that is, the second position is higher than the first position. At this time, the first filter part 111 is arranged close to the top wall 1121.

[0095] In other possible implementations of the present disclosure, when the first filter portion 111 is close to the top wall 1121 and is in the first position, the first filter portion 111 and the top wall 1121 can be arranged in parallel. This arrangement also facilitates the garbage attached to the first filter portion 111 to fall into the dust box body 112 under the action of gravity. Figure 9 In this embodiment, the top wall 1121 is configured as a flip cover that can be flipped relative to the dust box body, allowing the user to open or close the dust box body for maintenance. Of course, in other embodiments of the present disclosure, the first filter portion 111 can also be positioned close to other walls of the dust box body 112, which will be described in detail below and will not be repeated here.

[0096] In the implementation of the present disclosure, the bracket 114 can be connected to the dust box body 112 and move relative to the dust box body 112. The bracket 114 can also be driven by a motor to move the bracket 114 relative to the dust box body 112. In the preferred embodiment of the present disclosure, Figure 6-Figure 8 、 Figure 22-23 As shown, a rotating shaft 116 is provided between the dust box body 112 and the bracket 114. The bracket 114 rotates about the rotating shaft 116 to drive the first filter 111 to move between the first position and the second position. Of course, in other implementations, the bracket 114 can also drive the first filter 111 to move between the first position and the second position by generating an overall displacement in a certain direction, which is not limited in this disclosure.

[0097] In the implementation method of the present disclosure, the rotating shaft 116 can be set at different positions of the bracket 114. Preferably, when the first filter part 111 is set close to the top wall 1121, the rotating shaft 116 is parallel to the top wall 1121; the rotating shaft 116 can be set on the top wall 1121 or on the side wall 1123 of the dust box body 112.

[0098] In possible implementations of the present disclosure, the first filter unit 111 and the bracket 114 can be fixedly connected, detachably connected, or movable to be assembled / detached from each other. Preferably, the first filter unit 111 and the bracket 114 are connected and detached via a cooperating snap-fit structure. This arrangement allows for convenient assembly and disassembly of the first filter unit 111 from the bracket 114.

[0099] Combined with reference Figure 5 As shown, in this embodiment, a recycling component is provided on the base station 30 , and the recycling component is configured to communicate with the dust box assembly 110 in an airflow manner so as to suck the garbage in the dust box assembly 110 into the base station 30 .

[0100] Furthermore, after the recycling assembly has recycled the garbage in the dust box assembly 110 at least once, the first driving module drives the bracket 114 and the first filter 111 to move between the second position and the first position at least once. This configuration allows the base station 30 to first empty the garbage in the dust box assembly 110, preventing excessive garbage in the dust box from obstructing the first filter 111 from falling, while also allowing the second filter 113 to have sufficient space to move in the dust box assembly 110. In other embodiments, the base station 30 can recycle the garbage in the dust box assembly 110 by dumping it. For example, the base station 30 can be provided with a robotic arm that removes the dust box assembly 110 from the cleaning robot 10 and dumps the garbage in the dust box assembly 110 into a trash bin 303 provided in the base station 30.

[0101] Combined with reference Figure 5 As shown, when the dust on the filter body needs to be cleaned, the recovery assembly inside the base station 30 communicates with the dust box body 112 to suck the dust in the dust box body 112 into the recovery assembly inside the base station 30. This prevents the filter body of the cleaning robot 10 from being clogged, thereby ensuring the cleaning efficiency of the cleaning robot 10.

[0102] Accordingly, in an implementation of the present disclosure, the recycling component includes a second fan component 301, and the second fan component 301 is configured to generate a second airflow to recover garbage in the dust box component 110. The base station 30 also includes a control unit, which controls the second fan component 301 to start a preset time and / or a preset number of times; when the second fan component 301 is started, the garbage in the dust box component 110 is recovered. In other implementations of the present disclosure, the recycling component can collect the garbage in the dust box component 110 synchronously with the first drive module driving the bracket 114 and the first filter part 111 to move between the second position and the first position at least once, or can do so successively; the number of operations of the two can also be specifically set as needed, which will not be elaborated here. The recycling component also includes a dust collection channel 302 that is in airflow communication with the dust box component, and a trash can 303 connected to the dust collection channel 302 and used to collect garbage. The trash can 303 is provided at the base station.

[0103] In addition, please refer to 1 and Figure 5 The second airflow is configured to blow from the side of the second filter portion closer to the first filter portion to the side farther away from the first filter portion, thereby blowing off the garbage on the side of the second filter portion farther away from the first filter portion. The second airflow can also clean the garbage attached to the second filter portion, thereby cleaning the second filter portion.

[0104] In an implementation of the present disclosure, during at least part of the process of the dust cleaning device being activated, the cooperation relationship between the first filter section 111 and the second filter section 113 is in the second state. That is, during at least part of the process of the dust cleaning device being activated, the first filter section 111 and the second filter section 113 are at least partially separated from each other. When the dust cleaning device is activated to clean the dust on the first filter section 111, the dust attached to the first filter section 111 will fall into the space between the first filter section 111 and the second filter section 113, making it difficult to clean. If the second filter section 113 separates from the first filter section 111 during the cleaning of the first filter section 111, the dust on the first filter section 111 can fall into the dust box body 112 and then be recovered into the base station 30 under the action of the second fan assembly 301.

[0105] It should be noted that the process of starting the cleaning device includes: after the cleaning robot 10 receives a signal that the first filter part 111 needs to be cleaned, the first drive module drives the bracket 114 to start moving, and the bracket 114 moves between the first position and the second position once or multiple times until the number of times preset inside the cleaning robot 10 is reached. The first drive module drives the bracket 114 back to the position where the bracket 114 was located when the cleaning robot 10 performed the cleaning work (the first position or the second position).

[0106] Furthermore, the second filter unit 113 is connected to the bracket 114 or the first filter unit 111 and is movable relative to the bracket 114, allowing the second filter unit 113 and the first filter unit 111 to be selectively combined or separated. When the second filter unit 113 is connected to the first filter unit 111, it can be removed from the bracket 114 along with the first filter unit 111, facilitating maintenance of the second filter unit 113.

[0107] Specifically, the second filter part 113 is connected to the bracket 114 or the first filter part 111 and can move relative to the bracket 114; when the first filter part 111 moves from the second position and stops at the first position, the second filter part 113 and the first filter part 111 are separated from each other.

[0108] See also Figure 6-Figure 9 In a possible implementation of the present disclosure, a first elastic member 1132 is further connected between the bracket 114 and the second filter portion 113. The second filter portion 113 is pressed against the first filter portion 111 by the elastic force of the first elastic member 1132. The elastic deformation of the first elastic member 1132 provides a force for the second filter portion 113 to move closer to the first filter portion 111, while also facilitating the separation of the second filter portion 113 from the first filter portion 111 when subjected to other external forces. The first elastic member 1132 may be a torsion spring, an elastic cord, a spring, or the like; in a preferred embodiment of the present disclosure, the first elastic member 1132 is a torsion spring.

[0109] In a specific embodiment of the present disclosure, the second filter portion 113 is connected to the bracket 114, and the bracket 114 and the second filter portion 113 are hingedly connected via a first hinge portion 1131. The first hinge portion 1131 enables the second filter portion 113 to rotate a certain angle relative to the bracket 114 and the first filter portion 111, thereby separating the second filter portion 113 from the first filter portion 111. In other embodiments, the second filter portion 113 may also be connected to the first filter portion 111, and the first filter portion 111 and the second filter portion 113 may be hingedly connected via the above-mentioned first hinge portion 1131. Of course, in other implementations, the second filter portion 113 may not be hinged to the bracket 114 or the first filter portion 111, but may utilize other structures to generate an overall displacement in a certain direction relative to the bracket 114 or the first filter portion 111, so as to combine or separate the first filter portion 111 and the second filter portion 113. For example, a slide groove is provided on the second filter part 113 , and a slider is provided on the bracket 114 . Under the action of external force, the slider moves along the slide groove, and the second filter part 113 moves along the slide groove to move away from or close to the first filter part 111 .

[0110] In a preferred embodiment of the present disclosure, an abutment platform 1124 is provided on the side of the dust box body 112. When the driving module drives the bracket 114 and the first filter part 111 to move from the second position and stop at the first position, the abutment platform 1124 prevents the bracket 114 and the first filter part 111 from moving beyond the first position toward the direction away from the second position. Under the action of inertia, the second filter part 113 overcomes the elastic force of the first elastic member 1132 and moves from the first position toward the direction away from the second position, thereby separating the second filter part 113 and the first filter part 111 from each other.

[0111] Preferably, a first hinge 1131 is disposed at one end of the second filter portion, and a counterweight is disposed on the end of the second filter portion 113 away from the first hinge 1131 to increase the weight of the second filter portion 113. The added counterweight increases the inertia of the second filter portion 113 as it continues to move in the opposite direction toward the second position, thereby further separating the second filter portion 113 from the first filter portion 111. Accordingly, the weight of the counterweight can be set based on the torsional force of the first elastic member 1132, as will be described below.

[0112] Preferably, when the second filter portion 113 is separated from the first filter portion 111, the second filter portion 113 forms an angle with the first filter portion 111, and the angle is preferably greater than or equal to 15°. This configuration, on the one hand, controls the opening angle of the second filter portion 113 to be greater than or equal to 15°, which can effectively prevent dust attached to the first filter portion 111 from being obstructed when falling into the dust box assembly 110. On the other hand, when the second fan assembly is activated to collect garbage in the dust box, the garbage attached to both sides of the second filter portion 113 can be cleaned away by the airflow generated by the second fan assembly. It can be understood that when the second filter part 113 is combined with the first filter part 111, part of the recycled airflow generated by the second fan assembly enters the dust box assembly 110 from the first filter part 111, and then blows from the side of the second filter part 113 close to the first filter part 111 to the side away from the first filter part 111, blowing off the garbage on the side of the second filter part 113 away from the first filter part 111. When the drive module drives the bracket 114 and the first filter part 111 to move from the second position and stop at the first position, the second filter part 113 separates from the first filter part 111, and a part of the garbage on the side of the second filter part 113 close to the first filter part 111 falls due to inertia. At the same time, when the recycling component collects the garbage in the dust box component 110, part of the airflow generated by the second fan component enters the dust box component 110 through the dust inlet 115, and is blown from the side of the second filter part 113 away from the first filter part 111 to the side close to the first filter part 111, thereby blowing off the garbage on the side of the second filter part 113 close to the first filter part 111, thereby cleaning the garbage attached to the side of the second filter part 113 close to the first filter part 111 and the side away from the first filter part 111.

[0113] In an implementation of the present disclosure, the first elastic member 1132 is a torsion spring; the length of the second filter portion 113 is 40 mm, and the second filter portion 113 is connected to the bracket 114 at one end of the second filter portion 113 in the longitudinal direction. The torsion spring force is 0.5 N, and the total mass of the counterweight and the second filter portion 113 is configured to be 15 g. Then, the second filter portion 113 can be opened at an angle of 15° relative to the bracket 114. Accordingly, when other conditions remain unchanged, when the mass of the counterweight and the second filter portion 113 is greater than 15 g, the angle of the second filter portion 113 is greater than 15°. For example, when the mass of the counterweight and the second filter portion 113 is 20 g, the angle of the second filter portion 113 relative to the bracket 114 is 25°. The length of the second filter portion 113, the mass of the counterweight, and the torsion spring force can all be selected according to the requirements of use and will not be further elaborated here.

[0114] In one embodiment, when the cleaning robot 10 performs a cleaning task, the first filter portion 111 in the dust box assembly 110 in the cleaning robot 10 is in a first position.

[0115] The first driving module includes: a second elastic member 1141 connecting the bracket 114 and the dust box body 112, and a first driving assembly connected to the bracket 114 and driving the bracket 114 and the first filter part 111 to move from the first position to the second position. In an implementable embodiment of the present disclosure, when the cleaning robot 10 performs cleaning work, the first filter part 111 is in the first position and the second elastic member 1141 is in the first form. When the second elastic member 1141 is configured as a compression spring, the first form can be an uncompressed state or a slightly compressed state of the compression spring. When the bracket 114 and the first filter part 111 move from the first position to the second position, the second elastic member 1141 deforms to drive the bracket 114 and the first filter part 111 to move from the second position to the first position to store energy. Taking the example of the first filter 111 being close to the top wall 1121, the second elastic member 1141 is connected at one end to the top wall 1121 of the dust box body 112, and at the other end to the bracket 114. The second elastic member 1141 is compressed to store energy, providing power for the first filter 111 to move to the first position. When the first drive assembly releases the first filter 111, the second elastic member 1141 returns to the first position, driving the bracket 114 and the first filter 111 from the second position to the first position. The abutment 1124 provided on the side of the dust box body 112 prevents the bracket 114 and the first filter 111 from moving beyond the first position and away from the second position.

[0116] In the implementation of the present disclosure, the structure of the first driving module can be specifically set according to needs, and Figure 6-Figure 9 The present disclosure provides a first drive assembly comprising a connecting rod 118, a first cam 1181 connected to both ends of the connecting rod 118, and a drive motor 1182. The drive motor 1182 drives the connecting rod 118 to rotate around its own axis through a transmission gear 1183. The connecting rod 118 simultaneously drives the first cam 1181 to rotate. During the rotation, the first cam 1181 abuts against the bracket 114, driving the bracket 114 to lift from the first position to the second position. At this time, the first cam 1181 rotates to disengage from the bracket 114. The second elastic member 1141 restores the first form, driving the bracket 114 and the first filter part 111 from the second position to collide with the abutment platform 1124 and stop at the first position. When the above process is performed once, the bracket 114 and the first filter part 111 move from the first position to the second position, and then from the second position to the first position once, i.e., the first filter part 111 is slapped once. By continuing to cycle the above motion process, the first filter part 111 can be slapped and cleaned multiple times.

[0117] See also Figure 10-13Another first drive assembly provided by the present disclosure includes a second cam and a resisting pendulum that cooperate with each other. The second cam includes a shaft 1184 and at least one lever 1185 that rotates about the shaft 1184. The second cam is connected to the dust box body 112 or the bracket 114 via the shaft 1184. The resisting pendulum is connected to the bracket 114 and includes a first sub-resisting pendulum 1186 and a second sub-resisting pendulum 1187 that are arranged at an angle. When the second cam rotates clockwise or counterclockwise about its shaft 1184, the lever 1185 sequentially and intermittently abuts the first sub-resisting pendulum 1186 and the second sub-resisting pendulum 1187. The first drive module also includes a drive motor 1182 to drive the second cam to rotate. Correspondingly, when the cleaning robot 10 performs cleaning work, the first filter part 111 is in the first position, and the lever 1185 abuts against the first resisting pendulum to keep the first filter part 111 in the first position, thereby locking the bracket 114 and the first filter part 111 in the first position; when the filter body is removing dust, the lever 1185 continues to move clockwise or counterclockwise around the rotating shaft 116, and the lever 1185 disengages from the first resisting pendulum to release the bracket 114 and the first filter part 111; when the lever 1185 abuts against the second resisting pendulum, it drives the second resisting pendulum and drives the bracket 114 and the first filter part 111 to move toward the second position, and the second elastic member 1141 is deformed to drive The bracket 114 and the first filter part 111 move from the second position to the first position to store energy; when the bracket 114 and the first filter part 111 reach the second position, the lever 1185 disengages from the second resisting pendulum and continues to move; the second elastic member 1141 drives the bracket 114 and the first filter part 111 to move from the second position to the first position to restore the first form; the above process is performed once, and the bracket 114 and the first filter part 111 move from the first position to the second position, and then from the second position to the first position once, that is, the first filter part 111 is tapped once, and the above movement process is continued to cycle, so that the first filter part 111 can be tapped and cleaned multiple times.

[0118] In other possible implementations of the present disclosure, the second elastic member 1141 may also be configured as a tension spring, an elastic rope, elastic rubber, etc. The second elastic member 1141 may also be connected to the bottom wall 1122 of the dust box assembly 110 , which will not be described in detail herein.

[0119] In another embodiment, when the cleaning robot 10 performs cleaning work, the first filter portion 111 in the dust box assembly 110 in the cleaning robot 10 is in the second position.

[0120] Specifically, when the cleaning robot 10 performs cleaning work, the first drive assembly is configured to maintain the bracket 114 and the first filter portion 111 in the second position, and the second elastic member 1141 is deformed to drive the first filter portion 111 to move from the second position to the first position to store energy; when the first drive assembly releases the first filter portion 111, the second elastic member 1141 releases energy and drives the bracket 114 and the first filter portion 111 to move from the second position to the first position; the abutment 1124 provided on the side of the dust box body 112 prevents the bracket 114 and the first filter portion 111 from moving in the opposite direction from the first position to the second position. The structure of the first drive assembly is substantially the same as that of the above-mentioned embodiments and will not be described in detail here.

[0121] In the implementation of the present disclosure, refer to Figure 6-Figure 13 In the dust box assembly 110 provided in the embodiment of the present disclosure, a seal 120 is provided between the bracket 114 and the dust box body 112; when at least the first filter part 111 is in the first position, the seal 120 prevents dust in the dust box body 112 from leaking out from between the dust box body 112 and the bracket 114.

[0122] Combine Figure 6-Figure 9 As shown, the seal 120 can be a rubber strip mounted on the bracket 114. When the bracket 114 and the first filter portion 111 are in the first position, the rubber strip contacts the inner wall of the dust box assembly 110, thereby achieving a sealing effect. In this embodiment, the seal 120 only seals the gap between the bracket 114 and the dust box body 112 when they are in the first position. When the bracket 114 and the first filter portion 111 leave the first position, the rubber strip does not contact the inner wall of the dust box assembly 110, thereby losing the sealing effect. Therefore, when the seal 120 is set to this rubber strip, it is not suitable for the embodiment in which the first filter portion 111 in the dust box assembly 110 in the cleaning robot 10 is in the second position when the cleaning robot 10 performs cleaning work. Refer to Figure 12-13 The sealing member 120 can also be a flexible member 121 with a variable shape connected to the bracket 114 and the inner wall of the dust box body 112. During the movement of the bracket 114, the flexible member 121 can always achieve a sealing effect. Therefore, when the sealing member 120 is set as the flexible member 121, it is applicable to the cleaning robot system provided by any embodiment of the present disclosure. It should also be noted that a sealing structure 122 is also provided between the first filter part 111 and the bracket 114 to prevent dust from escaping from the gap between the first filter part 111 and the bracket 114.

[0123] Correspondingly, the drive module is further connected to a protruding member 130, which is configured to drive the protruding member 130 to move between an extended position and a retracted position. When the protruding member 130 is in the extended position and the second elastic member 1141 drives the bracket 114 and the first filter portion 111 to move from the second position to the first position, the protruding member 130 directly abuts the bracket 114 and prevents the bracket 114 and the first filter portion 111 from continuing to move toward the first position. When the protruding member 130 is retracted, the second elastic member 1141 continues to drive the bracket 114 and the first filter portion 111 to move to the first position. Specifically, the protruding member 130 can be extended and retracted. During the process of the second elastic member 1141 driving the bracket 114 and the first filter portion 111 to move from the second position to the first position, if the protruding member 130 is in the extended position, the bracket 114 directly impacts the protruding member 130 and stops moving instantly, thus having a slapping effect on the first filter portion 111. At this time, the first filter portion 111 is located at a third position between the first and second positions. The seal 120 does not contact the protrusion 130, and the seal 120 will not affect the slapping effect due to the buffering effect. After the slapping is completed, the protrusion 130 retracts, and the bracket 114 continues to move downward to the first position under the action of the second elastic member 1141; when the bracket 114 and the first filter part 111 stop at the first position, the first filter part 111 is slapped again. The seal 120 installed on the bracket 114 hits the abutment 1124, sealing the gap between the bracket 114 and the dust box body 112. While playing a sealing role, the seal 120 also provides a buffering effect. The slapping effect of the bracket 114 directly hitting the protrusion 130 on the first filter part 111 is stronger than the slapping effect of the seal 120 hitting the abutment 1124 on the first filter part 111. The above process achieves two slaps on the first filter part 111, and the slapping effect is better.

[0124] In a preferred embodiment of the present disclosure, the protruding member 130 moves synchronously with the first cam 1181 (or the second cam). Furthermore, the driving motor 1182 drives the first cam 1181 to rotate while synchronously driving the protruding member 130 to extend and retract. Specifically, when the first cam 1181 drives the bracket 114 and the second filter portion 113 to move from the first position to the second position, the protruding member 130 is in the retracted position to prevent the protruding member 130 from blocking the movement of the bracket 114 and the first filter portion 111. When the first cam 1181 releases the bracket 114 and the first filter portion 111 to move it back to the first position from the second position, the protruding member 130 is in the extended position to intercept the bracket 114 from continuing to move to the second position, and instantly stops at the third position. See in conjunction with Figures 14-21The driving module also includes: a sleeve 131 that is sleeved on the rotating shaft 116, and the circular end surface of the sleeve 131 close to the protruding member 130 is a stepped surface that is connected end to end, and the stepped surface has a slope, including: a first stepped surface 1311, a second stepped surface 1312 and a third stepped surface 1313 that are connected in sequence; the protruding member 130 includes a protrusion 132, a linkage member 133 that connects the protrusion 132 and links the protrusion 132 to reciprocate between the extended and retracted positions, and a top cone 134 is provided at the end of the linkage member 133 that is set relative to the sleeve 131; the top cone 134 slides on the step surface to realize the linkage of the linkage member 133 and the protrusion 132.

[0125] When the bracket 114 and the first filter part 111 are in the first position, the sealing member 120 abuts against the abutment platform 1124, the top cone 134 abuts against the first step surface 1311, the linkage member 133 drives the protrusion 132 to retract, the sealing member 120 is not in contact with the protruding member 130, and the sealing member 120 seals the gap between the bracket 114 and the dust box body 112; the rotating shaft 116 drives the shaft sleeve 131 to rotate with the rotating shaft 116 as the rotation center, and the top cone 134 slides from the first step surface 1311 to the second step surface 1312 and remains on the second step surface 1312. During this process, the bracket 114 and the first filter part 111 move from the first position to the second position, and when the bracket 114 and the first filter part 111 pass over the position of the protrusion 132, the linkage member 133 drives the protrusion 132 to continue to extend; the top cone 13 When sliding from the second step surface 1312 to the third step surface 1313, the linkage 133 drives the protrusion 132 to fully extend; when the bracket 114 and the first filter portion 111 reach the second position and resume movement toward the first position, the top cone 134 remains at a different position on the third step surface 1313 and has a tendency to move toward the first step surface 1311; during the movement of the bracket 114 and the first filter portion 111 from the second position to the first position, the bracket 114 hits the extended protrusion 132 to complete the cleaning operation. After the cleaning operation is completed, as the shaft sleeve 131 rotates, the top cone 134 transitions from the third step surface 1313 to the first step surface 1311, the linkage 133 drives the protrusion 132 to retract, and the bracket 114 and the first filter portion 111 continue to move toward the first position, performing a reciprocating motion.

[0126] See also Figure 22-Figure 27 The cleaning robot system provided in other embodiments of the present disclosure is an improvement on the cleaning robot system provided in the above embodiments. The difference is that the first filter part 111 is arranged close to the side wall 1123 of the dust box body 112.

[0127] Accordingly, combined Figure 23 As shown, in one possible implementation, when the first filter portion 111 is in the first position, the angle formed by the first filter portion 111 and the top wall 1121 is a right angle.

[0128] Combine Figure 24a-24b As shown, in one possible implementation, when the first filter portion 111 is in the first position, the angle formed between the first filter portion 111 and the top wall 1121 is an obtuse angle α. It should be noted that the first filter portion 111 is mounted on the bracket 114, and the plane of the first filter portion 111 is parallel to the plane of the bracket 114. The angle formed between the first filter portion 111 and the top wall 1121 is the same as the angle formed between the bracket 114 and the top wall 1121. When the top wall 1121 intersects the bracket 114, the plane of the bracket 114 divides the top wall 1121 into two surfaces of different areas, referred to as the larger surface 11211 and the smaller surface 11212. The angle between the bracket 114 and the larger surface 11211 is defined as an obtuse angle α. With this arrangement, when the first filter portion 111 is tapped, dust removed from the first filter portion 111 falls directly into the dust box assembly 110 rather than falling back onto the first filter portion 111, resulting in a more effective tapping effect.

[0129] In one implementation, when the first filter portion 111 is in the first position, the angle formed by the first filter portion 111 and the top wall 1121 is preferably greater than or equal to 60° and less than or equal to 120°.

[0130] Combine Figure 22-24b As shown, the rotating shaft 116 arranged between the dust box body 112 and the bracket 114 is parallel to the top wall 1121. When the cleaning robot 10 performs cleaning work, the initial positions of the bracket 114, the first filter part 111, and the second filter part 113 are in the first position; other structures are similar and will not be repeated here.

[0131] Combine Figure 25-26 As shown, the rotating shaft 116 arranged between the dust box body 112 and the bracket 114 is parallel to the top wall 1121. When the cleaning robot 10 performs cleaning work, the initial position of the bracket 114 and the first filter part 111 is in the second position; other structures are similar and will not be repeated here.

[0132] Combine Figure 27 As shown, the rotating shaft 116 provided between the dust box body 112 and the bracket 114 is perpendicular to the top wall 1121 , and other structures are similar and will not be described in detail here.

[0133] See also Figure 30-33b In this embodiment, the cleaning robot 10 is also equipped with a dust removal device to remove dust adhering to the first filter 111. This dust removal device can further clean the filter, allowing the recovery component to recycle the dust removed from the first filter 111 and other debris in the dust box body 112 back into the base station 30, thereby allowing the cleaning robot 10 to maintain optimal suction power over a long period of time. Preferably, the recovery component and the dust removal device are activated at overlapping times, which effectively reduces the impact of noise on users.

[0134] Specifically, the dust cleaning device includes a second drive module 800, which includes a striker motor 811 and a striker assembly connected to the striker motor 811. The striker motor 811 drives at least a portion of the striker assembly to move between an extended position and a retracted position. When the striker assembly is in the extended position, it strikes the first filter portion 111. The striker motor 811 drives the striker assembly to move back and forth between the extended position and the retracted position, causing the striker assembly to continuously strike the first filter portion 111, thereby beating the first filter portion 111 and removing dust from the first filter portion 111.

[0135] Please refer to Figure 33a-Figure 33b The impact assembly includes a collision block 813, a pusher 814, and a third elastic member 812. The pusher 814 is connected to the collision motor 811 and driven to rotate by the collision motor 811. The pusher 814 is configured to push the collision block 813 from the extended position to the retracted position during rotation. The third elastic member 812 is configured to apply an elastic force to the collision block 813 when the collision block 813 is in the retracted position, thereby pushing the collision block 813 out to the extended position. In this embodiment, the pusher 814 has a first surface 8141 away from the first filter portion 111 and a second surface 8142 close to the first filter portion 111. A guide surface 8144 and a release surface 8143 are connected between the first surface 8141. The guide surface 8144 is configured as an inclined surface with a certain slope, and the release surface 8143 is configured to be perpendicular to the first surface 8141 and the second surface 8142. The impact block 813 has a driven surface 8132 that contacts the pusher 814 and an impact surface 8131 that impacts the first filter portion 111. Driven by the impact motor 811, the pusher 814 rotates along the rotation direction D, and the driven surface 8132 of the impact block 813 climbs from the second surface 8142 of the pusher 814 to the first surface 8141 through the guide surface 8144. Figure 33b At this time, the impact surface 8131 of the impact block 813 moves from the extended position to the retracted position. During this process, the third elastic member 812 is deformed to store force for ejecting the impact block 813. When the driven surface 8132 climbs to the first surface 8141 and slides on the first surface 8141, the slider is restricted to the retracted position. Under the continuous drive of the impact motor 811, please refer to Figure 33a, the driven surface 8132 of the collision block 813 passes from the first surface 8141 through the release surface 8143 to the second surface 8142. Since the release surface 8143 is arranged perpendicular to the first surface 8141 and the second surface 8142, it has no intercepting effect on the driven surface 8132. The collision block 813 is pushed out by the third elastic member 812, and the driven surface 8132 quickly moves to the second surface 8142 in a short time, while the collision surface 8131 hits the first filter part 111. In the above process, the collision block 813 completes an impact on the first filter part 111, shaking off the dust on the first filter part 111. In this embodiment, the third elastic member 812 is configured as a spring 823. In other embodiments, the third elastic member 812 can be other elastic structures with the ability to deform or restore deformation, such as an elastic rope, elastic rubber, etc.

[0136] It is understood that the pusher 814 may be provided with two or more sets of mutually cooperating first surfaces 8141, second surfaces 8142, guide surfaces 8144, and release surfaces 8143 to control the frequency with which the impact block 813 impacts the first filter portion 111. In this embodiment, the pusher 814 is provided with two sets of mutually cooperating first surfaces 8141, second surfaces 8142, guide surfaces 8144, and release surfaces 8143. In other words, when the pusher 814 is driven by the impact motor 811 to rotate one revolution, the impact block 813 can impact the first filter portion 111 twice. It is also understood that the pusher 814 may also be provided with a cam structure, the outer peripheral surface of which contacts and cooperates with the impact block 813. When the impact motor 811 drives the cam structure to rotate, the cam structure pushes the impact block 813 from an extended position to a retracted position. Alternatively, the impact block 813 may be connected to a linear motor, driven by the linear motor to perform linear reciprocating motion, thereby impacting the first filter portion 111.

[0137] In addition, in this embodiment, a mounting bracket (equivalent to the bracket 114) is provided inside the dust box body 112, and the first filter unit 111 is mounted inside the dust box body 112 via the mounting bracket. Specifically, the first filter unit 111 is mounted on the air intake 1125 of the dust box body 112. In this embodiment, the air intake 1125 of the dust box body 112 and the dust collection port 119 of the dust box body 112 are provided on opposite sides of the dust box body 112 and are both located on the sidewall 1123 of the dust box body 112. A sealing vibration member 820 is provided between the first filter unit 111 and the dust box body 112. The sealing vibration member 820 can prevent airflow from flowing out of the dust box body 112 without passing through the first filter unit 111. One end of the sealing vibration member 820 is connected to the dust box body 112, and the other end is directly connected to the first filter unit 111 or indirectly connected to the first filter unit 111 via the mounting bracket. This arrangement, on the one hand, prevents part of the airflow carrying dust from flowing out from the edge of the first filter part 111 without passing through the first filter part 111. The dust in this part of the airflow will be discharged into the outside air and also discharged onto the impact motor 811 and the impact assembly. On the other hand, the sealing shock absorber can move the first filter part 111 away from the impact block 813 when the impact block 813 impacts the first filter part 111 to shake off the dust. The sealing shock absorber can play a reliable sealing role when the first filter part 111 moves, and at the same time play a certain buffering role, slowing down the vibration from continuing to be transmitted to the dust box body 112. In order to enable the first filter part 111 to rebound to its original position after being hit by the impact block 813, a spring 823 is provided on the other side of the impact block 813 relative to the first filter part 111. In this embodiment, the sealing vibration member 820 is arranged between the dust box body 112 and the mounting frame, and an anti-blocking member 821 that cooperates with the sealing vibration member 820 is also provided in the dust box body 112. An empty slot is formed between the sealing vibration member 820 and the dust box body 112. This empty slot will leave garbage inside, so an anti-blocking member 821 that matches the empty slot is provided to seal the empty slot to prevent garbage from getting stuck. Preferably, the sealing vibration member 820 and the anti-blocking member 821 are pressed against the mounting frame by a pressure plate 830 connected to the mounting frame. In order to further prevent dust in the dust box body 112 from escaping, a sealing strip 822 is provided between the first filter part 111 and the mounting frame. Further preferably, the sealing strip 822, the sealing vibration member 820 and the anti-blocking member 821 can be rubber or foam that can be deformed.

[0138] To facilitate the assembly of the sealing vibration element 820, please refer to Figure 32The dust box body 112 includes a first shell and a second shell that are adapted to each other. The sealing vibration member 820 can be installed in the second shell, and then the first shell and the second shell are connected together. The connection between the first shell and the second shell can be set as a detachable connection, such as a hinge, a snap connection, a pin connection, etc., or it can be set as a fixed connection. In this embodiment, the first shell and the second shell are fixed together by adhesive, which can prevent dust and airflow from escaping between the first shell and the second shell.

[0139] The cleaning device includes an impact assembly mounting frame 810 for mounting the impact assembly near the first filter portion 111. It is understood that the impact motor 811 and the impact assembly are arranged outside the dust box body 112. The impact assembly mounting frame 810 is arranged on the outside of the dust box body 112, and the impact assembly is also arranged on the outside of the dust box body 112, and is located on the other side of the first filter portion 111 relative to the impact mounting frame. This arrangement can prevent dust inside the dust box body 112 and on the first filter portion 111 from contaminating the impact assembly. The cleaning device also includes an impact assembly housing 815, which mounts the impact block 813 and the pusher 814 on the impact assembly mounting frame 810, and can also prevent dust from falling on the impact block 813 and the pusher 814. Preferably, the impact assembly housing 815 is fixed to the impact assembly mounting frame 810 by screws, and the impact motor 811 is fixed to the impact assembly mounting frame 810 by screws. The impact assembly mounting frame 810 is further provided with an impact slot 8101 and an air outlet 117 . The impact slot 8101 is used for the impact block 813 to pass through and impact the first filter part 111 . The air outlet 117 is used for the air to flow through the first filter part 111 and smoothly flow out of the dust box body 112 .

[0140] In addition, a filter position detection component and / or a collision block position detection module are also provided inside the cleaning robot. The filter position detection component is used to detect whether the first filter part is located in the dust box body, and the collision block position detection component is used to detect whether the collision block 813 is in place. Specifically, the collision block position detection component includes a first magnetic part 841 and a first Hall element 851. The first magnetic part 841 is provided on the collision block 813, and the first Hall element 851 is connected to the collision component housing 815. The first Hall element 851 determines whether the collision block 813 is in place by detecting the induction signal emitted by the first magnetic part 841; the filter position detection component includes a second magnetic part 842 and a second Hall element 852. The fourth magnetic part 842 is provided on the first filter part, and the second Hall element 852 is connected to the collision component mounting bracket 810. The second Hall element 852 determines whether the first filter part is in place by detecting the induction signal emitted by the second magnetic part 841.

[0141] See also Figures 1-4 、 Figure 6-Figure 8 , a dust box assembly 110 provided by an embodiment of the present disclosure includes: a hollow dust box body 112, a dust inlet 115 and an air outlet 117 respectively opened on the dust box body 112, and a filter body connected to the dust box body 112; the filter body includes a first filter part 111 and a second filter part 113, which are used to filter garbage entering the dust box body 112; wherein, the dust box assembly 110 has two states during use; in the first state, the first filter part 111 and the second filter part 113 are combined with each other, so that the second filter part 113 filters the garbage entering the dust box body 112 before the first filter part 111; in the second state, at least parts of the first filter part 111 and the second filter part 113 are away from each other, forming a channel 1111 for garbage to fall.

[0142] Furthermore, when the cleaning robot 10 performs cleaning work, the dust box assembly 110 is in a first state; the first filter part 111 and the second filter part 113 are combined with each other, and the second filter part 113 covers at least part of the surface of the first filter part 111; the garbage entering the dust box body 112 is filtered by the first filter part 111 and the second filter part 113, and the garbage is stored in the hollow area inside the dust box body 112.

[0143] It is understood that the preferred form of the mutual combination is that the first filter portion 111 and the second filter portion 113 are completely in contact with each other; in addition, the second filter portion 113 may also be in at least partial contact with the surface of the first filter portion 111, or may not be in contact at all, that is, a certain gap is left between the first filter portion 111 and the second filter portion 113, so that the filter body can better filter garbage and dust, and also facilitate the circulation of air between the first filter portion 111 and the second filter portion 113. Here, as long as it is ensured that when the cleaning robot 10 performs the cleaning work, the second filter portion 113 covers at least a portion of the surface of the first filter portion 111, so that the sucked garbage reaches the second filter portion 113 first and then reaches the first filter portion 111; the mutual combination of the first filter portion 111 and the second filter portion 113 can be satisfied.

[0144] Preferably, when the cleaning robot 10 performs cleaning work, the second filter portion 113 is arranged parallel to the first filter portion 111 , and the second filter portion 113 completely covers the first filter portion 111 .

[0145] When the cleaning robot 10 enters the base station 30 to collect dust, the dust box assembly 110 is in the second state; the first filter 111 and the second filter 113 are at least partially separated from or close to each other to form a channel 1111 for garbage to fall through. This allows the base station 30 to collect garbage collected in the hollow area of the dust box body 112 and garbage adhering to the first filter 111 and between the first and second filters 113.

[0146] It is understood that the first filter portion 111 and the second filter portion 113 can be spaced apart from each other to form a passage for garbage to fall through. The first filter portion 111 and the second filter portion 113 can be opened at an angle relative to the other to form a passage 1111 through which garbage attached to the first filter portion 111 and garbage between the first filter portion 111 and the second filter portion 113 can fall through. For example, the second filter portion 113 can be rotated at an angle relative to the first filter portion 111 in a direction away from the first filter portion 111, so that the position of the second filter portion 113 opened relative to the first filter portion 111 forms the above-mentioned passage 1111. Alternatively, a portion of the structure of one of the first filter portion 111 and the second filter portion 113 can be displaced to form a passage for the above-mentioned garbage to fall through. Alternatively, the first filter portion 111 and the second filter portion 113 can be completely separated, that is, the second filter portion 113 can move translationally relative to the first filter portion 111. The difference from the above-mentioned second filter portion 113 opening at an angle relative to the first filter portion 111 is that, here, the second filter portion 113 is entirely spaced apart from the first filter portion 111. This will not be further described here. As long as the recycling component ensures that when collecting the garbage in the dust box component 110, a relative displacement occurs between the first filter part 111 and the second filter part 113 to form the above-mentioned channel 1111, it can ensure that the garbage (dust) on the first filter part 111 and the garbage (dust) between the first filter part 111 and the second filter part 113 fall from the channel 1111, thereby improving the cleaning effect.

[0147] It is also understood that the first filter 111 and the second filter 113 can be positioned close to each other to form a passage for waste to fall through. When the cleaning robot is performing cleaning operations, a certain distance can be present between the first filter 111 and the second filter 113, with the second filter 113 covering at least a portion of the first filter 111. In this embodiment, the second filter 113 completely covers the first filter 111. The first airflow first passes through the second filter 113 to filter out large particles of waste, hair, etc., and then passes through the first filter 111 to remove fine dust. To form the passage, one of the second filter 113 and the first filter 111 can be moved toward the other. For example, the second filter 113 can be rotated a certain angle toward the first filter 111, so that the second filter 113 is positioned relative to the first filter 111 to form the passage 1111. Similarly, the second filter 113 can also be partially or entirely positioned close to the first filter 111 to form the passage. The method for cleaning the HEPA provided on the dust box body 112 mentioned above is that the dust box assembly 110 uses an eccentric wheel vibration method to knock on the back of the HEPA, so that the garbage falls off the HEPA; this eccentric wheel vibration method has a low vibration amplitude and frequency, resulting in poor maintenance effect; and because the knocking frequency is low and the knocking is on the back of the HEPA, this is not conducive to the falling of garbage on the HEPA; when cleaning carpets and a lot of cotton wool / hair, the cleaning effect is not ideal.

[0148] Please refer to Figures 28 to 31 In the second embodiment of the present disclosure, when the recycling assembly recycles the garbage in the dust box assembly 110, the first filter portion 111 and the second filter portion 113 are at least partially separated from each other.

[0149] The base station 30 is provided with a recovery assembly, which is configured to communicate with the dust box assembly 110 via an airflow to draw the waste in the dust box assembly 110 into the base station 30. The recovery assembly includes a second fan assembly 301, which is configured to generate a second airflow to recover the waste in the dust box assembly 110. The second airflow is also configured to drive the second filter portion 113 to move relative to the first filter portion 111, so that at least a portion of the second filter portion 113 moves away from the first filter portion 111, thereby forming a channel 1111.

[0150] Specifically, the recycling component is arranged at the base station 30, and the second fan component 301 generates a second airflow. The second airflow passes through the dust box component 110 and drives the second filter part 113 to move relative to the first filter part 111, so that the second filter part 113 is at least partially away from the first filter part 111; thereby, the dust attached to the second filter part 113 can be sucked out by the second airflow from the opening between the second filter part 113 and the first filter part 111 (i.e., the channel 1111); and then the garbage and dust are sucked into the recycling component of the base station 30 from the dust collection port 119 of the dust box body 112.

[0151] It is understood that at least portions of the first filter portion 111 and the second filter portion 113 may be spaced apart from each other to form a passage for garbage to fall through. This may be manifested in that one of the first filter portion 111 and the second filter portion 113 is opened at an angle relative to the other, forming a passage 1111 through which garbage attached to the first filter portion 111 and garbage between the first filter portion 111 and the second filter portion 113 can fall through. For example, the second filter portion 113 may be rotated at an angle relative to the first filter portion 111 in a direction away from the first filter portion 111, so that the position of the second filter portion 113 opened relative to the first filter portion 111 forms the passage 1111. Alternatively, a portion of the structure of one of the first filter portion 111 and the second filter portion 113 may be displaced to form a passage for the garbage to fall through. Alternatively, the first filter portion 111 and the second filter portion 113 may be completely separated, that is, the second filter portion 113 may move translationally relative to the first filter portion 111. This differs from the above-mentioned second filter portion 113 opening at an angle relative to the first filter portion 111 in that, here, the second filter portion 113 is entirely spaced apart from the first filter portion 111. This will not be further described herein. As long as the recycling component ensures that when collecting the garbage in the dust box component 110, a relative displacement occurs between the first filter part 111 and the second filter part 113 to form the above-mentioned channel 1111, it can ensure that the garbage (dust) on the first filter part 111 and the garbage (dust) between the first filter part 111 and the second filter part 113 fall from the channel 1111, thereby improving the cleaning effect.

[0152] In this embodiment, when the cleaning robot 10 performs cleaning work, the first airflow generated by the first fan assembly 140 flows from the second filter part 113 to the first filter part 111, so that the first filter part 111 and the second filter part 113 are combined with each other, and the second filter part 113 covers at least part of the surface of the first filter part 111; this arrangement does not require increasing manufacturing and use costs, and the first fan assembly 140 can be shared to allow the first filter part 111 and the second filter part 113 to be combined with each other, saving cost and space.

[0153] It is also understandable that the preferred form of the mutual combination is that the first filter part 111 and the second filter part 113 are completely in contact with each other; in addition, the second filter part 113 may also be in at least partial contact with the surface of the first filter part 111, or not in contact at all, that is, a certain gap is left between the first filter part 111 and the second filter part 113, so that the filter body can better filter garbage and dust, and also facilitate the circulation of air between the first filter part 111 and the second filter part 113. Here, as long as it is ensured that when the cleaning robot 10 performs the cleaning work, the second filter part 113 covers at least a portion of the surface of the first filter part 111, so that the sucked garbage reaches the second filter part 113 first and then reaches the first filter part 111; the mutual combination of the first filter part 111 and the second filter part 113 can be satisfied.

[0154] Preferably, when the cleaning robot 10 performs cleaning work, the second filter portion 113 is arranged parallel to the first filter portion 111 , and the second filter portion 113 completely covers the first filter portion 111 .

[0155] See also Figure 34-36 The third embodiment of the present disclosure provides a cleaning robot 10, comprising: a main body 101, on which a dust box assembly 110 is provided; the dust box assembly 110 comprises: a hollow dust box main body 112, a dust inlet 115 and an air outlet 117 respectively provided on the dust box main body 112; and a first driving module connected to the dust box main body 112; a bracket 114 is provided in the dust box main body 112, and a first filter portion 111 is connected to the dust box main body 112 via the bracket 114; the first driving module is It is configured to act on the bracket 114 so that the bracket 114 and the first filter part 111 move between a first position and a second position; in the first position, the first filter part 111 is parked close to the center of the dust box body 112; in the second position, the first filter part 111 is parked away from the center of the dust box body 112 relative to the first position; when the first filter part 111 moves from the second position and stops at the first position, the dust attached to the first filter part 111 falls into the dust box body 112 at least under the action of inertia.

[0156] The first filter 111 moves from the second position to the first position and stops momentarily at the first position, so that the dust on the first filter 111 falls into the dust box body 112 due to inertia, eliminating the need to manually clean the dust box assembly 110, avoiding frequent disassembly and assembly of the dust box assembly 110, and not affecting the cleaning ability of the cleaning robot 10. Preferably, the first filter 111 is configured as a HEPA filter.

[0157] The difference between the cleaning robot provided in the third embodiment of the present disclosure and the cleaning robot in the cleaning robot system provided in the first embodiment is that the cleaning robot 10 in the third embodiment is not provided with the second filter part 113, and the remaining structures or implementation means are roughly the same and will not be elaborated here.

[0158] See also Figures 37-41 The cleaning robot system provided in other embodiments of the present disclosure improves the cleaning robot system provided in the third embodiment, and the main difference is that the first filter part 111 is arranged close to the side wall 1123 of the dust box body 112.

[0159] Accordingly, combined Figure 37 As shown, in one possible implementation, when the first filter portion 111 is in the first position, the angle formed by the first filter portion 111 and the top wall 1121 is a right angle.

[0160] Combine Figure 24a-24b As shown, in one possible implementation, when the first filter portion 111 is in the first position, the angle formed between the first filter portion 111 and the top wall 1121 is an obtuse angle α. It should be noted that the first filter portion 111 is mounted on the bracket 114, and the plane of the first filter portion 111 is parallel to the plane of the bracket 114. The angle formed between the first filter portion 111 and the top wall 1121 is the same as the angle formed between the bracket 114 and the top wall 1121. When the top wall 1121 intersects the bracket 114, the plane of the bracket 114 divides the top wall 1121 into two surfaces of different areas, referred to as the larger surface 11211 and the smaller surface 11212. The angle between the bracket 114 and the larger surface 11211 is defined as an obtuse angle α. With this arrangement, when the first filter portion 111 is tapped, dust removed from the first filter portion 111 falls directly into the dust box assembly 110 rather than falling back onto the first filter portion 111, resulting in a more effective tapping effect.

[0161] In one implementation, when the first filter portion 111 is in the first position, the angle formed by the first filter portion 111 and the top wall 1121 is preferably greater than or equal to 60° and less than or equal to 120°.

[0162] Combine Figure 37-Figure 38 As shown, the rotating shaft 116 arranged between the dust box body 112 and the bracket 114 is parallel to the top wall 1121. When the cleaning robot 10 performs cleaning work, the initial positions of the bracket 114 and the first filter part 111 are in the first position; other structures are similar and will not be repeated here.

[0163] Combine Figure 39-40As shown, the rotating shaft 116 arranged between the dust box body 112 and the bracket 114 is parallel to the top wall 1121. When the cleaning robot 10 performs cleaning work, the initial positions of the bracket 114 and the first filter part 111 are in the second position, and the sealing structure between the bracket 114 and the dust box body 112 adopts a flexible part 121 with a variable shape; other structures are similar and will not be repeated here.

[0164] Figure 41 The figure shows the dust box assembly 110 from a top view. The rotating shaft 116 provided between the dust box body 112 and the bracket 114 is perpendicular to the top wall 1121. The other structures are similar and will not be described in detail here.

[0165] In summary, the dust box assembly 110 and the cleaning robot system provided by the present disclosure can automatically and efficiently clean the dust box assembly 110, avoid frequent disassembly and assembly of the dust box assembly 110, and enable the cleaning robot 10 to maintain optimal suction power for a long time.

[0166] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present disclosure.

[0167] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0168] In this disclosure, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0169] In the present disclosure, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0170] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0171] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The above-described embodiments merely represent several implementation methods of the present disclosure. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the disclosed patent. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the scope of the present disclosure, all of which fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the disclosed patent shall be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that: include: A main body, wherein the main body is provided with a dust box assembly; The dust box assembly includes: a hollow dust box body, a dust inlet and an air outlet respectively provided on the dust box body; and a first driving module connected to the dust box body; A bracket is provided in the dust box body, and the first filter part is connected to the dust box body through the bracket; The first driving module is configured to act on the bracket to move the bracket and the first filter portion between a first position and a second position; In the first position, the first filter portion is parked close to the center of the dust box body; In the second position, relative to the first position, the first filter portion is parked away from the center of the dust box body; When the first filter portion moves from the second position to the first position and stops at the first position, dust attached to the first filter portion falls into the dust box body at least under the action of inertia.

2. The cleaning robot according to claim 1, characterized in that: Along the direction of gravity, the first position is closer to the work surface than the second position.

3. The cleaning robot according to claim 1, characterized in that: The dust box body includes a bottom wall, a top wall, and a side wall connecting the bottom wall and the top wall, and the first filter portion is arranged close to the top wall or the side wall.

4. The cleaning robot according to claim 3, characterized in that: When the first filter portion is close to the top wall and is in the first position, the first filter portion is arranged parallel to the top wall, or the first filter portion and the top wall form an angle; When the first filter portion is close to the side wall and is in the first position, an angle formed by the first filter portion and the top wall is a right angle or an obtuse angle.

5. The cleaning robot according to claim 3, characterized in that: A rotating shaft is provided between the dust box body and the bracket, and the bracket is configured to rotate with the rotating shaft as a rotation center to drive the first filter portion to move between the first position and the second position; When the first filter portion is disposed close to the top wall, the rotation axis is parallel to the top wall; when the first filter portion is disposed close to the side wall, the rotation axis is parallel to or perpendicular to the top wall.

6. The cleaning robot according to any one of claims 1 to 5, characterized in that: The driving module includes: a second elastic member connecting the bracket and the dust box body, and a first driving assembly connected to the bracket, the first driving assembly being configured to drive the bracket and the first filter portion to move from the first position to the second position; When the cleaning robot performs cleaning work, the first filter portion is in the first position, and the second elastic member is in the first shape; During the movement of the bracket and the first filter portion from the first position to the second position, the second elastic member is configured to deform to drive the bracket and the first filter portion to move from the second position to the first position to store energy; When the first driving assembly releases the first filter portion, the second elastic member is configured to restore the first shape to drive the bracket and the first filter portion to move from the second position to the first position; An abutment platform is provided on the inner wall of the dust box body, and the abutment platform is configured to prevent the bracket and the first filter portion from moving beyond the first position toward a direction away from the second position.

7. The cleaning robot according to claim 6, characterized in that: A seal is provided between the bracket and the dust box body; at least when the first filter portion is in the first position, the seal prevents dust in the dust box body from leaking out from between the dust box body and the bracket.

8. The cleaning robot according to claim 7, characterized in that: The driving module is also connected to a protruding member, and the driving module is configured to drive the protruding member to move between an extended position and a retracted position. When the protruding member is in the extended position and the second elastic member drives the bracket and the first filter part to move from the second position to the first position, the protruding member directly abuts the bracket and prevents the bracket and the first filter part from continuing to move toward the first position; when the protruding member is retracted, the second elastic member continues to drive the bracket and the first filter part to move to the first position.

9. The cleaning robot according to any one of claims 1 to 5, characterized in that: The driving module includes: a second elastic member connecting the bracket and the dust box body, and a first driving assembly connected to the bracket; During the cleaning process of the cleaning robot, the first driving assembly is configured to maintain the bracket and the first filter portion in the second position, and the second elastic member is configured to generate deformation to drive the bracket and the first filter portion to move from the second position to the first position to store energy; When the first driving assembly releases the first filter portion, the second elastic member is configured to recover its deformation to drive the bracket and the first filter portion to move from the second position to the first position; The abutment platform provided on the inner wall of the dust box body prevents the bracket and the first filter portion from moving beyond the first position toward a direction away from the second position.

10. A cleaning robot system, characterized in that: It comprises the cleaning robot according to any one of claims 1 to 8, and a base station for maintaining the cleaning robot.

11. The cleaning robot system according to claim 10, characterized in that: The base station includes: a recycling assembly, the recycling assembly being configured to communicate with the dust box assembly via airflow so as to suck the garbage in the dust box assembly into the base station; The first driving module is configured to drive the bracket and the first filter portion to move from the second position to the first position at least once after the recycling assembly collects garbage in the dust box assembly at least once.

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