Lifting transmission device, wet cleaning device and automatic cleaning equipment

Abstract

The present disclosure provides a lifting transmission device for an automatic cleaning device to enable a floating shaft to float and rotate synchronously relative to an output shaft of the automatic cleaning device, comprising: a floating shaft driven to rotate by an output shaft, and a distance of the floating shaft relative to the output shaft being adjustable; and a drag reduction device sleeved on the floating shaft and enabling the floating shaft to rotate relative to the drag reduction device and move along an axial direction of the floating shaft. The present disclosure also provides a wet cleaning device and an automatic cleaning device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a lifting transmission device, a wet cleaning device and an automatic cleaning apparatus. BACKGROUND

[0002] A robot cleaner is a device that cleans a surface to be cleaned by actively moving, and more and more households use the robot cleaner to clean the floor instead of manual cleaning.

[0003] The robot cleaner in the prior art cleans the floor by sucking dust into a dust box through negative pressure, and discharging gas outside the dust box through a filter, and collecting solid waste in the dust box.

[0004] Moreover, in order to improve the cleanliness of the surface to be cleaned by the robot cleaner, the robot cleaner generally includes a rotating mopping component, especially a double-rotating-disk mopping component.

[0005] At this time, when the robot cleaner is working, the mopping component is sometimes raised or lowered considering the need for obstacle avoidance, and considering that the mopping component has two movement modes of lifting and rotating at this time, there is no structure in the prior art that can simultaneously lift and rotate the mopping component. SUMMARY

[0006] To solve one of the above technical problems, the present disclosure provides a lifting transmission device, a wet cleaning device and an automatic cleaning apparatus.

[0007] According to one aspect of the present disclosure, a lifting transmission device for an automatic cleaning apparatus to enable a floating shaft to float and rotate synchronously relative to an output shaft of the automatic cleaning apparatus is provided, which comprises:

[0008] a floating shaft driven to rotate by the output shaft, and the distance of the floating shaft relative to the output shaft is adjustable; and

[0009] a drag reduction device sleeved on the floating shaft, and enabling the floating shaft to rotate relative to the drag reduction device and move along the axial direction of the floating shaft.

[0010] According to the lifting transmission device of at least one embodiment of the present disclosure, the drag reduction device comprises a linear bearing or a needle bearing, and the floating shaft is slidably and rotatably arranged in the center hole of the linear bearing or the needle bearing.

[0011] According to the lifting transmission device of at least one embodiment of the present disclosure, the drag reduction device comprises an injection molding part, the floating shaft is slidably and rotatably arranged in the center hole of the injection molding part, and there is a lubricating material between the injection molding part and the floating shaft.

[0012] The lifting transmission device according to at least one embodiment of the present disclosure further comprises:

[0013] The lifting support, the drag reduction device is arranged on the lifting support, when the lifting support is in lifting motion, the floating shaft can be driven by the drag reduction device to lift.

[0014] The lifting transmission device according to at least one embodiment of the present disclosure, the lifting support is provided with a stepped hole, and the drag reduction device is arranged in the stepped hole.

[0015] The lifting transmission device according to at least one embodiment of the present disclosure, the bottom wall of the stepped hole is formed as a through hole, and the size of the through hole is greater than the size of the floating shaft, so that the floating shaft can lift and rotate in the through hole.

[0016] The lifting transmission device according to at least one embodiment of the present disclosure, the stepped part of the stepped hole supports the drag reduction device.

[0017] The lifting transmission device according to at least one embodiment of the present disclosure further comprises:

[0018] The guide column part, the lifting support is slidably arranged on the guide column part to guide the lifting motion of the lifting support through the guide column part.

[0019] The lifting transmission device according to at least one embodiment of the present disclosure, the upper end of the floating shaft is formed with an outer flange, and the size of the outer flange is greater than the size of the center hole of the drag reduction device, so that the floating shaft can lift when the drag reduction device is driven to lift.

[0020] The lifting transmission device according to at least one embodiment of the present disclosure, the number of floating shafts is 2, and the lower end of each of the two floating shafts is connected with a first rotating member and a second rotating member respectively, so that the first rotating member and the second rotating member can be driven to lift and rotate by the floating shaft.

[0021] The lifting transmission device according to at least one embodiment of the present disclosure, when the first rotating member or the second rotating member is subjected to external force from the surface to be cleaned, the floating shaft can lift.

[0022] The lifting transmission device according to at least one embodiment of the present disclosure, the first rotating member and / or the second rotating member are arranged to be movable along the axial direction of the floating shaft, and / or movable along the radial direction of the floating shaft, and / or the rotating axis of the first rotating member and / or the second rotating member can form an angle with the rotating axis of the floating shaft, and the angle is not 0°.

[0023] According to the lifting transmission device of at least one embodiment of the present disclosure, the floating shaft includes a limiting portion to limit the moving position of the first rotating member and / or the second rotating member in the axial direction of the floating shaft.

[0024] According to the lifting transmission device of at least one embodiment of the present disclosure, the limiting portion includes a shaft shoulder formed on the floating shaft.

[0025] According to the lifting transmission device of at least one embodiment of the present disclosure, a middle portion of the first rotating member and / or the second rotating member is formed with a mounting hole, and the lower end of the floating shaft is inserted into the mounting hole, wherein the mounting hole is a non-circular hole, and the lower end of the floating shaft has the same shape as or cooperates with the mounting hole so that the floating shaft drives the first rotating member and / or the second rotating member to rotate.

[0026] According to the lifting transmission device of at least one embodiment of the present disclosure, the length from the limiting portion to the lower end of the floating shaft is greater than the height of the mounting hole.

[0027] According to the lifting transmission device of at least one embodiment of the present disclosure, there is a gap between the outer surface of the lower end of the floating shaft and the mounting hole of the first rotating member and / or the second rotating member, so that the first rotating member and / or the second rotating member can move in the radial direction of the floating shaft, and / or the rotating axis of the first rotating member and / or the second rotating member can form an angle with the rotating axis of the floating shaft.

[0028] According to the lifting transmission device of at least one embodiment of the present disclosure, the lower end of the floating shaft is provided with a fastening element to limit the moving position of the first rotating member and / or the second rotating member in the axial direction of the floating shaft.

[0029] According to the lifting transmission device of at least one embodiment of the present disclosure, when the first rotating member and / or the second rotating member contacts the limiting portion of the floating shaft, the fastening element has a preset distance from the first rotating member and / or the second rotating member.

[0030] According to the lifting transmission device of at least one embodiment of the present disclosure, the fastening element includes a cap screw fixed to the lower end of the floating shaft, and when the first rotating member and / or the second rotating member contacts the limiting portion of the floating shaft, the screw head of the cap screw has a preset distance from the first rotating member and / or the second rotating member; when the first rotating member and / or the second rotating member contacts the cap screw, at least part of the screw head of the cap screw contacts the first rotating member and / or the second rotating member.

[0031] According to the lift transmission device of at least one embodiment of the present disclosure, a counterbore is formed in the lower end of the first rotating member and / or the second rotating member, the counterbore communicates with the mounting hole of the first rotating member and / or the second rotating member, and a portion of the fastening member is located in the counterbore.

[0032] According to the lift transmission device of at least one embodiment of the present disclosure, a gap is formed between the fastening member and the side wall of the counterbore, so that the first rotating member and / or the second rotating member can move in the radial direction of the floating shaft, and / or the rotating axis of the first rotating member and / or the second rotating member can form an angle with the rotating axis of the floating shaft.

[0033] According to the lift transmission device of at least one embodiment of the present disclosure, a guide hole is formed in the end of the floating shaft close to the output shaft, and the end of the output shaft is slidably inserted into the guide hole.

[0034] Alternatively, a guide hole is formed in the end of the output shaft close to the floating shaft, and the end of the floating shaft is slidably inserted into the guide hole.

[0035] According to the lift transmission device of at least one embodiment of the present disclosure, the guide hole is formed as a non-circular hole, the cross-sectional shape of the lower end of the output shaft is the same as or cooperates with the guide hole, or the cross-sectional shape of the upper end of the floating shaft is the same as or cooperates with the guide hole.

[0036] According to another aspect of the present disclosure, a wet cleaning device is provided, which includes the above-described lift transmission device.

[0037] According to another aspect of the present disclosure, an automatic cleaning apparatus is provided, which includes the above-described lift transmission device or the above-described wet cleaning device. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings, which are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure.

[0039] Figure 1 is a structural schematic diagram of an automatic cleaning apparatus according to one embodiment of the present disclosure.

[0040] Figure 2 is a structural schematic diagram of an automatic cleaning apparatus according to one embodiment of the present disclosure.

[0041] Figure 3 is a structural schematic diagram of an upper housing part according to one embodiment of the present disclosure.

[0042] Figure 4 is a structural schematic view of a lower housing portion according to an embodiment of the present disclosure.

[0043] Figure 5 is another angle structural schematic view of an automatic cleaning apparatus according to an embodiment of the present disclosure.

[0044] Figure 6 is a structural schematic view of an automatic cleaning apparatus according to another embodiment of the present disclosure.

[0045] Figure 7 is a bottom view of an automatic cleaning apparatus according to another embodiment of the present disclosure.

[0046] Figure 8 is a structural schematic view of an automatic cleaning apparatus according to an embodiment of the present disclosure.

[0047] Figure 9 is a structural schematic view of a first driving wheel assembly according to an embodiment of the present disclosure.

[0048] Figure 10 is a structural schematic view of a traveling speed change mechanism according to an embodiment of the present disclosure.

[0049] Figure 11 is a structural schematic view of a dust collecting device according to an embodiment of the present disclosure.

[0050] Figure 12 is another angle structural schematic view of a dust collecting device according to an embodiment of the present disclosure.

[0051] Figure 13 is a sectional view of a dust collecting device according to an embodiment of the present disclosure.

[0052] Figure 14 is another angle structural schematic view of a dust collecting device after removing a suction device according to an embodiment of the present disclosure.

[0053] Figure 15 is a structural schematic view of a dust collecting container according to an embodiment of the present disclosure.

[0054] Figure 16 is another angle structural schematic view of a dust collecting container according to an embodiment of the present disclosure.

[0055] Figure 17 is a sectional view of a dust collecting container according to an embodiment of the present disclosure.

[0056] Figure 18 is an enlarged structural schematic view of A portion of Figure 17 .

[0057] Figure 19 is a schematic view of a first bottom wall open state of a dust collecting container according to an embodiment of the present disclosure.

[0058] Figure 20 is a schematic view of a structure of a first locking device according to an embodiment of the present disclosure.

[0059] Figure 21 is a schematic view of a structure of a first locking device according to an embodiment of the present disclosure. Figure 20

[0060] Figure 22 is a schematic view of a first locking device according to an embodiment of the present disclosure. Figure 21

[0061] Figure 23 is a schematic view of a structure of a second locking device according to an embodiment of the present disclosure.

[0062] Figure 24 is a schematic view of a structure of a second locking device according to an embodiment of the present disclosure. Figure 23

[0063] Figure 25 is a schematic view of a second locking device according to an embodiment of the present disclosure. Figure 24

[0064] Figure 26 is a schematic view of a structure of a filter device according to an embodiment of the present disclosure.

[0065] Figure 27 is a schematic view of a mounting position of a filter device according to an embodiment of the present disclosure.

[0066] Figure 28 is a schematic view of a separation structure of a dust collecting device according to an embodiment of the present disclosure.

[0067] Figure 29 is a sectional view of a dust collecting device according to an embodiment of the present disclosure.

[0068] Figure 30 is a schematic view of a structure of a scrubbing member according to an embodiment of the present disclosure.

[0069] Figure 31 is a schematic view of a structure of a speed changing device according to an embodiment of the present disclosure.

[0070] Figure 32 is a schematic view of a structure of a speed changing device according to an embodiment of the present disclosure.

[0071] Figure 33 is a schematic view of a structure of a lifting transmission device according to an embodiment of the present disclosure. ​​​​

[0072] Figure 34 is a structural schematic view of a lifting transmission (part) according to an embodiment of the present disclosure.

[0073] Figure 35 is a structural schematic view of a lifting transmission (part) according to an embodiment of the present disclosure.

[0074] Figure 36 is a structural schematic view of a lifting drive assembly according to an embodiment of the present disclosure.

[0075] Figure 37 is a structural schematic view of a variable-speed lifting device according to an embodiment of the present disclosure.

[0076] Figure 38 is a structural schematic view of a variable-speed lifting device according to an embodiment of the present disclosure.

[0077] Figure 39 is a structural schematic view of a cleaning liquid storage portion according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0078] The present disclosure will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related content, and not to limit the present disclosure. In addition, it should be noted that, for the convenience of description, only parts related to the present disclosure are shown in the drawings.

[0079] Figure 1 is a structural schematic view of an automatic cleaning device according to an embodiment of the present disclosure. Figure 2 is a structural schematic view of an automatic cleaning device according to an embodiment of the present disclosure.

[0080] As shown in Figure 1 and Figure 2 , the present disclosure provides an automatic cleaning device 10, in particular a smart cleaning device such as a robot vacuum cleaner, etc., which is used to autonomously clean a surface to be cleaned, such as a soft surface of a carpet and a blanket, a floor surface, and a hard surface such as hardwood, ceramic tile, and linoleum.

[0081] In the present disclosure, the automatic cleaning device 10 can include a housing assembly 100, a walking device 200, a dry cleaning device 300, a dust collecting device 400, a wet cleaning device 500, and a detection device 600.

[0082] The housing assembly 100 forms the external shape of the automatic cleaning device 10, i.e., the housing assembly 100 forms the upper surface, the lower surface, and the side surface between the upper surface and the lower surface of the automatic cleaning device 10.

[0083] The walking device 200 is arranged on the housing assembly 100, and is configured to realize the walking of the automatic cleaning device 10. For example, the walking device 200 can be controlled to make the automatic cleaning device 10 move forward, backward and turn, or move along a preset trajectory.

[0084] The dry cleaning device 300 is arranged on the housing assembly 100, and is configured to clean the surface to be cleaned in a dry manner. At least part of the dry cleaning device 300 is arranged outside the housing assembly 100, for example, below the housing assembly 100, so as to remove dirt (for example, large particles on the surface to be cleaned and light particles such as dust on the surface to be cleaned) on the surface to be cleaned by the dry cleaning device 300.

[0085] In the present disclosure, when the automatic cleaning device 10 moves forward or turns, the dry cleaning device 300 can be in a working state at the same time, so that the automatic cleaning device 10 can clean the surface to be cleaned. When the automatic cleaning device 10 moves backward, for example, when the automatic cleaning device 10 encounters an obstacle and evades the obstacle by moving backward, the dry cleaning device 300 can be in a non-working state, so as to prevent the dirt carried by the dry cleaning device 300 from polluting the surface to be cleaned which has been cleaned.

[0086] The dust collecting device 400 is arranged on the housing assembly 100, and is configured to collect the dirt generated after the dry cleaning device 300 cleans the surface to be cleaned. Preferably, the dust collecting device 400 can suck the mixture of dirt and gas generated after the dry cleaning device 300 cleans the surface to be cleaned into the dust collecting device 400. After passing through the dust collecting device 400, the gas is discharged to the outside of the dust collecting device 400, and the dirt is collected in the inside of the dust collecting device 400.

[0087] In the present disclosure, when the amount of dirt in the dust collecting device 400 is greater than or equal to a preset value, the automatic cleaning device 10 is controlled to dock at the base station, and the dirt in the dust collecting device 400 is transferred to the base station; or the user removes the dust collecting device 400, pours out the dirt in the dust collecting device 400, and then installs the dust collecting device 400 to the automatic cleaning device 10 again.

[0088] The wet cleaning device 500 is arranged on the housing assembly 100, and is configured to clean the surface to be cleaned after the dry cleaning device 300 cleans the surface to be cleaned, for example, to clean the surface to be cleaned by mopping, so as to improve the cleaning effect of the surface to be cleaned.

[0089] When the automatic cleaning apparatus 10 of the present disclosure is in use, both the dry cleaning device 300 and the wet cleaning device 500 are capable of supporting the housing assembly 100, that is, the support of the housing assembly 100 is achieved by the reaction force of the force applied to the surface to be cleaned by the dry cleaning device 300 and the wet cleaning device 500.

[0090] In an optional embodiment of the present disclosure, the dry cleaning device 300 is located in front of the wet cleaning device 500 in the advancing direction of the automatic cleaning apparatus 10, that is, when the automatic cleaning apparatus 10 is in cleaning operation, the surface to be cleaned is first cleaned by the dry cleaning device 300, and then the wet cleaning device 500 is used for mopping cleaning, so as to reduce the accumulation of dirt on the wet cleaning device 500, thereby reducing the number of times of cleaning the wet cleaning device 500, or reducing the number of times of returning the automatic cleaning apparatus 10 to the base station within a certain period of time, and increasing the single working time of the automatic cleaning apparatus 10.

[0091] The detection device 600 is arranged on the housing assembly 100, and is used for detecting the obstacles around the automatic cleaning apparatus 10, so that when the detection device 600 confirms that there is an obstacle within a preset range around the automatic cleaning apparatus 10, the movement of the traveling device 200 of the automatic cleaning apparatus 10 is controlled to generate a corresponding movement, so that the automatic cleaning apparatus 10 avoids the obstacle; as an implementation form, the detection device 600 can include a collision detection device 600, for example, when the automatic cleaning apparatus 10 collides with an obstacle, the traveling device 200 first generates a backward movement, and then turns and continues to advance, so as to avoid the obstacle.

[0092] The various devices of the automatic cleaning apparatus 10 will be described in detail below in combination with the drawings.

[0093] Figure 3 is a structural schematic view of an upper housing part according to an embodiment of the present disclosure. Figure 4 is a structural schematic view of a lower housing part according to an embodiment of the present disclosure.

[0094] As shown in Figures 1 to 4 , the housing assembly 100 of the present disclosure can include an upper housing part 110 and a lower housing part 120, wherein the lower housing part 120 can be formed as the lower part of the automatic cleaning apparatus 10, and can be formed as the support body of the automatic cleaning apparatus 10, which can cooperate with the upper housing part 110 described below to form a containing space containing a plurality of components of the automatic cleaning apparatus 10.

[0095] As shown in Figure 4As shown, the lower housing portion 120 can be roughly circular in shape, but it can also be formed in other shapes, such as a rectangular shape plus a semi-circular shape. In the normal travel direction of the automatic cleaning device 10, the front side of the automatic cleaning device 10 is semi-circular and the rear side is rectangular.

[0096] Of course, those skilled in the art should understand that the shape of the lower housing portion 120 can also be other shapes, which will not be described in detail here. In addition, the shape of the upper housing portion 110 of the automatic cleaning device 10 can also be the same as the shape of the lower housing portion 120.

[0097] In this disclosure, the upper housing portion 110 is disposed on the lower housing portion 120. Preferably, the upper housing portion 110 and the lower housing portion 120 are fixed together, thereby allowing the components of the automatic cleaning device 10 to be selectively fixed to the upper housing portion 110 or the lower housing portion 120.

[0098] like Figure 3 As shown, the upper housing portion 110 can be formed as at least a portion of the side surface and at least a portion of the upper surface of the automatic cleaning device 10. For example, the upper housing portion 110 includes an upper housing wall portion 111 and a housing side wall portion 112, wherein the upper housing wall portion 111 and the housing side wall portion 112 can be integrally formed.

[0099] For example, when viewed from above, i.e., when the automatic cleaning device 10 is placed on the surface to be cleaned (horizontal plane) and viewed from top to bottom, the upper wall portion 111 of the housing can be approximately circular in shape. Accordingly, since the upper wall portion 111 of the housing is circular, the rotation radius of the automatic cleaning device 10 can be minimized.

[0100] Moreover, such as Figure 3 As shown, the housing sidewall portion 112 can be formed by extending downward from at least a portion of the arcuate edge of the housing upper wall portion 111.

[0101] Of course, the upper wall portion 111 and the side wall portion 112 of the upper housing portion 110 can be formed separately. For example, after the upper wall portion 111 and the side wall portion 112 of the housing are formed by injection molding respectively, the upper wall portion 111 and the side wall portion 112 of the housing can be connected by fasteners.

[0102] Of course, the upper wall portion 111 of the housing can also be in the shape of a rectangle and a semicircle connected together, i.e., in the shape of a D. Moreover, the shape of the lower housing portion 120 is adapted to the shape of the upper wall portion 111 of the housing. In this disclosure, as the optimal implementation, both the lower housing portion 120 and the upper wall portion 111 of the housing are circular.

[0103] According to at least one embodiment of this disclosure, such as Figure 1As shown, the housing assembly 100 may further include a housing cover 130 disposed on the upper housing portion 110 to form the upper surface of the automatic cleaning device 10.

[0104] Preferably, the housing cover 130 can be detached from the upper housing 110. When the housing cover 130 is detached, the dust collection device 400 housed in the housing assembly 100 is exposed, making it convenient for the user to remove the dust collection device 400.

[0105] At least a portion of the housing assembly 100 may be formed as a transparent portion to obtain the current state of each component of the automatic cleaning device 10, such as the amount of dirt inside the dust collection device 400 to prevent excessive dirt accumulation inside the dust collection device 400. Alternatively, the amount of cleaning liquid in the wet cleaning device 500 may be obtained to add cleaning liquid to the wet cleaning device 500 in a timely manner.

[0106] like Figure 4 As shown, the housing assembly 100 also includes a protective member 140, which is disposed adjacent to the wet cleaning device 500, for example, adjacent to the first rotating member 511 and the second rotating member 512 of the wet cleaning device 500, and in the traveling direction of the surface cleaning device, the protective member 140 is disposed in front of the first rotating member 511 and the second rotating member 512; more preferably, it may be located behind the dry cleaning device 300.

[0107] The protective component 140 is disposed separately relative to the first rotating member 511 and the second rotating member 512, or disposed integrally with respect to the first rotating member 511 and the second rotating member 512. Figure 4 The protective component 140 of the overall configuration is shown in the figure.

[0108] However, the protective component 140 may also include at least two sub-protective components, each of which at least partially surrounds one or more rotating components; that is, the sub-protective component may surround one rotating component or multiple rotating components.

[0109] The protective component 140 can be shaped to at least partially surround the first rotating member 511 and the second rotating member 512, for example, in a semi-encircling form. By providing the protective component 140, the rotating first rotating member 511, the second rotating member 512, and the drive shaft can be protected, preventing objects such as cables on the ground from becoming entangled in the drive shaft. Figure 4As shown, the protective component 140 is positioned at a predetermined height from the cleaning surface, specifically, the lower end of the protective component 140 is 0.5-1 mm from the cleaning surface. This distance is less than the diameter of the charging cable, thus blocking the cable and preventing friction with the ground. The protective component 140 can be made of a soft material, such as soft rubber, silicone, or TPU. Alternatively, the soft material can have a hardness of approximately 50°, for example, between 40° and 60°, to prevent the presence of the protective component from interfering with the obstacle-crossing capability of the automatic cleaning equipment.

[0110] In this disclosure, the protective component includes a planar portion and curved portions disposed at both ends of the planar portion along its length, wherein the curved portions are configured to maintain a preset distance from the first or second rotational circumference.

[0111] The protective component is located in the lower housing portion, and preferably it can be integrally formed with the lower housing portion. Of course, the protective component can also be separately formed from the lower housing portion and installed in the lower housing portion.

[0112] In this disclosure, the drive shafts that drive the first rotating member 511 and the second rotating member 512 can be components such as the first output shaft 539A, the second output shaft 539B, or the lifting shaft 565.

[0113] When the automatic cleaning device disclosed herein is in use, as the automatic cleaning device moves forward, the protective component can block the charging cable and other components from the outside of the protective component, thereby preventing the wet cleaning device from being entangled by the charging cable.

[0114] Figure 5 This is a schematic diagram of the automatic cleaning device according to one embodiment of the present disclosure from another angle. Figure 6 This is a schematic diagram of the structure of an automatic cleaning device according to another embodiment of the present disclosure. Figure 7 This is a bottom view of an automatic cleaning device according to another embodiment of the present disclosure.

[0115] like Figures 5 to 7 As shown, the walking device 200 of this disclosure is disposed on the lower housing portion 120, and at least a portion of the walking device 200 is located below the lower housing portion 120, so that the lower housing portion 120 is supported by the walking device 200. When the walking device 200 is working, the lower housing portion 120 is driven by the walking device 200, so that the automatic cleaning device 10 moves on the surface to be cleaned, that is, the automatic walking and cleaning of the automatic cleaning device 10 is realized.

[0116] In this disclosure, specifically, the walking device 200 includes a first drive wheel assembly 210, a second drive wheel assembly 220, and at least one driven wheel assembly 230.

[0117] The first driving wheel assembly 210 and the second driving wheel assembly 220 are symmetrically arranged along the transverse axis defined by the lower housing portion 120, for example, as shown in Figures 5 to 7 The first driving wheel assembly 210 and the second driving wheel assembly 220 are symmetrically arranged along the transverse axis defined by the lower housing portion 120, for example, as shown in

[0118] More preferably, the first driving wheel assembly 210 and the second driving wheel assembly 220 are similar in structure, and only the first driving wheel assembly 210 is described herein as an example.

[0119] Figure 9 is a structural schematic diagram of the first driving wheel assembly according to an embodiment of the present disclosure. Figure 10 is a structural schematic diagram of the walking speed change mechanism according to an embodiment of the present disclosure.

[0120] According to at least one embodiment of the present disclosure, as shown in Figure 9 and Figure 10 The first driving wheel assembly 210 includes a walking driving device 211, a walking speed change mechanism 212, and a walking wheel 213.

[0121] The walking driving device 211 is used to provide driving force for the movement of the automatic cleaning device 10, wherein the walking driving device 211 can be selected as a motor, for example, a direct current motor, an alternating current motor, a stepping motor, and / or a servo motor, etc. Of course, the walking driving device 211 can also be selected as other devices capable of providing driving force.

[0122] As shown in Figure 10 The walking speed change mechanism 212 includes a walking speed change box body 2121 and a walking transmission assembly 2122, wherein the walking speed change box body 2121 is fixed to the lower housing portion 120, and the walking driving device 211 is fixed to the lower housing portion 120 or fixed to the walking speed change box body 2121; the walking transmission assembly 2122 is arranged in the walking speed change box body 2121, and the walking driving device 211 is connected with the walking transmission assembly 2122 to transmit the driving force generated by the walking driving device 211 to the walking transmission assembly 2122.

[0123] In the present disclosure, as Figure 10As shown, the walking transmission assembly 2122 can be selected from a gear transmission, a chain transmission and a belt transmission, wherein the walking transmission assembly 2122 comprises a power input shaft portion 2122A and a power output shaft portion 2122B, the power input shaft portion 2122A is connected with the walking driving device 211, the walking wheel 213 is connected with the power output shaft portion 2122B of the walking transmission assembly 2122, when the walking transmission assembly 2122 is a gear transmission, the power input shaft portion 2122A and the power output shaft portion 2122B are connected through a gear transmission; correspondingly, when the walking transmission assembly 2122 is a chain transmission or a belt transmission, the power input shaft portion 2122A and the power output shaft portion 2122B are connected through a chain wheel or a belt wheel transmission.

[0124] According to at least one embodiment of the present disclosure, the walking device 200 is detachably arranged on the lower shell portion 120, so as to facilitate the disassembly of the driving wheel assembly and the maintenance.

[0125] As shown, the walking wheel 213 is arranged on the power output shaft portion 2122B of the walking transmission assembly 2122, so that the rotation generated by the walking driving device 211 is transmitted through the walking transmission assembly 2122, and the walking wheel 213 is rotated after the transmission. Figure 9

[0126] In the present disclosure, the walking driving device 211 can realize forward rotation and reverse rotation, thereby the walking wheel 213 can rotate in a first direction or a second direction, wherein the first direction is the opposite direction of the second direction.

[0127] Further, when the walking wheel 213 rotates in the first direction, the automatic cleaning equipment 10 can move forward, and when the walking wheel 213 rotates in the second direction, the automatic cleaning equipment 10 can move backward.

[0128] As a preferred implementation form, the number of the driven wheel assembly 230 can be one, the driven wheel assembly 230 is arranged on the transverse shaft defined by the lower shell portion 120, and is spaced apart from the connecting line of the first driving wheel assembly 210 and the second driving wheel assembly 220 by a predetermined distance, so that the automatic cleaning equipment 10 can move more stably or has stronger movement ability on the surface to be cleaned; wherein the driven wheel assembly 230 includes but is not limited to a universal wheel.

[0129] When the automatic cleaning equipment 10 is moving, the first driving wheel assembly 210 and the second driving wheel assembly 220 can be controlled to move simultaneously based on the distance and angle information, so that the automatic cleaning equipment 10 moves forward, backward or turns along the preset trajectory.

[0130] ​For example, when the first driving wheel assembly 210 and the second driving wheel assembly 220 have the same steering direction and the same rotation speed, the automatic cleaning device 10 moves forward or backward; when the first driving wheel assembly 210 and the second driving wheel assembly 220 have different rotation speeds or different steering directions, the automatic cleaning device 10 turns, and can even spin in place.

[0131] In the present disclosure, the first driving wheel assembly 210 further comprises an odometer to detect the rotation angle of the walking wheel 213 and / or the walking driving device 211, and to accurately determine the position and posture of the automatic cleaning device 10 in the current working area according to the data detected by the odometer of the first driving wheel assembly 210 and the data detected by the odometer of the second driving wheel assembly 220, so that the automatic cleaning device 10 is more intelligent.

[0132] More preferably, the first driving wheel assembly 210 and the second driving wheel assembly 220 are both rotatably arranged on the lower housing part 120, so that the distance between the walking wheel 213 and the lower housing part 120 is adjustable; for example, taking the first driving wheel assembly 210 as an example, the walking speed change box body 2121 of the walking speed change mechanism 212 of the first driving wheel assembly 210 is rotatably arranged on the lower housing part 120, at this time, the first driving wheel assembly 210 and the second driving wheel assembly 220 form a biasing and falling type suspension system, and provide a biasing force through the walking elastic part.

[0133] That is, one end of the walking elastic part is fixed to the lower housing part 120, the other end of the walking elastic part is fixed to the walking speed change box body 2121, and the walking elastic part is located below the connection position of the walking speed change box body 2121 and the lower housing part 120, at this time, the walking elastic part is in a pre-tensioned state, and in a free state, the walking wheel 213 and the lower housing part 120 are separated by a first distance under the action of the tension of the walking elastic part; in a working state, the walking wheel 213 and the lower housing part 120 are separated by a second distance, wherein the first distance is greater than the second distance.

[0134] That is, through the arrangement of the walking elastic part (for example, a biasing spring), the walking wheel 213 is allowed to maintain contact and traction with the surface to be cleaned with a certain landing force, while the dry cleaning device 300 and the wet cleaning device 500 of the automatic cleaning device 10 contact the surface to be cleaned with a certain pressure.

[0135] Figure 8 is a structural schematic diagram of an automatic cleaning device according to an embodiment of the present disclosure.

[0136] As Figures 5 to 8As shown, the dry cleaning device 300 of the present disclosure is rotatably arranged on the lower housing part 120 and at least partially located outside the lower housing part 120, so as to realize dry cleaning of the surface to be cleaned by the contact between the dry cleaning device 300 located outside the lower housing part 120 and the surface to be cleaned.

[0137] In the present disclosure, the dry cleaning device 300 comprises at least one cleaning assembly, that is, the dry cleaning device 300 can only comprise one cleaning assembly, and when the dry cleaning device 300 comprises one cleaning assembly, it can adopt the side brush cleaning assembly 310 or the roll brush cleaning assembly 320.

[0138] Of course, in order to improve the cleaning efficiency of the surface to be cleaned, as shown in Figures 5 to 8 As shown, the dry cleaning device 300 of the present disclosure comprises two cleaning assemblies, which can be selected as two side brush cleaning assemblies 310 or one side brush cleaning assembly 310 and one roll brush cleaning assembly 320.

[0139] Among them, along the advancing direction of the automatic cleaning device 10, the side brush cleaning assembly 310 is located in front of the roll brush cleaning assembly 320, that is, when the automatic cleaning device 10 is in working state and moving forward, the side brush cleaning assembly 310 first cleans the surface to be cleaned and collects the dust on the surface to be cleaned to the cleaning area or cleaning path of the roll brush cleaning assembly 320, and then the dust and other light particles on the surface to be cleaned are disturbed by the cleaning of the roll brush cleaning assembly 320 and collected by the dust collecting device 400.

[0140] In the present disclosure, as shown in Figure 5 and Figure 6 As shown, the side brush cleaning assembly 310 comprises a side brush part 311 and a side brush driving device 312.

[0141] As shown in Figure 5 and Figure 6 The side brush part 311 comprises a brush body 3111 and bristles 3112 mounted on the brush body 3111, wherein the brush body 3111 of the side brush part 311 is rotatably arranged on the housing assembly 100, for example, on the lower housing part 120 of the housing assembly 100, and cleans the surface to be cleaned by the contact between the bristles 3112 and the surface to be cleaned; of course, the side brush part 311 can also be integrally formed by an elastic material.

[0142] The side brush driving device 312 is arranged on the lower housing part 120 and used for driving the side brush part 311 to rotate, wherein the rotation axis of the side brush part 311 is perpendicular or substantially perpendicular to the lower housing part 120, that is, when the automatic cleaning device 10 is working, the rotation axis of the side brush part 311 is perpendicular or substantially perpendicular to the surface to be cleaned.

[0143] In an optional embodiment of the present disclosure, the number of the side brush cleaning assembly 310 can be one or two. When the number of the side brush cleaning assembly 310 is one, the side brush cleaning assembly 310 is arranged in front of the first driving wheel assembly 210 or the second driving wheel assembly 220. When the number of the side brush cleaning assembly 310 is two, the two side brush cleaning assemblies 310 are arranged in front of the first driving wheel assembly 210 and the second driving wheel assembly 220, respectively.

[0144] In the present disclosure, the roller brush cleaning assembly 320 is rotatably arranged in the housing assembly 100, for example, rotatably arranged in the lower housing part 120 of the housing assembly 100, for dry cleaning, i.e., the second cleaning, of the surface to be cleaned. More preferably, the roller brush cleaning assembly 320 is detachably arranged in the housing assembly 100, for example, can be detached from the housing assembly 100 by a manual switch.

[0145] The roller brush cleaning assembly 320 comprises a roller brush part 321, wherein the roller brush part 321 is rotatably arranged in the lower housing part 120, and the surface to be cleaned is cleaned by the contact between the circumferential surface of the roller brush part 321 and the surface to be cleaned.

[0146] The roller brush part 321 comprises a cylinder part and a protruding part arranged outside the cylinder part, wherein the cylinder part is rotatably arranged in the lower housing part 120, and the surface to be cleaned is cleaned by the contact between the protruding part of the roller brush part 321 and the surface to be cleaned.

[0147] The protruding part can be formed in the form of bristles, so that the roller brush part 321 has the effect of sweeping the surface to be cleaned.

[0148] Preferably, as shown in Figure 7 The rotation axis of the cylinder part is parallel or substantially parallel to the lower housing part 120. As an implementation form, the rotation axis of the cylinder part is arranged in front of the connecting line between the first driving wheel assembly 210 and the second driving wheel assembly 220. Of course, the position of the cylinder part is not limited thereto, and it can also be arranged behind the connecting line between the first driving wheel assembly 210 and the second driving wheel assembly 220.

[0149] In the present disclosure, the sweeping area of the side brush cleaning assembly 310 overlaps the sweeping area of the roller brush cleaning assembly 320.

[0150] For example, as shown in Figure 7 When the side brush cleaning assembly 310 is two, in the length direction of the roller brush cleaning assembly 320, the two side brush cleaning assemblies 310 are located at the two ends of the roller brush cleaning assembly 320, and the projection of the side brush cleaning assembly 310 in the length direction of the roller brush cleaning assembly 320 partially overlaps the roller brush cleaning assembly 320.

[0151] Correspondingly, when the side brush cleaning assembly 310 is one, the side brush cleaning assembly 310 is located at one end of the roller brush cleaning assembly 320 in the length direction of the roller brush cleaning assembly 320, and the projection of the side brush cleaning assembly 310 in the length direction of the roller brush cleaning assembly 320 coincides with part of the roller brush cleaning assembly 320.

[0152] Thus, when the side brush cleaning assembly 310 rotates, dust and other light particles on the surface to be cleaned can be swept into the sweeping area of the roller brush cleaning assembly 320, and re-swept by the roller brush cleaning assembly 320, thereby improving the cleaning area of the automatic cleaning device 10.

[0153] In the present disclosure, the roller brush cleaning assembly 320 further comprises a roller brush driving device 322 for driving the roller brush part 321 to rotate to achieve sweeping of the surface to be cleaned.

[0154] The side brush driving device 312 and / or the roller brush driving device 322 can each be selected as a device capable of generating power, such as a motor, preferably a direct current motor, a stepper motor, a servo motor, or other easily controlled motor.

[0155] Figure 11 is a structural schematic view of a dust collecting device according to an embodiment of the present disclosure.

[0156] According to at least one embodiment of the present disclosure, as shown in Figure 8 and Figure 11 , the dust collecting device 400 is arranged in the housing assembly 100, for sucking the mixture of dirt and gas obtained after the dry cleaning device 300 cleans the surface to be cleaned into the dust collecting device 400, and allowing the dirt in the mixture to be collected by the dust collecting device 400.

[0157] Figure 12 is another angle structural schematic view of a dust collecting device according to an embodiment of the present disclosure. Figure 13 is a sectional view of a dust collecting device according to an embodiment of the present disclosure. Figure 14 is another angle structural schematic view of a dust collecting device after removing the suction device according to an embodiment of the present disclosure.

[0158] As shown in Figures 12 to 14 , the dust collecting device 400 comprises a dust collecting container 410, a suction device 420, a dust collecting part 430, and a filtering device 440.

[0159] The dust collecting container 410 is connected to the suction device 420, so that the suction device 420 generates negative pressure in the dust collecting container 410, thereby sucking the dirt generated by the roller brush cleaning assembly 320 cleaning the surface to be cleaned into the dust collecting container 410.

[0160] The dust collecting container 410 is connected to the dust collecting part 430, wherein the dust collecting part 430 partially wraps the roller brush cleaning assembly 320, so that the dirt generated by the roller brush cleaning assembly 320 when cleaning the surface to be cleaned enters the dust collecting container 410 through the dust collecting part 430.

[0161] The dust collecting part 430 is formed with an opening, and part of the roller brush cleaning assembly 320, for example, part of the roller brush part 321 of the roller brush cleaning assembly 320, is located outside the dust collecting part 430 through the opening, so that the roller brush part 321 of the roller brush cleaning assembly 320 is in contact with the surface to be cleaned when the automatic cleaning device 10 is working.

[0162] The part of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is formed in a planar shape, and is spaced apart from the protruding part of the roller brush part 321 of the roller brush cleaning assembly 320 away from one end of the barrel part, so as to reduce the resistance of the airflow inside the dust collecting part 430, and to make the dirt carried in the airflow be transported to the dust collecting container 410.

[0163] Moreover, the lower end of the part of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is located on the same horizontal plane, and preferably, the lower end of the part of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is in a straight line, and when the automatic cleaning device 10 is in the working state, the lower end of the part of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is spaced apart from the surface to be cleaned by a predetermined distance.

[0164] In other words, the lower end of the part of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is higher than the lowest position of the roller brush cleaning assembly 320, and when the roller brush cleaning assembly 320 is in contact with the surface to be cleaned, the lower end of the part of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is spaced apart from the surface to be cleaned.

[0165] Figure 14 FIG. 7 is another perspective view of the dust collecting device according to an embodiment of the present disclosure. Figure 15 FIG. 8 is a structural schematic view of a dust collecting container according to an embodiment of the present disclosure. Figure 16 FIG. 9 is another perspective view of the dust collecting container according to an embodiment of the present disclosure.

[0166] In the present disclosure, as shown in FIG. 1, the dust collecting container 410 includes a box body part 411, a cover plate part 412, a cover part 413, and a baffle part 414. Figures 13 to 16

[0167] ​The box body part 411 is formed with a containing space for storing solid waste, and an inlet is formed on the side wall of the box body part 411, so that the dust collecting part 430 communicates with the inner space of the box body part 411 through the inlet, and the dirt transported by the dust collecting part 430 is stored in the containing space.

[0168] The cover plate part 412 is arranged on the box body part 411 to open or close the inlet of the box body part 411. The cover plate part 412 can be arranged on the outside of the box body part 411 or on the inside of the box body part 411, and preferably, as shown in Figure 15 the cover plate part 412 is arranged on the inside of the box body part 411, and when negative pressure is generated in the inside of the box body part 411 (for example, when the suction device 420 is working), the cover plate part 412 opens the inlet of the box body part 411; and when no negative pressure is generated in the inside of the box body part 411 (for example, when the suction device 420 is stopped), the cover plate part 412 closes the inlet of the box body part 411.

[0169] In other words, when the air pressure in the inside of the box body part 411 is less than the air pressure in the dust collecting part 430, and the absolute value of the difference between the air pressure in the inside of the box body part 411 and the air pressure in the dust collecting part 430 is greater than or equal to a preset value, the cover plate part 412 opens the inlet of the box body part 411, otherwise, the cover plate part 412 closes the inlet of the box body part 411.

[0170] As an implementation form, as shown in Figure 13 the cover plate part 412 is hinged to the box body part 411, so that the cover plate part 412 is attached to the box body part 411 or spaced apart from the box body part 411 by a preset distance by rotating the cover plate part 412 around the hinge shaft of the cover plate part 412 and the box body part 411, and when the cover plate part 412 is attached to the box body part 411, the cover plate part 412 closes the inlet of the box body part 411, and when the cover plate part 412 is spaced apart from the box body part 411 by a preset distance, the cover plate part 412 opens the inlet of the box body part 411.

[0171] More preferably, as shown in Figure 16As shown, the side wall of the box body part 411, in which the inlet is formed, is inclined, for example, from the bottom of the box body part 411 to the top of the box body part 411, the side wall of the box body part 411, in which the inlet is formed, is inclined to the outside of the box body part 411, at this time, the cover plate part 412 is arranged inside the box body part 411, and the connection between the cover plate part 412 and the box body part 411 is located above the inlet, thereby the cover plate part 412 can automatically close the inlet by gravity in the non-cleaning state of the automatic cleaning device (or the suction device 420 stops working), so as to avoid the dust and debris collected in the dust box from escaping and causing secondary pollution in the non-working state of the automatic cleaning device; in addition, when the automatic cleaning device is in the cleaning working state, the negative pressure is generated in the inside of the box body part 411, at this time, the horizontal thrust generated by the pressure difference between the inside and the outside of the box body part 411 is greater than the horizontal component of the gravity of the cover plate part 412, and thereby the cover plate part 412 is separated from the box body part 411 to open the inlet of the box body part 411.

[0172] As shown in the drawings, Figure 13 As shown, a part of the box body part 411 is formed as a first part of the box body part 411, and another part of the box body part 411 is formed as a second part of the box body part 411, wherein the height of the second part is less than the height of the first part, and the discharge port is arranged on the side wall close to the first part.

[0173] Correspondingly, the bottom wall of the first part of the box body part 411, i.e., the first bottom wall 4111 of the box body part 411, and the bottom wall of the second part of the box body part 411, i.e., the second bottom wall 4112 of the box body part 411, are used for the following description of the present disclosure.

[0174] Correspondingly, the suction device is arranged on the bottom wall of the second part of the box body part 411, i.e., the suction device 420 can be placed below the second bottom wall 4112 of the box body part 411.

[0175] Of course, the suction device 420 can also be arranged at other positions of the box body part 411, and as long as the suction device 420 is in communication with the internal space of the box body part 411.

[0176] The upper end of the box body part 411 is in an open state, and the cover member 413 is arranged on the box body part 411 to open or close the upper end of the box body part 411; that is, the cover member 413 has a first position and a second position, when the cover member 413 is in the first position, the cover member 413 closes the opening of the upper end of the box body part 411, and when the cover member 413 is in the second position, the opening of the upper end of the box body part 411 is opened.

[0177] In an optional embodiment of the present disclosure, as shown inFigure 13 As shown in the figure, the upper end of the box body part 411 is formed with an annular groove, which is formed along the upper end surface of the box body part 411; the lower surface of the cover part 413 is formed with an annular boss, which is matched with the shape of the annular groove, so that when the cover part 413 is in the first position, the annular boss is located in the annular groove, thereby forming a seal between the box body part 411 and the cover part 413.

[0178] Of course, the seal between the box body part 411 and the cover part 413 can also be achieved by other structures, for example, a sealing gasket is arranged between the box body part 411 and the cover part 413; or the upper end surface of the box body part 411 is formed with an annular boss, the lower surface of the cover part 413 is formed with an annular groove, and the seal is achieved by matching the annular boss of the box body part 411 with the annular groove of the cover part 413.

[0179] In the present disclosure, a through hole is formed on the box body part 411; as one implementation form, the filter device 440 and the suction device 420 are arranged on both sides of the through hole and are connected through the through hole, that is, the indirect connection between the filter device 440 and the box body part 411 is achieved; as another implementation form, as shown in the figure, Figure 14 As shown in the figure, the filter device 440 is directly connected with the suction device 420, at this time, part of the filter device 440 and / or the suction device 420 is located in the through hole, thereby when the suction device 420 works, a negative pressure can be generated in the box body part 411. Preferably, the through hole is arranged on the second bottom wall 4112 of the box body part 411, thereby the suction device 420 can be directly connected with the filter device 440, so as to reduce the connecting pipeline between the suction device 420 and the filter device 440.

[0180] The filter device 440 is arranged in the inside of the dust collecting container 410, which is used to filter the gas flowing to the suction device 420, so as to prevent the dust from entering the suction device 420 and damaging the suction device 420.

[0181] That is to say, when the suction device 420 works, a negative pressure is generated in the dust collecting container 410, the dirt mixed in the gas generated by the rolling brush cleaning assembly 320 when cleaning the surface to be cleaned is sucked into the dust collecting container 410 by the suction device 420.

[0182] And after the gas mixed with dirt enters the dust collecting container 410, the filtered gas is discharged to the outside of the dust collecting container 410 by the suction device 420 through the filtering effect of the filter device 440, at this time, the dirt mixed in the gas is deposited in the dust collecting container 410.

[0183] Figure 26 It is a structure schematic diagram of the filter device according to one embodiment of the present disclosure. Figure 27is a schematic view of a mounting position of a filter device according to an embodiment of the present disclosure. Figure 28 is a schematic view of a separation structure of a dust collecting device according to an embodiment of the present disclosure. Figure 29 is a sectional view of a dust collecting device according to an embodiment of the present disclosure.

[0184] In the present disclosure, as shown in Figures 26 to 29 The filter device 440 includes an upper support part 441, a lower support part 442, and a filter part 443 disposed between the upper support part 441 and the lower support part 442.

[0185] In which, the size of the upper support part 441 is smaller than the size of the through hole, and the size of the lower support part 442 is larger than the size of the through hole, for example, when the through hole is formed in a circular shape, the maximum distance between two points on the outer contour of the upper support part 441 is smaller than the diameter of the through hole; further, when the upper support part 441 is also formed in a circular shape, the diameter of the upper support part 441 is smaller than the diameter of the through hole, so that when the filter device 440 is installed in the dust collecting container 410, the upper support part 441 can be inserted into the interior of the dust collecting container 410 from the through hole, and is in contact with or spaced apart from the inner surface of the cover part 413 of the dust collecting container 410.

[0186] In which, the upper support part 441 is formed in a plate shape, and no through hole for gas passing through is formed on the upper support part 441.

[0187] In the present disclosure, accordingly, part of the lower support part 442 is in contact with the outer surface of the box body part 411 of the dust collecting container 410, and preferably, part of the lower support part 442 is in sealing contact with the outer surface of the dust collecting container 410, to prevent gas from entering the dust collecting container 410 between the lower support part 442 and the dust collecting container 410, reducing the effect of the negative pressure generated by the suction device 420.

[0188] The filter part 443 can be in the shape of a cone, a circular truncated cone, a cylinder, etc., and of course can also be designed in other shapes, for example, designed in a shape matching the upper support part 441.

[0189] The filter part 443 includes a plurality of filter elements connected to each other in the circumferential direction, in which the cross section of the filter element is V-shaped (the cross section is the section perpendicular to the height direction of the filter element), and can be made of filter paper, so that the filter part 443 has a larger filtering area.

[0190] As shown in Figure 29As shown, in order to facilitate the installation of the filter device 440, or in other words, to ensure that the filter device 440 will not fall off the dust collection container 410 when it is installed on the dust collection container 410, the filter device 440 of this disclosure also includes a first adsorption part 444, which is disposed on the upper support part 441, preferably on the upper surface of the upper support part 441.

[0191] At this time, a receiving groove is provided on the upper support part 441, and the first adsorption part 444 is disposed in the receiving groove of the upper support part 441.

[0192] Accordingly, such as Figure 29 As shown, the cover component 413 is provided with a second adsorption part 445. Preferably, the second adsorption part 445 is provided on the lower surface of the cover component 413.

[0193] Thus, the position between the filter device 440 and the cover member 413 is maintained by the attraction between the first adsorption part 444 and the second adsorption part 445.

[0194] Preferably, both the first adsorption part 444 and the second adsorption part 445 can be selected as magnetic parts or adsorption materials. When both the first adsorption part 444 and the second adsorption part 445 are selected as magnetic parts, the magnetic poles of the ends of the first adsorption part 444 and the second adsorption part 445 that are close to each other are opposite. Moreover, the first adsorption part 444 and the second adsorption part 445 cannot be selected as adsorption materials at the same time. In this case, no attraction force will be generated between the first adsorption part 444 and the second adsorption part 445.

[0195] In this disclosure, the adsorbent material is a material that can be attracted by a magnet, such as iron.

[0196] like Figure 28 As shown, an annular protrusion is formed at the lower end of the lower support portion 442, and an annular groove is formed on the suction device 420. When the filter device 440 is connected to the suction device 420, the annular protrusion of the lower support portion 442 is set in the annular groove of the suction device 420, so that the filter device 440 is directly connected to the suction device 420. There is no transitional air duct between the filter device 440 and the suction device 420. The structure is compact and saves space. It can increase the capacity of the water tank or dust collection container 410 of the automatic cleaning equipment 10 (cleaning robot) and reduce the number of times human intervention (dumping dust, adding water) is required.

[0197] Of course, an annular groove can also be formed at the lower end of the lower support portion 442. In this case, an annular protrusion is formed on the suction device 420. When the filter device 440 is connected to the suction device 420, the annular protrusion of the suction device 420 is set in the annular groove of the lower support portion 442.

[0198] In this disclosure, the filter device 440 further includes a magnetic field generating unit 446, which generates a magnetic field. The detection device 600 includes an in-situ detection module (not shown in the figure). When the in-situ detection module detects the magnetic field generated by the magnetic field generating unit 446, or detects that the magnetic field generated by the magnetic field generating unit 446 is greater than a preset value, it is determined that the filter device 440 is normally installed in the dust collection container 410 or normally installed in the automatic cleaning device 10. When the in-situ detection module does not detect the magnetic field generated by the magnetic field generating unit 446, it is determined that the filter device 440 is not normally installed in the dust collection container 410 or not normally installed in the automatic cleaning device 10. The magnetic field generating unit 446 is disposed on the lower support portion 442 of the filter device 440.

[0199] In an optional embodiment of this disclosure, the first bottom wall 4111 is configured to open or close the bottom of the box body portion 411. For example, a discharge hole is formed at the lower end of the box body portion 411, and the first bottom wall 4111 is used to open or close the discharge hole.

[0200] Figure 19 This is a schematic diagram of the first bottom wall of a dust collection container in an open state according to one embodiment of the present disclosure. Figure 20 This is a schematic diagram of the structure of a first locking device according to an embodiment of the present disclosure. Figure 21 yes Figure 20 Enlarged schematic diagram of part B. Figure 22 yes Figure 21 A schematic diagram of the first locking device in the open state.

[0201] As one form of implementation, such as Figures 19 to 22 As shown, the first bottom wall 4111 is rotatably disposed on the side wall of the box body 411, and can be locked to the other side wall of the box body 411 by the first locking device 418. The first locking device 418 can be a button lock structure, that is, when the first bottom wall 4111 is in close contact with the lower end of the box body 411, the first locking device 418 fixes the first bottom wall 4111 to the side wall of the box body 411; when the first locking device 418 is released, the first bottom wall 4111 is allowed to separate from the lower end of the box body 411 to pour out the dirt inside, which can prevent the dirt in the dust collection container 410 from contacting the user and causing secondary pollution.

[0202] One end of the first bottom wall 4111 is hinged to the side wall of the box body 411, so that the first bottom wall 4111 can rotate relative to the box body 411. The other end of the first bottom wall 4111, that is, the end opposite to the end of the first bottom wall 4111 that is hinged to the box body 4111, forms a retaining part 4111A. The first locking device 418 cooperates with the retaining part 4111A to realize the locking and unlocking of the first bottom wall 4111.

[0203] More preferably, as shown in Figure 20 The first locking device 418 includes a rotating part 4181, a hook part 4182, and a position restoring part 4183.

[0204] The middle part of the rotating part 4181 is rotatably arranged on the side wall of the box body part 411. For example, the side wall of the box body part 411 is formed with an inner recess space, and the rotating part 4181 is rotatably arranged on the two opposite side walls of the inner recess space of the box body part 411 through a shaft.

[0205] In order to realize the rotation of the rotating part 4181 relative to the side wall of the box body part 411, the two ends of the shaft are rotatably arranged on the two opposite side walls of the inner recess space of the box body part 411. At this time, the rotating part 4181 can be rotatable relative to the shaft, or can be fixed to the shaft, for example, integrally formed with the shaft. Alternatively, at least one end of the two ends of the shaft is fixed to the two opposite side walls of the inner recess space of the box body part 411, so that the shaft is kept stationary relative to the box body part 411. At this time, the rotating part 4181 is rotatably arranged on the shaft, so as to realize the rotation of the rotating part 4181 relative to the box body part 411.

[0206] As shown in Figure 20 The surface of the rotating part 4181 close to the bottom wall of the inner recess space of the box body part 411 includes a first surface part 4181A and a second surface part 4181B. The first surface part 4181A and the second surface part 4181B are connected, and when the first locking device 418 is in the locked state, the first surface part 4181A at least partially contacts the bottom wall of the inner recess space of the box body part 411, so that the first locking device 418 can be stably kept in the locked state.

[0207] At this time, the second surface part 4181B is arranged inclined relative to the bottom wall of the inner recess space of the box body part 411. For example, when the box body part 411 is in the vertical state, i.e. the first bottom wall 4111 is in the state of being located at the bottom of the box body part 411, along the direction from top to bottom, the distance between the second surface part 4181B and the bottom wall of the inner recess space of the box body part 411 gradually increases.

[0208] The hook part 4182 is arranged on the rotating part 4181 and rotates with the rotation of the rotating part 4181. The hook part 4182 is formed with a hook close to the first bottom wall 4111, so that when the first locking device is in the locked state, the first bottom wall 4111 is closed by the box body part 411 through the cooperation of the hook and the retaining part 4111A.

[0209] In the present disclosure, the hook part 4182 and the rotating part 4181 can be integrally formed, or separately formed and assembled together.

[0210] The position restoring portion 4183 applies a pulling force or a pushing force to the rotating portion 4181 or the hook portion 4182, so that the first locking device 418 moves from the open state to the locked state.

[0211] For example, the position restoring portion 4183 includes a spring, and of course it can also be implemented by an elastic element such as a rubber elastic block. One end of the position restoring portion 4183 is arranged on the bottom wall of the inner recessed space of the box body portion 411, and the other end is arranged on the rotating portion 4181 or the hook portion 4182. The position restoring portion 4183 applies a pushing force to the rotating portion 4181 or the hook portion 4182, so that the hook portion 4182 is stably kept in the locked position.

[0212] The position restoring portion 4183 can be located at the upper portion or the lower portion of the shaft body, and preferably, as shown in Figure 20 , the position restoring portion 4183 is located at the upper portion of the shaft body, i.e. at the end away from the first bottom wall 4111.

[0213] In use, as shown in Figure 22 , the user presses the upper portion of the hook portion 4182, so that the first bottom wall 4111 opens the lower end of the box body portion 411, thereby achieving the cleaning of solid waste; then, when the first bottom wall 4111 contacts the lower end of the box body portion 411, the hook portion 4182 rotates under the action of the pushing force provided by the position restoring portion 4183, and the hook of the hook portion 4182 contacts the retaining portion 4111A, thereby making the first locking device in the locked state, at this time, the first bottom wall 4111 closes the lower end of the box body portion 411.

[0214] Figure 17 is a sectional view of a dust collecting container according to an embodiment of the present disclosure. Figure 18 is Figure 17 an enlarged structural schematic view of part A of

[0215] In the present disclosure, as shown in Figure 17 and Figure 18 , the side wall of the box body portion 411 is provided with a discharge port, so that the dirt inside the box body portion 411 is discharged through the discharge port.

[0216] For example, as shown in Figure 8 and Figure 11 , the discharge port can be connected to one end of a cleaning pipe 450, and the other end of the cleaning pipe 450 can be connected to a cleaning device of a base station, so that the dirt in the dust collecting container 410 is sucked out through the suction force of the cleaning device.

[0217] Preferably, the housing assembly 100 of the automatic cleaning device 10 is formed with an opening, and the other end of the cleaning pipe 450 is located near or connected to the opening of the housing assembly 100 to facilitate the connection between the cleaning device of the base station and the cleaning pipe 450.

[0218] In the present disclosure, the opening of the housing assembly 100 can be formed on the side of the housing assembly 100, for example, on the housing side wall of the upper housing part 110.

[0219] In the present disclosure, the opening of the housing assembly 100 can be formed on the side of the housing assembly 100, for example, on the housing side wall of the upper housing part 110. Figure 5 As shown in FIG. 1, a detachable plug part 150 is arranged at the opening of the housing assembly 100, i.e., when the automatic cleaning device 10 is in a state of cleaning a surface to be cleaned, the plug part 150 is arranged at the opening of the housing assembly 100 to close the opening of the housing assembly 100 or to close the cleaning pipe 450; when the automatic cleaning device 10 is docked at the base station, the plug part 150 is removed from the opening of the housing assembly 100 to enable the cleaning device of the base station to be connected to the cleaning pipe 450.

[0220] According to at least one embodiment of the present disclosure, as shown in FIG. 4, the baffle part 414 is used to open or close the discharge port of the box part 411, i.e., when a negative pressure is generated in the cleaning pipe 450, the baffle part 414 opens the discharge port of the box part 411; when the air pressure in the cleaning pipe 450 is greater than or equal to the air pressure in the box part 411, the baffle part 414 closes the discharge port of the box part 411. Figure 17 Figure 18 According to at least one embodiment of the present disclosure, as shown in FIG. 4, the baffle part 414 is used to open or close the discharge port of the box part 411, i.e., when a negative pressure is generated in the cleaning pipe 450, the baffle part 414 opens the discharge port of the box part 411; when the air pressure in the cleaning pipe 450 is greater than or equal to the air pressure in the box part 411, the baffle part 414 closes the discharge port of the box part 411.

[0221] In other words, when the air pressure outside the baffle part 414 (for example, the air pressure in the cleaning pipe 450) is less than the air pressure inside the box part 411, and the absolute value of the difference between the air pressure outside the baffle part 414 (for example, the air pressure in the cleaning pipe 450) and the air pressure inside the box part 411 is greater than or equal to a preset value, the baffle part 414 opens the discharge port; otherwise, the baffle part 414 closes the discharge port; i.e., when the air pressure outside the baffle part 414 is greater than or equal to the air pressure inside the box part 411, or the air pressure outside the baffle part 414 is less than the air pressure inside the box part 411, and the absolute value of the difference between the air pressure outside the baffle part 414 and the air pressure inside the box part 411 is less than a preset value, the baffle part 414 closes the discharge port.

[0222] ​When the baffle part 414 opens the discharge port, the gas entering the inside of the box part 411 through the inlet of the box part 411 flows out from the discharge port of the box part 411 after flowing through at least part or all of the bottom surface of the storage solid waste containing space of the box part 411, so that the solid waste stored in the storage solid waste containing space of the box part 411 is transported to the outside of the box part 411 along with the gas flow.

[0223] As an implementation form, the baffle part 414 can be hinged to the side wall of the box part 411 to open or close the discharge port of the box part 411 by rotating the baffle part 414.

[0224] As shown in Figures 16 to 18 The dust collecting container 410 further comprises an elastic reset part 415 for applying a force to the baffle part 414, so that when the baffle part 414 is in a state of closing the discharge port of the box part 411, the baffle part 414 and the box part 411 have a preset positive pressure, and when the baffle part 414 is in a state of opening the discharge port of the box part 411, the elastic reset part 415 provides a reset force to the baffle part 414 to move the baffle part 414 from the state of opening the discharge port of the box part 411 to the state of closing the discharge port by the reset force.

[0225] Preferably, the elastic reset part 415 can be a torsion spring to provide a torsion force to the baffle part 414 and make the baffle part 414 in a normally closed state.

[0226] Of course, the baffle part 414 can also be opened or closed by other structures, for example, by an electromagnetic lock, when the automatic cleaning device is in a working state, the electromagnetic lock attracts the baffle part 414 to make the baffle part 414 close the discharge port, when it is needed to discharge the solid waste in the automatic cleaning device to the outside of the automatic cleaning device, the electromagnetic lock opens the baffle part 414, and when the negative pressure is provided to the box part 411 through the discharge port, the discharge of the solid particles can be realized.

[0227] On the other hand, the power of the electromagnetic lock can be controlled by the pressure difference between the inside and outside of the discharge port of the box part 411, for example, when the air pressure outside the discharge port is less than the air pressure inside the box part 411, and the absolute value of the pressure difference between the air pressure outside the discharge port and the air pressure inside the box part 411 is greater than or equal to a preset value, the electromagnetic lock is controlled to act so that the baffle part 414 opens the discharge port, otherwise, the electromagnetic lock is controlled to make the baffle part 411 close the discharge port.

[0228] In the present disclosure, the discharge port is formed by the side wall and the first bottom wall 4111 of the box body part 411, and the sealing member 416 is arranged on the baffle part 414. When the baffle part 414 closes the discharge port of the box body part 411, the sealing member 416 of the baffle part 414 is in sealing contact with the side wall of the box body part 411, and the sealing member 416 of the baffle part 414 is in sealing contact with the first bottom wall 4111.

[0229] The first bottom wall 4111 and / or the side wall of the box body part 411 can form a limiting part, and the baffle part 414 is located outside the limiting part, so as to limit the movement of the baffle part 414 further into the interior of the box body part 411 by the limiting part, and thus when the negative pressure is generated in the interior of the box body part 411, the baffle part 414 will not open the discharge port.

[0230] The limiting part of the side wall of the box body part 411 can be formed as part of the side wall of the box body part 411, for example, the size of the side wall of the box body part 411 is smaller than the size of the baffle part 414; or a step is formed on the first bottom wall 4111, and the step forms the limiting part.

[0231] Preferably, the sealing member 416 is an annular sealing member, so that by arranging the sealing member 416, the gas entering the interior of the dust collecting container 410 through the discharge port is effectively prevented, so as to not reduce the negative pressure in the interior of the box body part 411 when the automatic cleaning device 10 is in a working state.

[0232] In the present disclosure, the inner surface of the lower end of the discharge port is flush or substantially flush with the inner surface of the first bottom wall 4111, thereby having a better dust removal effect.

[0233] According to at least one embodiment of the present disclosure, the two opposite side walls of the box body part 411 are respectively formed with an inner recess structure 417, and preferably the inner recess structure 417 is arranged at the middle part of the two lengthwise side walls. The user can operate the inner recess structure 417 to take out the dust collecting container 410 from the automatic cleaning device 10, that is, the inner recess structure 417 forms a handhold space for user operation.

[0234] Figure 23 is a structural schematic view of a second locking device according to an embodiment of the present disclosure. Figure 24 is Figure 23 is an enlarged schematic view of part C of Figure 25 is Figure 24 is a schematic view of the second locking device of

[0235] As shown in Figures 23 to 25 one of the inner recess structures 417 is provided with a second locking device 419, so as to fix the dust collecting container 410 on the lower housing part 120 of the automatic cleaning device 10 by the second locking device 419.

[0236] The second locking device 419 comprises a pressing part 4191, a locking part 4192, and a reset part 4193.

[0237] The pressing part 4191 and the locking part 4192 can be integrally formed or separately formed and then assembled together.

[0238] The pressing part 4191 is rotatably arranged on the side wall of the inner recess structure 417 of the box body part 411, and the locking part 4192 is arranged on the pressing part 4191, and when the pressing part 4191 rotates, the locking part 4192 is driven to rotate.

[0239] When the pressing part 4191 is located at the first position, at least part of the locking part 4192 extends to the outside of the inner recess structure 417, and through cooperation with other parts of the automatic cleaning device, for example, cooperation with the shell assembly of the automatic cleaning device, the position of the dust collecting device 400 is fixed. Figure 24 When the pressing part 4191 is driven by an external force and is located at the second position, the locking part 4192 rotates and is out of contact with the shell assembly of the automatic cleaning device, and the dust collecting device 400 can be taken out from the automatic cleaning device.

[0240] Figure 25 Preferably, when the pressing part 4191 is located at the second position, the locking part 4192 can be located inside the inner recess structure 417.

[0241] Moreover, as shown in the drawings, the reset part 4193 can be a coil spring, and the torque applied by the coil spring drives the pressing part 4191 to move from the second position to the first position, that is, the pressing part 4191 is reset.

[0242] Moreover, as shown in the drawings, the reset part 4193 can be a coil spring, and the torque applied by the coil spring drives the pressing part 4191 to move from the second position to the first position, that is, the pressing part 4191 is reset. Figure 24

[0243] is a structural schematic diagram of a scrubbing part according to an embodiment of the present disclosure. Figure 30 As shown in the drawings, the wet cleaning device 500 is rotatably arranged on the shell assembly 100, for example, rotatably arranged on the lower shell part 120 of the shell assembly 100, for wet cleaning the surface to be cleaned after the edge brush cleaning assembly 310 and / or the roller brush cleaning assembly 320 are cleaned, so that the automatic cleaning device 10 of the present disclosure can produce the effect of mopping when cleaning the surface to be cleaned.

[0244] Figure 2 As shown in the drawings, the wet cleaning device 500 is rotatably arranged on the shell assembly 100, for example, rotatably arranged on the lower shell part 120 of the shell assembly 100, for wet cleaning the surface to be cleaned after the edge brush cleaning assembly 310 and / or the roller brush cleaning assembly 320 are cleaned, so that the automatic cleaning device 10 of the present disclosure can produce the effect of mopping when cleaning the surface to be cleaned. Figures 5 to 7

[0245] ​​​In the present disclosure, the wet cleaning device 500 comprises a scrubbing component 510, which is arranged below the lower housing portion 120 and at the rear side of the automatic cleaning device 10 in the direction of travel of the automatic cleaning device 10, i.e. behind the roller brush cleaning assembly 320 in the direction of travel of the automatic cleaning device 10.

[0246] The wet cleaning device 500 further comprises a scrubbing drive device 520 for driving the scrubbing component 510 to rotate so as to achieve scrubbing of the surface to be cleaned.

[0247] In the present disclosure, as shown in Figure 30 The scrubbing component 510 comprises at least one rotating member, preferably two rotating members, i.e. a first rotating member 511 and a second rotating member 512, wherein the scrubbing drive device 520 is configured to drive the first rotating member 511 and the second rotating member 512 to rotate so as to achieve scrubbing of the surface to be cleaned.

[0248] As shown in Figure 30 The first rotating member 511 and the second rotating member 512 can be arranged symmetrically, the first rotating member 511 forms a first rotating circumference when rotating, the second rotating member forms a second rotating circumference when rotating, and the first rotating member 511 and the second rotating member 512 are arranged such that a part of the first rotating circumference and a part of the second rotating circumference are located outside the outer contour of the automatic cleaning device 10. In addition, the first rotating circumference and the second rotating circumference are flush with the outer contour of the automatic cleaning device 10. In this way, the maximum effective cleaning orientation during the travel of the automatic cleaning device 10 can be achieved, so that the automatic cleaning device 10 can perform mopping cleaning along the wall edge, etc., preventing the existence of the problem that the wall edge cannot be cleaned.

[0249] Of course, the number of rotating members can also be one, three, four, etc.

[0250] Correspondingly, the number of scrubbing drive devices 520 can be the same as the number of rotating members, for example, each rotating member is driven by one scrubbing drive device 520.

[0251] Alternatively, the number of scrubbing drive devices 520 is less than the number of rotating members, and at least one rotating member is driven by one scrubbing drive device 520; further, the automatic cleaning device 10 comprises only one scrubbing drive device 520, and all rotating members are driven by the scrubbing drive device 520.

[0252] Figure 31 is a structural schematic diagram of a speed change device according to an embodiment of the present disclosure. Figure 32 is a structural schematic diagram of a speed change device according to an embodiment of the present disclosure. is a structural schematic diagram of a speed change device according to an embodiment of the present disclosure.

[0253] For example, in this disclosure, such as Figure 8 ,as well as Figure 31 and Figure 32 As shown, the scrubbing drive device 520 is connected to the first rotating member 511 and / or the second rotating member 512 via a speed change device 530. Preferably, the scrubbing drive device 520 is connected to the first rotating member 511 and the second rotating member 512 via a speed change device 530, such that the first rotating member 511 and the second rotating member 512 rotate in the same direction; of course, the rotation directions of the first rotating member 511 and the second rotating member 512 can also be opposite.

[0254] Furthermore, by controlling the rotation direction of the first rotating member 511 and the second rotating member 512, the first rotating member 511 and the second rotating member 512 can apply power along the movement direction of the automatic cleaning device 10, or apply resistance in the opposite direction of the movement direction of the automatic cleaning device 10, that is, provide driving force or resistance to the automatic cleaning device 10. In conventional cleaning scenarios, providing driving force to the automatic cleaning device 10 will make the automatic cleaning device 10 move faster and save energy. In specific cleaning scenarios, such as when cleaning sticky floor stains, providing resistance to the automatic cleaning device 10 can often achieve better cleaning results.

[0255] like Figure 32 As shown, the transmission device 530, i.e., the transmission device for automatic cleaning equipment (coaxial transmission device 530), includes: a gearbox body 531; a drive device, which may be a scrubbing drive device 520 for providing driving force; a drive gear 532 rotatably disposed on the gearbox body 531, and the scrubbing drive device 520 drives the drive gear 532 to rotate; and at least one output shaft, which is driven to rotate by the drive gear 532 through a transmission gear train; wherein the rotation axis of the drive gear 532 coincides with the rotation axis of the scrubbing drive device 520; and the rotation axis of the output shaft is parallel to the rotation axis of the scrubbing drive device 520.

[0256] For example, the gearbox body 531 is formed as the housing of the transmission device 530 to accommodate the various components of the transmission device 530. The cleaning drive device 520 is fixed to the gearbox body 531 and located below the gearbox body 531, and the rotation axis of the cleaning drive device 520 is perpendicular to the gearbox body 531.

[0257] Preferably, the output end of the output shaft is located outside the gearbox body 531, and the cleaning drive device 520 and the output end of the output shaft are both located on the same side of the gearbox body 531.

[0258] The output shafts include a first output shaft 539A and a second output shaft 539B to drive the first rotating member 511 and the second rotating member 512 to rotate respectively by the first output shaft 539A and the second output shaft 539B, so as to realize the cleaning of the surface to be cleaned by the first rotating member 511 and the second rotating member 512.

[0259] Of course, the number of the output shafts can also be other values, for example, one, three, four, etc. The number of the output shafts can be the same as the number of the rotating members, so that each output shaft drives one rotating member to rotate.

[0260] Correspondingly, when the number of the output shafts is two, the transmission gear train includes a first transmission gear train and a second transmission gear train, wherein the driving gear 532 drives the first output shaft 539A to rotate through the first transmission gear train, and the driving gear 532 drives the second output shaft 539B to rotate through the second transmission gear train.

[0261] In the present disclosure, the transmission device further includes a first coaxial gear 533, which is rotatably arranged in the transmission box body 531 and is parallel to the rotation axis of the scrubbing driving device.

[0262] The driving gear 532 is in transmission connection with the gear with larger diameter in the first coaxial gear 533, so as to drive the first coaxial gear 533 to rotate through the driving gear 532.

[0263] The transmission device further includes a first coaxial gear 533, which is rotatably arranged in the transmission box body 531 and is parallel to the rotation axis of the scrubbing driving device 520; wherein the driving gear 532 is in transmission connection with the gear with larger diameter in the first coaxial gear 533, so as to drive the first coaxial gear 533 to rotate through the driving gear 532.

[0264] The first transmission gear train includes a second coaxial gear 534, which is rotatably arranged in the transmission box body 531 and is parallel to the rotation axis of the scrubbing driving device 520, and a first output gear 536 arranged in the first output shaft 539A; wherein the gear with smaller diameter in the first coaxial gear 533 is in transmission connection with the gear with larger diameter in the second coaxial gear 534, and the gear with smaller diameter in the second coaxial gear 534 is in transmission connection with the first output gear 536.

[0265] The first transmission gear train further comprises an idler gear 535 rotatably arranged in the transmission housing 531 and having a rotation axis parallel to the rotation axis of the scrubbing driving device 520; wherein the smaller-diameter gear of the second coaxial gear 534 is in transmission connection with the first output gear 536 through the idler gear 535, so that the driving force of the scrubbing driving device 520 can be transmitted to the first output shaft 539A.

[0266] The second transmission gear train comprises a third coaxial gear 537 rotatably arranged in the transmission housing 531 and having a rotation axis parallel to the rotation axis of the scrubbing driving device 520, and a second output gear 538 arranged in a second output shaft 539B; wherein the smaller-diameter gear of the first coaxial gear 533 is in transmission connection with the larger-diameter gear of the third coaxial gear 537, and the smaller-diameter gear of the third coaxial gear 537 is in transmission connection with the second output gear 538, so that the driving force of the scrubbing driving device 520 can be transmitted to the second output shaft 539B.

[0267] Of course, the first transmission gear train and the second transmission gear train are not limited to the above structure, as long as the power can be transmitted from the scrubbing driving device to the output shaft through gear transmission.

[0268] The scrubbing driving device 520 is fixed to the transmission housing 531, and the scrubbing driving device and the output ends of the output shafts are located on the lower side of the transmission housing 531; more preferably, the scrubbing driving device is located between the first output shaft 539A and the second output shaft 539B.

[0269] In the present disclosure, one end of the first output shaft 539A penetrates the transmission housing 531 and is located outside the transmission housing 531, and the first output shaft 539A is connected with the lifting transmission device 540 described below.

[0270] Correspondingly, one end of the second output shaft 539B penetrates the transmission housing 531 and is located outside the transmission housing 531, and the second output shaft 539B is connected with the lifting transmission device 540 described below.

[0271] In the present disclosure, as Figure 32 and Figure 32As shown, the portions of the first output shaft 539A and the second output shaft 539B that extend to the outside of the transmission housing 531 are located on the same side of the transmission housing 531 as the scrubbing driving device 520, thereby enabling the parts of the automatic cleaning device 10 of the present disclosure to be arranged more compactly, occupying less space, and improving the capacity of the cleaning liquid storage portion 571, and improving transmission efficiency.

[0272] The first rotating member 511 and / or the second rotating member 512 are arranged to be displaceable in a direction perpendicular to the bottom surface of the lower housing portion 120, so as to lift the first rotating member 511 and the second rotating member 512 towards the bottom of the lower housing portion 120 in certain scenarios that are only suitable for dry cleaning, so as to cause the first rotating member 511 and / or the second rotating member 512 to move away from the surface to be cleaned.

[0273] The first rotating member 511 and the second rotating member 512 are identical in structure and are respectively connected to the first output shaft 539A or the second output shaft 539B, wherein the first rotating member 511 and the second rotating member 512 are connected to the first output shaft 539A and the second output shaft 539B of the transmission device 530 in the same manner, and only the first rotating member 511 is taken as an example to illustrate the connection manner of the first rotating member 511 and the second rotating member 512 to the transmission device 530.

[0274] Figure 33 is a structural schematic diagram of a lifting transmission device according to an embodiment of the present disclosure. Figure 34 is a structural schematic diagram of a lifting transmission device (part) according to an embodiment of the present disclosure. Figure 35 is a structural schematic diagram of a lifting transmission device (part) according to an embodiment of the present disclosure.

[0275] In an optional embodiment of the present disclosure, as shown in Figures 33 to 35 The wet cleaning device 500 further comprises a lifting transmission device 540 arranged in the housing assembly 100, for example, arranged in the lower housing portion 120 of the housing assembly 100, and enabling the lifting transmission device 540 to be lifted or lowered relative to the lower housing portion 120, and simultaneously enabling the scrubbing member 510 to be lifted or lowered.

[0276] For example, the lifting transmission device 540 comprises a guide column portion 541, a lifting bracket 542 and a floating shaft 543.

[0277] The guide column portion 541 is arranged to be at least one, when the guide column portion 541 is arranged to be one, the cross section of the guide column portion 541 is non-circular, and when the guide column portion 541 is arranged to be more than two, the cross section of the guide column portion 541 can be any shape, for example, can be circular or non-circular.

[0278] In the present disclosure, the guide column portion 541 can be fixed to the transmission device 530, for example, to the transmission case portion 531 of the transmission device 530, or to the housing assembly 100, for example, to the lower housing portion 120 of the housing assembly 100, and the position of the guide column portion 541 can be set by those skilled in the art from the perspective of convenient installation.

[0279] The lifting bracket 542 is slidably arranged in the guide column portion 541, that is, the lifting bracket 542 is arranged to ascend and descend along the guide column portion 541 to drive the first rotating member 511 and / or the second rotating member 512 to ascend.

[0280] In the present disclosure, a stepped hole is arranged on the lifting bracket 542, the bottom wall of the stepped hole is formed as a through hole, and the size of the through hole is greater than the size of the floating shaft 543, so that the floating shaft 543 can move up and down and rotate in the through hole. For example, when the through hole and the floating shaft 543 are both circular, the diameter of the through hole is greater than the diameter of the floating shaft 543.

[0281] A drag reduction device 544 is arranged in the stepped hole, and the stepped portion of the stepped hole supports the drag reduction device 544, for example, the stepped portion of the stepped hole is located below the drag reduction device 544.

[0282] In the present disclosure, the drag reduction device 544 can be selected from linear bearings, plastic linear bearings, injection molded parts with lubricating effect, copper sleeves, etc., so that when the floating shaft 543 moves in the drag reduction device 544, the frictional force acting on the floating shaft 543 is reduced.

[0283] At this time, the floating shaft 543 is slidably and rotatably arranged in the drag reduction device 544, for example, when the drag reduction device 544 is a linear bearing, the floating shaft 543 is arranged in the center hole of the linear bearing, so that the floating shaft 543 can slide up and down with low sliding resistance and rotate with low rotating resistance.

[0284] As shown in Figure 35 The upper end of the floating shaft 543 is formed with an outer flange 5431, and the size of the outer flange 5431 is greater than the size of the center hole of the drag reduction device 544, for example, the diameter of the outer flange 5431 is greater than the diameter of the center hole of the drag reduction device 544, so that when the lifting bracket 542 ascends, the flange portion of the floating shaft 543 contacts the drag reduction device 544 or the lifting bracket 542, so that the floating shaft 543 is driven to ascend by the ascending of the lifting bracket 542.

[0285] And when the lifting bracket 542 descends, the floating shaft 543 moves downward under the driving of the restoring force provided by the elastic restoring portion 545 and the gravity of the floating shaft 543 and the first rotating member 511.

[0286] In the present disclosure, the first rotating member 511 is arranged at the lower end of the floating shaft 543, and the rotation axis of the first rotating member 511 is the same as the rotation axis of the floating shaft 543.

[0287] Preferably, the lower end of the first output shaft 539A, the second output shaft 539B and the lifting shaft 565 can also be directly installed with the first rotating member 511. In the present disclosure, the floating shaft 543, the first output shaft 539A, the second output shaft 539B and the lifting shaft 565 are collectively referred to as the rotating shaft part. Among them, the rotating shaft part is driven and can rotate.

[0288] The first rotating member 511 is arranged at the rotating shaft part, and the rotating shaft part drives the first rotating member 511 to rotate, so that the first rotating member 511 cleans the surface to be cleaned.

[0289] Among them, the first rotating member 511 is arranged to be movable along the axial direction of the rotating shaft part, and / or movable along the radial direction of the rotating shaft part, and / or the rotation axis of the first rotating member 511 can form an angle with the rotation axis of the rotating shaft part. The angle is not 0°.

[0290] In the present disclosure, the rotating shaft part includes a limiting part to limit the upward movement position of the first rotating member 511 along the axial direction of the rotating shaft part. Preferably, the limiting part of the rotating shaft part includes a shaft shoulder formed on the rotating shaft part.

[0291] In the present disclosure, as shown in Figure 35 The middle part of the first rotating member 511 is formed with a mounting hole, and the lower end of the rotating shaft part is inserted into the mounting hole. Among them, the mounting hole is a non-circular hole, and the shape of the lower end of the rotating shaft part is the same as or cooperates with the shape of the mounting hole, so that the rotating shaft part drives the first rotating member 511 to rotate.

[0292] That is, when the shape of the mounting hole is the same as the lower end of the rotating shaft part, the first rotating member 511 can only move along the axial direction of the rotating shaft part.

[0293] As a preferred, as shown in Figure 35 The length from the limiting part to the lower end of the rotating shaft part is greater than the height of the mounting hole of the first rotating member 511.

[0294] In the present disclosure, there is a gap between the outer surface of the lower end of the rotating shaft part and the mounting hole of the first rotating member 511, so that the first rotating member 511 can move along the radial direction of the rotating shaft part, and / or the rotation axis of the first rotating member 511 can form an angle with the rotation axis of the rotating shaft part. The angle is not 0°.

[0295] The lower end of the rotating shaft part is provided with a fastening element 546 to limit the moving position of the first rotating part 511 along the axial direction of the rotating shaft part; for example, when the first rotating part 511 contacts the limiting part of the rotating shaft part, the fastening element 546 has a preset distance with the first rotating part 511, which is the movement stroke of the first rotating part 511 along the axial direction of the rotating shaft part.

[0296] As an implementation form, the fastening element 546 includes a cap screw, which is fixed to the lower end of the rotating shaft part, at this time, the lower end of the rotating shaft part is provided with a threaded hole, so that the cap screw can be screwed into the threaded hole of the rotating shaft part, when the first rotating part 511 contacts the limiting part of the rotating shaft part, the screw head of the cap screw has a preset distance with the first rotating part 511; when the first rotating part 511 contacts the cap screw, at least part of the screw head of the cap screw contacts the first rotating part 511.

[0297] More preferably, as shown in Figure 35 The lower end of the first rotating part 511 is formed with a counterbore, the counterbore of the first rotating part 511 communicates with the mounting hole of the first rotating part 511, and part of the fastening element 546 is located in the counterbore.

[0298] At this time, the fastening element 546 has a gap with the side wall of the counterbore, so that the first rotating part 511 can move along the radial direction of the rotating shaft part, and / or the rotating axis of the first rotating part 511 and the rotating axis of the rotating shaft part can form an included angle which is not 0°.

[0299] For those skilled in the art, the fastening element 546 can also include a screw and a washer, which are similar to the cap screw described above, and will not be described one by one here.

[0300] In the present disclosure, as shown in Figure 34 The floating shaft 543 is arranged to be close to or away from the first output shaft 539A of the transmission device 530; wherein the upper end of the floating shaft 543 or the lower end of the first output shaft 539A of the transmission device 530 is provided with a guide hole, when the lower end of the first output shaft 539A of the transmission device 530 is provided with a guide hole, the upper end of the floating shaft 543 is slidably arranged in the guide hole of the first output shaft 539A of the transmission device 530; accordingly, when the upper end of the floating shaft 543 is provided with a guide hole, the lower end of the first output shaft 539A of the transmission device 530 is slidably arranged in the guide hole of the floating shaft 543, so that the first output shaft 539A of the transmission device 530 and the floating shaft 543 can slide, and thus the first output shaft 539A of the transmission device 530 and the floating shaft 543 can be close to or away from each other.

[0301] The guide hole is a non-circular hole, for example, the guide hole can be square, triangular, or other shapes. Moreover, the upper end of the floating shaft 543 is shaped to match the shape of the guide hole of the first output shaft 539A of the transmission device 530, for example, the upper end of the floating shaft 543 is shaped the same as the guide hole of the first output shaft 539A of the transmission device 530, so that the floating shaft 543 and the first output shaft 539A of the transmission device 530 can transmit power.

[0302] Thus, when the first rotating member 511 is subjected to an external force from the surface to be cleaned, for example, when the surface to be cleaned is uneven, the relative movement between the floating shaft 543 and the first output shaft 539A of the transmission device 530 can be generated.

[0303] Moreover, the elastic restoring portion 545 is used to provide a restoring force to the floating shaft 543, for example, the elastic restoring portion 545 can provide a downward force to the floating shaft 543 and the first rotating member 511 mounted on the floating shaft 543, so that when the first rotating member 511 is in contact with the ground, a predetermined positive pressure can be generated. More preferably, one end of the elastic restoring portion 545 does not rotate or rotates within a predetermined range relative to the output shaft (the first output shaft 539A and the second output shaft 539B), and the other end of the elastic restoring portion does not rotate or rotates within a predetermined range relative to the floating shaft.

[0304] Preferably, the elastic restoring portion 545 can be a spring, for example, a coil spring, of course, the elastic restoring portion 545 can also be implemented by other elements, for example, an elastic rubber block, etc.

[0305] The spring can be sleeved on the outside of the first output shaft 539A, one end of the spring is arranged on the floating shaft 543, and the other end of the spring is fixed with the first output shaft 539A, and the spring is in a pre-compressed state, so that when the automatic cleaning device 10 is placed on the surface to be cleaned, the first rotating member 511 applies a positive pressure to the surface to be cleaned.

[0306] In the present disclosure, to prevent the elastic restoring portion 545 from being twisted during operation, the first output shaft 539A is provided with a baffle portion 547, and the other end of the elastic restoring portion 545 is arranged on the baffle portion 547, that is, the elastic restoring portion 545 is located between the floating shaft 543 and the baffle portion 547, wherein the baffle portion 547 rotates synchronously with the first output shaft 539A, so that the elastic restoring portion 545 is in a static state between the floating shaft 543 and the baffle portion 547.

[0307] For example, the first output shaft 539A is formed with a shaft shoulder, and the baffle portion 547 is arranged on the shaft shoulder of the first output shaft 539A to restrict the axial position of the baffle portion 547 on the first output shaft 539A by the shaft shoulder of the first output shaft 539A, and to keep the baffle portion 547 at a preset distance from the transmission case portion 531 of the transmission 530.

[0308] That is, one end of the elastic restoring portion 545 is arranged on the baffle portion 547 to make the baffle portion 547 rotate when the first output shaft 539A rotates, so that the elastic restoring portion 545 is in a static state relative to the first output shaft 539A or the floating shaft 543.

[0309] In the present disclosure, the shape of the central hole of the baffle portion 547 is the same as or adapted to the shape of the cross section of the lower end of the first output shaft 539A, so that the baffle portion 547 can rotate synchronously with the first output shaft 539A.

[0310] Figure 36 is a structural schematic diagram of a lifting drive assembly according to an embodiment of the present disclosure.

[0311] In an optional embodiment of the present disclosure, as shown in Figure 36 , the lifting transmission 540 further comprises a lifting drive assembly 548, and the lifting bracket 542 is driven by the lifting drive assembly 548 to move up and down along the guide column portion 541.

[0312] As shown in Figure 36 , the lifting drive assembly 548 comprises a lifting drive device 5481 and a connecting rod 5482.

[0313] The lifting drive device 5481 is arranged on a structure such as the lower housing portion 120 and the transmission 530 that does not move, and is used to provide a lifting driving force.

[0314] One end of the connecting rod 5482 is arranged on the lifting drive device 5481, and the other end of the connecting rod 5482 is in contact with the lifting bracket 542, so that when the lifting drive device 5481 drives the connecting rod 5482 to rotate around the rotation axis of the lifting drive device 5481, the other end of the connecting rod 5482 slides relative to the lifting bracket 542 and drives the lifting bracket 542 to move up.

[0315] Conversely, when the lifting drive device 5481 reverses, the lifting bracket 542 moves down under the action of gravity and other forces of itself and other components mounted on the lifting bracket 542.

[0316] Preferably, the length direction of the connecting rod 5482 is perpendicular to the rotation axis of the lifting driving device 5481, and the one end and the other end of the connecting rod 5482 refer to one end and the other end of the length direction of the connecting rod 5482.

[0317] More preferably, the lifting driving device 5481 can be a steering engine, a motor, a stepping motor, a reduction gear box, etc.

[0318] In the present disclosure, the lifting driving assembly 548 is not limited to the structure described above, and any structure capable of driving the floating shaft to lift can achieve the purpose of the present disclosure, such as a lifting cylinder and a linear motor, etc. However, considering the space problem, the lifting driving device in the form of a motor is adopted, and the structure that the output shaft of the motor is driven to rotate at a small angle to drive the connecting rod to swing up and down is preferred.

[0319] In order to reduce the friction between the connecting rod 5482 and the lifting support 542 during contact, the other end of the connecting rod 5482 is provided with a rolling device 5483, which is in contact with the lifting support 542, for example, the rolling device 5483 can be a bearing, a roller, etc.

[0320] Moreover, the lifting support 542 is provided with a limiting groove, and the other end of the connecting rod 5482 or the rolling device 5483 moves in the limiting groove, so that the movement stroke of the lifting support 542 when moving downward can be limited by the limiting groove.

[0321] Figure 37 is a structural schematic diagram of a variable-speed lifting device according to an embodiment of the present disclosure. Figure 38 is another angle structural schematic diagram of a variable-speed lifting device according to an embodiment of the present disclosure.

[0322] As another implementation form, as shown in Figure 37 and 38 , the wet cleaning device 500 comprises a variable-speed lifting device 560, which is arranged on the shell assembly 100, for example, on the lower shell part 120 of the shell assembly 100, etc. The component does not move.

[0323] In the present disclosure, the variable-speed lifting device 560 can be provided as two, i.e. each variable-speed lifting device 560 drives one rotating piece. Of course, the number of scrubbing driving devices 520 can also be two, and each scrubbing driving device 520 is connected with one variable-speed lifting device 560 to provide driving force to the variable-speed lifting device 560.

[0324] Among them, the variable-speed lifting device 560 comprises a variable-speed lifting box part 561, a main gear 562, an intermediate gear 563, a lifting gear 564 and a lifting shaft 565.

[0325] The variable speed lifting box body part 561 can be formed by combining the box upper part and the box lower part, and the components of the variable speed lifting device 560 can be arranged inside the variable speed lifting box body part 561.

[0326] The scrubbing driving device 520 is arranged in the variable speed lifting box body part 561, for example, in the box lower part of the variable speed lifting box body part 561, and the main gear 562 is arranged in the scrubbing driving device 520 to drive the main gear 562 to rotate by the scrubbing driving device 520.

[0327] The intermediate gear 563 is rotatably arranged in the variable speed lifting box body part 561, for example, one end of the intermediate gear 563 is rotatably arranged in the box upper part, and the other end is rotatably arranged in the box lower part, and the rotation axis of the intermediate gear 563 is parallel to the rotation axis of the scrubbing driving device 520.

[0328] The intermediate gear 563 includes a large gear 5631 and a small gear 5632, and the large gear 5631 and the small gear 5632 rotate synchronously, for example, the large gear 5631 and the small gear 5632 are integrally formed, wherein the diameter and the number of teeth of the large gear 5631 are more than those of the small gear 5632.

[0329] The main gear 562 is engaged with the large gear 5631 of the intermediate gear 563, the small gear 5632 of the intermediate gear 563 is engaged with the lifting gear 564, and the lifting gear 564 can be lifted relative to the small gear 5632.

[0330] In the present disclosure, the upper end of the lifting shaft 565 is fixed with the lifting gear 564, and the rotation axis of the lifting shaft 565 is parallel to the rotation axis of the scrubbing driving device 520, wherein the outer surface of the lifting shaft 565 is formed with a threaded part.

[0331] The outer part of the lifting shaft 565 is sleeved with a nut 566, wherein the nut 566 cooperates with the threaded part formed on the outer surface of the lifting shaft 565, and preferably, an outer flange 5431 is formed on the outer circumferential surface of the nut 566; the nut 566 is rotatably arranged in the variable speed lifting box body part 561 of the variable speed device 530, and the position of the nut 566 in the axial direction of the lifting shaft 565 is limited by the variable speed lifting box body part 561.

[0332] The mounting space is formed on the box lower part, and the bearing part 567 can be arranged in the mounting space, and the nut 566 is rotatably arranged in the bearing part 567, and the radial movement of the nut 566 is limited by the bearing part 567.

[0333] Preferably, the bearing part 567 can be selected as a linear bearing, such as a plastic linear bearing, etc.

[0334] At least one of the upper surface and the lower surface of the outer flange 5431 of the nut 566 is provided with a thrust bearing 568, for example, both the upper surface and the lower surface of the outer flange 5431 of the nut 566 are provided with a thrust bearing 568, the thrust bearing 568 on the upper surface of the outer flange 5431 of the nut 566 is in contact with the lower part of the box, and the thrust bearing 568 on the lower surface of the outer flange 5431 of the nut 566 is in contact with the end cover part 5601 of the box, wherein the end cover part 5601 of the box is arranged on the lower part of the box and is used to close the mounting space of the lower part of the box, at this time, the lifting shaft 565 can pass through the end cover part 5601 of the box and is located outside the end cover part 5601 of the box.

[0335] In an optional embodiment of the present disclosure, as shown in Figure 38 The variable lifting device 560 further comprises a lifting selection device 569, which is used to selectively lock the nut 566, wherein when the lifting selection device 569 locks the nut 566 and the scrubbing driving device 520 rotates in the first direction, the lifting shaft 565 rotates upward, when the lifting selection device 569 locks the nut 566 and the scrubbing driving device 520 rotates in the second direction, the lifting shaft 565 rotates downward, and when the lifting selection device 569 locks the nut 566, the scrubbing driving device 520 rotates in the first direction or in the second direction, the scrubbing driving device 520 drives the first rotating member 511 to rotate, wherein the first direction and the second direction are opposite directions.

[0336] As an implementation form, the lifting selection device 569 can comprise an electromagnetic valve, wherein the outer flange 5431 of the nut 566 is formed with a mounting groove, so that when the electromagnetic valve is actuated, the valve rod of the electromagnetic valve extends and is inserted into the mounting groove to lock the nut 566, otherwise, the valve rod of the electromagnetic valve is retracted to enable the nut 566 to rotate freely.

[0337] In the present disclosure, the height of the pinion gear 5632 is set such that when the lifting shaft 565 is located at the uppermost limit position and at the lowermost limit position, the pinion gear 5632 is kept in engagement with the lifting gear 564.

[0338] In an optional embodiment of the present disclosure, the first rotating member 511 is arranged at the lower end of the lifting shaft 565 and is driven by the lifting shaft 565 to rotate and lift.

[0339] The connection mode of the first rotating member 511 with the lifting shaft 565 is the same / similar to the connection direction of the first rotating member 511 with the floating shaft 543, which will not be described one by one here.

[0340] The detailed structure of the scrubbing component 510 of the present disclosure will be described below in combination with the drawings.

[0341] Specifically, asFigure 30 As shown, the scrubbing member 510 can include a first rotating piece 511 and a second rotating piece 512.

[0342] The first rotating piece 511 can rotate around a first rotation center 517 and form a first rotation circumference. The second rotating piece 512 can rotate around a second rotation center 518 and form a second rotation circumference.

[0343] The first rotating piece 511 can have a first edge, and the first edge is composed of a first arc segment 513 and a second arc segment 514. The first arc segment 513 and the second arc segment 514 are alternately connected end to end to form the first edge.

[0344] Figure 30 It is shown that the number of the first arc segment 513 and the second arc segment 514 is four respectively, and the four first arc segments 513 and the four second arc segments 514 are alternately connected to form the first edge.

[0345] However, those skilled in the art should understand that the number of the first arc segment 513 and the second arc segment 514 can also be other numbers, for example, can be five, six, seven, eight, etc.

[0346] The second rotating piece 512 can have a second edge, and the second edge is composed of a third arc segment 523 and a fourth arc segment 524. Although it is shown in the figure that the number of the third arc segment 523 and the fourth arc segment 524 is four respectively, and the four third arc segments 523 and the four fourth arc segments 524 are alternately connected to form the second edge, as the same as the first edge, the second edge can also include more than four third arc segments 523 and fourth arc segments 524. In addition, the shape and arrangement of the second rotating piece 512 can be the same as the first rotating piece 511.

[0347] The first arc segment 513 is convex relative to the first rotation center 517, and the second arc segment 514 is concave relative to the first rotation center 517. The third arc segment 523 is convex relative to the second rotation center 518, and the fourth arc segment 524 is concave relative to the second rotation center 518.

[0348] Through the arrangement of the first rotating piece 511 and the second rotating piece 512 of the present disclosure, the first rotating piece 511 and the second rotating piece 512 can occupy a larger effective cleaning surface area. For example, compared with a triangular rotating piece, the effective cleaning surface area occupied by a rotating piece composed of more than four arc segments will be larger, and better results will be obtained in the actual cleaning and mopping process.

[0349] Further, although each of the arc segments of the first and second rotating members 511 and 512 is shown as a circular arc shape in the figures, it can be another arc shape, for example, an arc shape having a straight line and a curved line.

[0350] The first and second rotating circumferences 515 and 516 have an overlapping region, and during rotation of the first and second rotating members 511 and 512, the first and second edges maintain a state of continuously tangential contact at the edge and inside of the overlapping region.

[0351] In the present disclosure, the state of continuously tangential contact means that the first and second edges are in contact or maintain a small gap, for example, a constant small gap. In the present disclosure, the radii of the first, second, third, and fourth arc segments are set so as not to form mutual interference in the form of extrusion or the like, thereby ensuring smooth rotation of the first and second rotating members 511 and 512.

[0352] For example, in the state where the first and second edges are in tangential contact, the sum of the distance from the first rotation center 517 to the point of the first / second arc segment in tangential contact and the distance from the second rotation center 518 to the point of the third / fourth arc segment in tangential contact will be equal to or substantially equal to the distance between the first and second rotation centers 517 and 518. During rotation of the first and second rotating members 511 and 512, the first arc segment generally cooperates with the fourth arc segment, and the second arc segment generally cooperates with the third arc segment. The distance from each point of the first and third arc segments to the first rotation center is set to be greater than or equal to half the distance between the first and second rotation centers 517 and 518, and the distance from each point of the second and fourth arc segments to the first rotation center is set to be less than or equal to half the distance between the first and second rotation centers 517 and 518.

[0353] As a specific example, the first to fourth arc segments can be set as follows.

[0354] The distance of the first arc segment 513 from the first rotation center 517 is set such that the distance from the center point or the point of the intermediate region of the first arc segment 513 to the first rotation center 517 is greater than the distance from the points of the two ends of the first arc segment 513 to the first rotation center 517. From the center or the intermediate region of the first arc segment 513 toward the two ends of the first arc segment 513, the distance between each point of the first arc segment 513 and the first rotation center 517 gradually decreases.

[0355] The distance between the second arc segment 514 and the first rotation center 517 is set such that the distance between the center point or the point in the middle region of the second arc segment 514 and the first rotation center 517 is smaller than the distance between the two ends of the second arc segment 514 and the first rotation center 517. From the center or the middle region of the second arc segment 514 towards the two ends of the second arc segment 514, the distance between each point of the second arc segment 514 and the first rotation center 517 gradually increases.

[0356] The distance between the third arc segment 523 and the second rotation center 518 is set such that the distance between the center point or the point in the middle region of the third arc segment 523 and the second rotation center 518 is larger than the distance between the two ends of the third arc segment 523 and the second rotation center 518. From the center or the middle region of the third arc segment 523 towards the two ends of the third arc segment 523, the distance between each point of the third arc segment 523 and the second rotation center 518 gradually decreases.

[0357] The distance between the fourth arc segment 524 and the second rotation center 518 is set such that the distance between the center point or the point in the middle region of the fourth arc segment 524 and the second rotation center 518 is smaller than the distance between the two ends of the fourth arc segment 524 and the second rotation center 518. From the center or the middle region of the fourth arc segment 524 towards the two ends of the fourth arc segment 524, the distance between each point of the fourth arc segment 524 and the second rotation center 518 gradually increases.

[0358] In a preferred embodiment, the first arc segment 513 and the second arc segment 514 are smoothly connected circular arc segments, and / or the third arc segment 523 and the fourth arc segment 524 are smoothly connected circular arc segments.

[0359] When the scrubbing component 510 is in operation, it can be attached to the surface to be cleaned and rotated horizontally to perform floor cleaning and the like. The first rotating member 511 and the second rotating member 512 are symmetrically arranged and the rotating directions thereof can be set to be opposite, so as to ensure that the rotation of the first rotating member 511 and the second rotating member 512 does not affect the normal travel of the cleaning device such as the automatic cleaning device 10 when the cleaning device is in operation.

[0360] In the embodiments of the present disclosure, the first rotating member 511 and the second rotating member 512 are configured to be movable up and down relative to the surface to be cleaned. Here, the up and down movement refers to the movement in the direction perpendicular to the surface to be cleaned. In this way, the scrubbing component 510 can be brought into better contact with the surface to be cleaned, thereby achieving better cleaning effect.

[0361] The first rotating member 511 and the second rotating member 512 can be provided with cleaning materials to scrub the surface to be cleaned. The cleaning materials can include, for example, flexible brush heads or cleaning cloths, etc. The cleaning head or the brush head can scrub the surface to be cleaned by the cleaning materials.

[0362] The cleaning material 519 is arranged on the first rotating member 511 or the second rotating member 512, and rotates with the first rotating member 511 and the second rotating member 512.

[0363] As shown in FIG. 5, the first rotating member 511 can be provided with a hollow region 525, so that when the cleaning liquid is provided to the hollow region 525, the cleaning liquid can pass through the hollow region 525 to reach the cleaning material 519, thereby achieving the mopping effect of the automatic cleaning device 10 by the wet cleaning material 519. Figure 33

[0364] Although the form of the hollow region is shown in FIG. 5, those skilled in the art should understand that other shapes can also be used. Figure 33

[0365] In addition, the same method can also be used for the second rotating member 512, which will not be described here.

[0366] Figure 39 FIG. 6 is a schematic structural view of a cleaning liquid supply device 570 according to an embodiment of the present disclosure.

[0367] In the present disclosure, as shown in FIG. 5 and FIG. 6, the wet cleaning device further comprises a cleaning liquid supply device 570, which stores cleaning liquid and provides the cleaning liquid to the first rotating member 511 and / or the second rotating member 512, so that the wet cleaning device can perform wet cleaning on the surface to be cleaned. Figure 8 Figure 39

[0368] In an optional embodiment of the present disclosure, the cleaning liquid supply device 570 comprises:

[0369] a cleaning liquid storage part 571 for storing cleaning liquid;

[0370] a liquid supplement control part 572 arranged on the cleaning liquid storage part 571 and having a first position and a second position, wherein when the liquid supplement control part 572 is in the first position, the cleaning liquid is not allowed to be provided into the cleaning liquid storage part 571, and when the liquid supplement control part 572 is in the second position, the cleaning liquid is allowed to be provided into the cleaning liquid storage part 571; and

[0371] a position detection module 610 for detecting the position of the liquid supplement control part 572 and determining whether the cleaning liquid can be provided into the cleaning liquid storage part 571 according to the position of the liquid supplement control part 572.

[0372] ​​​​Thus, when the automatic cleaning device is parked at the base station, the liquid supplement pipe of the base station can drive the liquid supplement control part 572, and the accurate position of the liquid supplement control part is obtained through the position detection module, so that the process of supplementing the cleaning liquid can be smoothly carried out.

[0373] Of course, the position detection module 610 can also be part of the detection device 600 of the automatic cleaning device 10; that is, for those skilled in the art, the position detection module 610 can be classified as a cleaning liquid supply device, or as a detection device, which is not contradictory.

[0374] In the present disclosure, the position detection module 610 comprises:

[0375] a magnetic detection part 611 for generating a magnetic field; and

[0376] a detection element 612, the magnetic field strength of the magnetic detection part 611 detected by the detection element 612 is used to confirm the distance between the magnetic detection part 611 and the detection element 612, so as to determine the position of the liquid supplement control part 572.

[0377] As one implementation form, the magnetic detection part 611 is arranged on the liquid supplement control part 572, and the detection element 612 is arranged on the cleaning liquid storage part 571; or as another implementation form, the magnetic detection part 611 is arranged on the cleaning liquid storage part 571, and the detection element 612 is arranged on the liquid supplement control part 572.

[0378] Preferably, the detection element 612 comprises a Hall element and / or a dry reed.

[0379] According to at least one embodiment of the present disclosure, the cleaning liquid supply device 570 further comprises:

[0380] a guide part 573 arranged on the cleaning liquid storage part 571; as one implementation form, the guide part 573 can be formed to extend from the inner wall surface of one side wall of the cleaning liquid storage part 571 to the inside of the cleaning liquid storage part 571; as another implementation form, the guide part 573 can be formed as an independent component, and the cleaning liquid storage part 571 is formed with a notch, and at least part of the guide part 573 is located in the notch of the cleaning liquid storage part.

[0381] Moreover, the guide part 573 can also be formed as part of the wall part of the cleaning liquid storage part, and the guide part 573 forms a cleaning liquid flow channel, and the internal space of the cleaning liquid storage part 571 communicates with the outside of the cleaning liquid storage part 571 through the cleaning liquid flow channel.

[0382] The side wall of the guide portion 573 is provided with a liquid supplementing hole, which forms part of the cleaning liquid flow passage, i.e., the guide portion 573 communicates with the internal space of the cleaning liquid storage portion 571 through the liquid supplementing hole, so that when the liquid in the liquid supplementing pipe flows to the guide portion 573, it flows into the cleaning liquid storage portion 571 through the liquid supplementing hole of the guide portion 573.

[0383] In one aspect, the guide portion 573 can be horizontally arranged, and the liquid supplementing hole is located at the lowest position of the guide portion 573.

[0384] In another aspect, the guide portion 573 can be arranged obliquely, for example, downwardly obliquely arranged along the direction from the first position to the second position of the liquid supplementing control portion, i.e., along the direction from front to back of the automatic cleaning device, and the liquid supplementing hole is arranged along the length direction of the guide portion 573, and the extension line of the position where the liquid supplementing hole is located is located at the lowest position of the guide portion 573.

[0385] The liquid supplementing control portion 572 is slidably arranged in the guide portion 573, and when the liquid supplementing control portion 572 is located at the first position, the liquid supplementing control portion 572 closes the liquid supplementing hole to prevent the cleaning liquid from flowing out of the cleaning liquid storage portion 571, and does not allow the cleaning liquid to be added into the cleaning liquid storage portion 571, and when the liquid supplementing control portion 572 is located at the second position, the internal space of the cleaning liquid storage portion 571 communicates with the cleaning liquid flow passage of the guide portion 573.

[0386] In the present disclosure, the cleaning liquid supply device 570 further comprises:

[0387] A sealing guide 574 is arranged in the cleaning liquid storage portion 571 to seal the cleaning liquid flow passage through the sealing guide 574 and guide the liquid supplementing pipe.

[0388] Specifically, the center of the sealing guide 574 is formed with a tapered center hole, and the diameter of the center hole of the sealing guide 574 gradually decreases in the direction approaching the cleaning liquid storage portion 571, so that by arranging the sealing guide 574, on the one hand, the liquid supplementing pipe of the base station is guided, and on the other hand, the sealing effect of the cleaning liquid storage portion 571 is improved.

[0389] For example, when the liquid supplementing control portion 572 is located at the first position, a sealing member 575 is arranged between the liquid supplementing control portion 572 and the sealing guide 574, which can be sealing glue, so that the cleaning liquid storage portion 571 forms a sealed structure at the liquid supplementing control portion 572.

[0390] Moreover, when the liquid supplementing control portion 572 is located at the first position, at least a part of the liquid supplementing control portion 572 is located in the center hole of the sealing guide 574.

[0391] In order to enable the liquid supplement control part 572 to move from the second position to the first position after the liquid supplement pipe of the base station leaves the cleaning liquid storage part 571, the cleaning liquid storage part 571 further comprises an elastic force applying part 576, one end of the elastic force applying part 576 is arranged on one wall part of the cleaning liquid storage part 571, and the other end of the elastic force applying part 576 is arranged on the liquid supplement control part 572, when the liquid supplement control part 572 is located at the first position, the elastic force applying part 576 applies an elastic force to the liquid supplement control part 572.

[0392] When the liquid supplement control part 572 moves from the first position to the second position, the liquid supplement control part 572 further compresses the elastic force applying part 576, so as to enable the liquid supplement control part 572 to move from the second position to the first position by the potential energy of the elastic force applying part 576.

[0393] According to at least one embodiment of the present disclosure, the cleaning liquid storage part 571 comprises an upper container part and a lower container part, and the cleaning liquid storage part 571 is formed by the connection of the upper container part and the lower container part.

[0394] In the above-mentioned embodiment, the opening of the housing side wall part 112 of the upper housing part 110 corresponds to the position of the sealing guide part 574, so that the liquid supplement pipe of the base station can pass through the opening of the housing side wall part 112 and the sealing guide part 574, and apply a pushing force to the liquid supplement control part 572.

[0395] On the other hand, part of the sealing guide part 574 can be located in the opening of the housing side wall part 112, so that the liquid supplement pipe of the base station can be directly inserted into the sealing guide part 574, and apply a pushing force to the liquid supplement control part 572.

[0396] More preferably, the opening of the housing side wall part 112 is located at the rear side of the automatic cleaning device 10 in the advancing direction of the automatic cleaning device 10, for example, arranged close to the wet cleaning module.

[0397] The cleaning liquid supply device 570 further comprises a liquid supply module, the liquid supply module is arranged on the housing assembly 100, for example, arranged on the lower housing part 120 of the housing assembly 100, and connected to the cleaning liquid storage part 571, for providing the cleaning liquid to the first rotating part 511 and / or the second rotating part 512.

[0398] The liquid supply module can comprise a peristaltic pump, so as to quantitatively send the cleaning liquid stored in the cleaning liquid storage part 571 to the first rotating part 511 and / or the second rotating part 512 by the peristaltic pump.

[0399] The detection device 600 includes a laser distance sensor 620 (LDS laser distance sensor 620) which is rotatably provided to the housing assembly 100, for example, directly or indirectly to the lower housing part 120 of the housing assembly 100 and penetrates through the housing cover part 130 such that a portion of the laser distance sensor 620 is located at the upper portion of the housing cover part 130.

[0400] The laser distance sensor 620 rotates at a speed of about 300 rpm, of course, the speed of the laser distance sensor 620 can also be set to other values, to detect the distance between the automatic cleaning device 10 and the surrounding obstacles by the laser distance sensor 620, thereby the map construction of the surface to be cleaned can be performed.

[0401] On the other hand, the detection device 600 further includes a wall-following sensor which can detect the distance between the automatic cleaning device 10 and the surrounding planar obstacle, for example, the wall-following sensor can detect the distance between the automatic cleaning device 10 and the wall, and enables the automatic cleaning device 10 to walk along the wall, thereby effectively cleaning the area near the wall.

[0402] In the present disclosure, the wall-following sensor can be selected as a line laser sensor, and thereby enables the distance between the automatic cleaning device 10 and the wall to be maintained at a distance of 5 mm or even smaller.

[0403] The wall-following sensor is provided to the housing assembly 100, the signal emitted thereby can be emitted to the outside of the automatic cleaning device 10 from the opening formed at the side of the housing assembly 100, and the reflected signal is received by the wall-following sensor from the opening at the side of the housing assembly 100, to accurately detect the distance between the automatic cleaning device 10 and the surrounding planar obstacle.

[0404] In an optional embodiment of the present disclosure, the detection device 600 further includes a collision sensor to detect the collision position between the automatic cleaning device 10 and the surrounding obstacle by the collision sensor, thereby confirming the position of the surrounding obstacle of the automatic cleaning device 10.

[0405] The collision sensor includes a strike plate part, wherein the strike plate part is arranged to have a relative displacement with the housing assembly 100, in particular, the strike plate part is formed as a part of the outer surface of the automatic cleaning device 10.

[0406] The strike plate part can be located at the front portion of the travel direction of the automatic cleaning device 10, to generate a relative displacement between the strike plate part and the housing assembly 100 when the strike plate part collides with the obstacle, and to trigger the detection part of the collision sensor to detect the displacement signal.

[0407] In an optional embodiment of the present disclosure, the detection device 600 further comprises a cliff sensor configured to detect the distance between the automatic cleaning device 10 and the surface to be cleaned, and determine that there is a step or the like on the surface to be cleaned when the distance between the automatic cleaning device 10 and the surface to be cleaned is greater than a preset value, or the difference between the current distance between the automatic cleaning device 10 and the surface to be cleaned and the distance between the automatic cleaning device 10 and the surface to be cleaned at the previous time is greater than a preset value, and control the automatic cleaning device 10 to stop to prevent the automatic cleaning device 10 from falling off the step.

[0408] Further, the automatic cleaning device 10 can form a virtual forbidden area according to the user's setting, and control the automatic cleaning device 10 to limit the automatic cleaning device 10 from crossing the virtual forbidden area when the automatic cleaning device 10 moves to the vicinity of the virtual forbidden area.

[0409] Those skilled in the art should understand that the above-mentioned embodiments are only for clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. Based on the above disclosure, other changes or modifications can also be made by those skilled in the art, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A lifting transmission for an automatic cleaning device to enable a floating shaft to float and rotate in synchronization with respect to an output shaft of the automatic cleaning device, characterized in that, The application relates to a wet cleaning device, which comprises the following parts: a floating shaft driven to rotate by an output shaft, and the distance between the floating shaft and the output shaft is adjustable; a drag reduction device sleeved on the floating shaft, and the floating shaft can rotate and move along the axial direction of the floating shaft relative to the drag reduction device; a lifting support, the drag reduction device is arranged on the lifting support, and the floating shaft can be lifted by the drag reduction device when the lifting support is lifted; wherein the lifting support can be driven by a lifting driving assembly to generate lifting motion, the lifting driving assembly comprises a lifting driving device and a connecting rod, the lifting driving device is arranged on the lower shell of the wet cleaning device and is used for providing lifting driving force, one end of the connecting rod is arranged on the lifting driving device, and the other end of the connecting rod is in contact with the lifting support, so that the other end of the connecting rod slides relative to the lifting support and drives the lifting support to rise when the lifting driving device drives the connecting rod to rotate around the rotation axis of the lifting driving device.

2. The lift drive of claim 1, wherein, The drag reduction device comprises a linear bearing or a needle bearing, and the floating shaft is slidably and rotatably arranged in the center hole of the linear bearing or the needle bearing.

3. The lift drive of claim 1 wherein, The drag reduction device comprises an injection molding part, the floating shaft is slidably and rotatably arranged in the center hole of the injection molding part, and lubricating material exists between the injection molding part and the floating shaft.

4. The lift drive of claim 1 wherein, The lifting support is provided with a stepped hole, and the drag reduction device is arranged in the stepped hole.

5. The lift drive of claim 4 wherein, The bottom wall of the stepped hole is formed as a through hole, the size of the through hole is larger than that of the floating shaft, so that the floating shaft can be lifted and rotated in the through hole.

6. The lift drive of claim 4 wherein, The stepped part of the stepped hole supports the drag reduction device.

7. The lift drive of claim 3 wherein, Further comprising: a guide column part, the lifting support is slidably arranged on the guide column part to guide the lifting motion of the lifting support through the guide column part.

8. The lift drive of claim 1 wherein, The upper end of the floating shaft is formed with an outer flange, the size of the outer flange is larger than that of the center hole of the drag reduction device, so that the floating shaft generates lifting motion when the drag reduction device is driven to generate lifting motion.

9. The lift drive of claim 1 wherein, The number of the floating shafts is two, and the lower ends of the two floating shafts are respectively connected with a first rotating part and a second rotating part to drive the first rotating part and the second rotating part to lift and rotate through the floating shafts.

10. The lift drive of claim 9, wherein, When the first rotating part or the second rotating part is subjected to external force from a surface to be cleaned, the floating shaft generates lifting motion.

11. The lift drive of claim 9, wherein, The first rotating part and / or the second rotating part are arranged to be movable along the axial direction of the floating shaft, and / or movable along the radial direction of the floating shaft, and / or the rotating axis of the first rotating part and / or the second rotating part can form an angle with the rotating axis of the floating shaft, and the angle is not 0°.

12. The lift drive of claim 11, wherein, The floating shaft comprises a limiting part to limit the moving position of the first rotating part and / or the second rotating part along the axial direction of the floating shaft.

13. The lift drive of claim 12, wherein, The limiting part comprises an axial shoulder formed on the floating shaft.

14. The lift drive of claim 12, wherein, The middle part of the first rotating member and / or the second rotating member is formed with a mounting hole, and the lower end of the floating shaft is inserted into the mounting hole, wherein the mounting hole is a non-circular hole, and the lower end of the floating shaft is the same as or cooperates with the shape of the mounting hole, so that the floating shaft drives the first rotating member and / or the second rotating member to rotate.

15. The lift drive of claim 14, wherein, The length from the limiting part to the lower end of the floating shaft is greater than the height of the mounting hole.

16. The lift drive of claim 14, wherein, The outer surface of the lower end of the floating shaft and the mounting hole of the first rotating member and / or the second rotating member have a gap, so that the first rotating member and / or the second rotating member can move in the radial direction of the floating shaft, and / or the rotating axis of the first rotating member and / or the second rotating member and the rotating axis of the floating shaft can form an included angle which is not 0°.

17. The lift drive of claim 12, wherein, The lower end of the floating shaft is provided with a fastening element, so as to limit the downward movement position of the first rotating member and / or the second rotating member along the axis direction of the floating shaft by the fastening element.

18. The lift drive of claim 17, wherein, When the first rotating member and / or the second rotating member contacts the limiting part of the floating shaft, the fastening element and the first rotating member and / or the second rotating member have a preset distance.

19. The lift drive of claim 18, wherein, The fastening element comprises a cap screw which is fixed to the lower end of the floating shaft, and when the first rotating member and / or the second rotating member contacts the limiting part of the floating shaft, the screw head of the cap screw and the first rotating member and / or the second rotating member have a preset distance; when the first rotating member and / or the second rotating member contacts the cap screw, at least part of the screw head of the cap screw contacts the first rotating member and / or the second rotating member.

20. The lift drive of claim 18, wherein, The lower end of the first rotating member and / or the second rotating member is formed with a counterbore which communicates with the mounting hole of the first rotating member and / or the second rotating member, and part of the fastening element is located in the counterbore.

21. The lift drive of claim 20, wherein, The fastening element and the side wall of the counterbore have a gap, so that the first rotating member and / or the second rotating member can move in the radial direction of the floating shaft, and / or the rotating axis of the first rotating member and / or the second rotating member and the rotating axis of the floating shaft can form an included angle which is not 0°.

22. The lift drive of claim 1 wherein, The floating shaft is formed with a guide hole near one end of the output shaft, and one end of the output shaft is slidably inserted into the guide hole; or the output shaft is formed with a guide hole near one end of the floating shaft, and one end of the floating shaft is slidably inserted into the guide hole.

23. The lift drive of claim 22, wherein, The guide hole is formed as a non-circular hole, and the cross-sectional shape of the lower end of the output shaft is the same as or cooperates with the guide hole, or the cross-sectional shape of the upper end of the floating shaft is the same as or cooperates with the guide hole.

24. A wet cleaning apparatus, characterized by The lifting transmission device comprises any one of claims 1-23.

25. An automatic cleaning device, characterized by The lifting transmission device comprises any one of claims 1-23, or the wet cleaning device of claim 24.

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