Wet cleaning device and automatic cleaning apparatus

Abstract

The present disclosure provides a wet cleaning device further comprising a guide column portion, a lifting support slidably disposed in the guide column portion to be guided in lifting movement by the guide column portion, a floating shaft rotatably disposed in the lifting support and following the lifting movement of the lifting support when the lifting support is lifted, a scrubbing member disposed at a lower end of the floating shaft to be lifted and / or rotated when the floating shaft is lifted and / or rotated, and a lifting drive assembly for driving the lifting support to generate the lifting movement. The present disclosure also provides a wet cleaning device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to 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 by 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 member, especially a double-rotating-disk mopping member. At this time, since the mopping member cannot be actively raised and lowered, the surface to be cleaned after cleaning is secondarily contaminated, and the robot cleaner cannot be applied to cleaning of a special surface such as a carpet. SUMMARY

[0005] To solve one of the above technical problems, the present disclosure provides a wet cleaning device and an automatic cleaning apparatus.

[0006] According to one aspect of the present disclosure, a wet cleaning device is provided, which further includes

[0007] a guide column portion,

[0008] a lifting bracket slidably disposed in the guide column portion to guide a lifting motion of the lifting bracket by the guide column portion;

[0009] a floating shaft rotatably disposed in the lifting bracket and following the lifting motion of the lifting bracket when the lifting bracket is lifted;

[0010] a scrubbing member disposed at a lower end of the floating shaft to be lifted and / or rotated when the floating shaft is lifted and / or rotated; and

[0011] a lifting driving assembly for driving the lifting bracket to generate the lifting motion.

[0012] The wet cleaning device according to at least one embodiment of the present disclosure, the lifting driving assembly includes:

[0013] a lifting driving device for providing a driving force to lift or lower the lifting bracket; and

[0014] A link portion, one end of the link portion is provided to the lifting driving device, the other end of the link portion is in contact with the lifting support, so that when the lifting driving device drives the link portion to rotate around the rotation axis of the lifting driving device, the other end of the link portion changes position relative to the lifting support, and drives the lifting support to rise.

[0015] According to the wet cleaning device of at least one embodiment of the present disclosure, when the lifting driving device reverses, the other end of the link portion changes position relative to the lifting support to allow the lifting support to descend.

[0016] According to the wet cleaning device of at least one embodiment of the present disclosure, the length direction of the link portion is perpendicular to the rotation axis of the lifting driving device.

[0017] According to the wet cleaning device of at least one embodiment of the present disclosure, the other end of the link portion is provided with a rolling device, which is in rolling contact with the lifting support when the link portion rotates.

[0018] According to the wet cleaning device of at least one embodiment of the present disclosure, the lifting support is provided with a limiting slot, and the other end of the link portion or the rolling device moves in the limiting slot.

[0019] According to the wet cleaning device of at least one embodiment of the present disclosure, the lifting support is provided with a stepped hole, a resistance reducing device is arranged in the stepped hole, and the floating shaft is slidably and rotatably arranged in the resistance reducing device.

[0020] According to the wet cleaning device of at least one embodiment of the present disclosure, the resistance reducing device includes a linear bearing, and the floating shaft is slidably and rotatably arranged in the center hole of the linear bearing.

[0021] According to the wet cleaning device of at least one embodiment of the present disclosure, an outer flange is formed at the upper end of the floating shaft, the size of the outer flange is greater than the size of the center hole of the resistance reducing device, so that when the resistance reducing device is driven to generate lifting movement, the floating shaft generates lifting movement.

[0022] According to the wet cleaning device of at least one embodiment of the present disclosure, further comprising:

[0023] An output shaft is driven to be rotatable, the floating shaft is in transmission connection with the output shaft, and along the axial direction of the output shaft, the floating shaft can approach or move away from the output shaft.

[0024] According to the wet cleaning device of at least one embodiment of the present disclosure, further comprising:

[0025] An elastic restoring portion provides a restoring force to the floating shaft so that the floating shaft moves in a direction away from the output shaft by the restoring force provided by the elastic restoring portion.

[0026] According to at least one embodiment of the present disclosure, one end of the elastic restoring portion does not rotate or rotates within a preset range with respect to the output shaft, and the other end of the elastic restoring portion does not rotate or rotates within a preset range with respect to the floating shaft.

[0027] According to at least one embodiment of the present disclosure, an upper end of the floating shaft is provided with a guide hole, and a lower end of the output shaft is slidably arranged in the guide hole of the floating shaft so that the output shaft and the floating shaft can approach or move away from each other.

[0028] Alternatively, a lower end of the output shaft is provided with a guide hole, and an upper end of the floating shaft is slidably arranged in the guide hole of the output shaft so that the output shaft and the floating shaft can approach or move away from each other.

[0029] According to at least one embodiment of the present disclosure, the wet cleaning device further comprises:

[0030] A baffle portion is arranged on the output shaft and rotates with the output shaft, wherein one end of the elastic restoring portion is arranged on the baffle portion.

[0031] According to at least one embodiment of the present disclosure, the output shaft comprises a position limiting portion for limiting the position of the baffle portion on the output shaft.

[0032] According to at least one embodiment of the present disclosure, the position limiting portion comprises a shaft shoulder formed on the output shaft.

[0033] According to at least one embodiment of the present disclosure, the guide hole of the floating shaft is non-circular in shape, and the cross section of the lower end of the output shaft is the same as or cooperates with the shape of the guide hole of the floating shaft so as to drive the floating shaft to rotate by the output shaft.

[0034] According to at least one embodiment of the present disclosure, the central hole of the baffle portion is the same as or cooperates with the cross section of the lower end of the output shaft so as to drive the baffle portion to rotate by the output shaft.

[0035] According to at least one embodiment of the present disclosure, the wet cleaning device, the scrubbing member is arranged to be movable along the axial direction of the floating shaft, and / or, is arranged to be movable along the radial direction of the floating shaft, and / or, the rotational axis of the scrubbing member is arranged to form an angle with the rotational axis of the floating shaft.

[0036] According to at least one embodiment of the present disclosure, the wet cleaning device, the floating shaft comprises a limiting portion to limit the upward movement of the scrubbing member along the axial direction of the floating shaft.

[0037] According to at least one embodiment of the present disclosure, the wet cleaning device, the limiting portion comprises a shoulder formed on the floating shaft.

[0038] According to at least one embodiment of the present disclosure, the wet cleaning device, the middle portion of the scrubbing 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 scrubbing member to rotate.

[0039] According to at least one embodiment of the present disclosure, the wet cleaning device, the outer surface of the lower end of the floating shaft and the mounting hole of the scrubbing member have a gap therebetween, so that the scrubbing member is movable along the radial direction of the floating shaft, and / or, the rotational axis of the scrubbing member is arranged to form an angle with the rotational axis of the floating shaft.

[0040] According to at least one embodiment of the present disclosure, the wet cleaning device, the lower end of the floating shaft is provided with a fastening element to limit the downward movement of the scrubbing member along the axial direction of the floating shaft.

[0041] According to at least one embodiment of the present disclosure, the wet cleaning device, when the scrubbing member contacts the limiting portion of the floating shaft, the fastening element and the scrubbing member have a preset distance therebetween.

[0042] According to at least one embodiment of the present disclosure, the wet cleaning device, the fastening element comprises a cap screw fixed to the lower end of the floating shaft, when the scrubbing member contacts the limiting portion of the floating shaft, the screw head of the cap screw and the scrubbing member have a preset distance therebetween; when the scrubbing member contacts the cap screw, at least part of the screw head of the cap screw contacts the scrubbing member.

[0043] According to another aspect of the present disclosure, an automatic cleaning device is provided, which comprises the above-mentioned wet cleaning device. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

[0045] Figure 1 is a structural schematic view of an automatic cleaning apparatus according to an embodiment of the disclosure.

[0046] Figure 2 is another angle structural schematic view of an automatic cleaning apparatus according to an embodiment of the disclosure.

[0047] Figure 3 is a structural schematic view of an upper housing part according to an embodiment of the disclosure.

[0048] Figure 4 is a structural schematic view of a lower housing part according to an embodiment of the disclosure.

[0049] Figure 5 is another angle structural schematic view of an automatic cleaning apparatus according to an embodiment of the disclosure.

[0050] Figure 6 is a structural schematic view of an automatic cleaning apparatus according to another embodiment of the disclosure.

[0051] Figure 7 is a bottom view of an automatic cleaning apparatus according to another embodiment of the disclosure.

[0052] Figure 8 is a structural schematic view of an automatic cleaning apparatus according to an embodiment of the disclosure.

[0053] Figure 9 is a structural schematic view of a first driving wheel assembly according to an embodiment of the disclosure.

[0054] Figure 10 is a structural schematic view of a traveling speed change mechanism according to an embodiment of the disclosure.

[0055] Figure 11 is a structural schematic view of a dust collecting device according to an embodiment of the disclosure.

[0056] Figure 12 is another angle structural schematic view of a dust collecting device according to an embodiment of the disclosure.

[0057] Figure 13 is a sectional view of a dust collecting device according to an embodiment of the disclosure.

[0058] Figure 14FIG. 7 is another perspective view of the dust collecting device according to an embodiment of the present disclosure.

[0059] Figure 15 FIG. 8 is a perspective view of a dust collecting container according to an embodiment of the present disclosure.

[0060] Figure 16 FIG. 9 is another perspective view of the dust collecting container according to an embodiment of the present disclosure.

[0061] Figure 17 FIG. 10 is a cross-sectional view of the dust collecting container according to an embodiment of the present disclosure.

[0062] Figure 18 FIG. 11 is an enlarged view of A of FIG. 10. Figure 17

[0063] Figure 19 FIG. 12 is a perspective view of a first locking device according to an embodiment of the present disclosure.

[0064] Figure 20 FIG. 13 is a perspective view of the first locking device according to an embodiment of the present disclosure.

[0065] Figure 21 FIG. 14 is an enlarged view of B of FIG. 13. Figure 20

[0066] Figure 22 FIG. 15 is a perspective view of the first locking device according to an embodiment of the present disclosure. Figure 21

[0067] Figure 23 FIG. 16 is a perspective view of a second locking device according to an embodiment of the present disclosure.

[0068] Figure 24 FIG. 17 is an enlarged view of C of FIG. 16. Figure 23

[0069] Figure 25 FIG. 18 is a perspective view of the second locking device according to an embodiment of the present disclosure. Figure 24

[0070] Figure 26 FIG. 19 is a perspective view of a filter device according to an embodiment of the present disclosure.

[0071] Figure 27 FIG. 20 is a perspective view of a mounting position of the filter device according to an embodiment of the present disclosure.

[0072] Figure 28 FIG. 21 is a perspective view of a separation structure of the dust collecting device according to an embodiment of the present disclosure.

[0073] Figure 29 ​​​​​is a sectional view of a dust collecting device according to an embodiment of the present disclosure.

[0074] Figure 30 is a structural schematic view of a scrubbing member according to an embodiment of the present disclosure.

[0075] Figure 31 is a structural schematic view of a speed change device according to an embodiment of the present disclosure.

[0076] Figure 32 is a structural schematic view of a speed change device according to an embodiment of the present disclosure.

[0077] Figure 33 is a structural schematic view of a lift drive device according to an embodiment of the present disclosure.

[0078] Figure 34 is a structural schematic view of a lift drive device (part) according to an embodiment of the present disclosure.

[0079] Figure 35 is a structural schematic view of a lift drive device (part) according to an embodiment of the present disclosure.

[0080] Figure 36 is a structural schematic view of a lift drive assembly according to an embodiment of the present disclosure.

[0081] Figure 37 is a structural schematic view of a speed change lift device according to an embodiment of the present disclosure.

[0082] Figure 38 is a structural schematic view of a speed change lift device according to an embodiment of the present disclosure.

[0083] Figure 39 is a structural schematic view of a cleaning liquid storage according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0084] The present disclosure will be further described by way of example with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the present disclosure and are not to be taken in a limiting sense. It is further noted that, for the sake of brevity, the figures of the drawings are not to scale and that certain features of the figures of the drawings are exaggerated in order to emphasize and highlight relevant aspects of the disclosure.

[0085] Figure 1 is a structural schematic view of an automatic cleaning apparatus according to an embodiment of the present disclosure. Figure 2 is a structural schematic view of an automatic cleaning apparatus according to an embodiment of the present disclosure.

[0086] As Figure 1 and Figure 2As shown, the present disclosure provides an automatic cleaning device 10, in particular, an intelligent 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 rug, a floor surface, and a hard surface such as hardwood, tile, and linoleum.

[0087] In the present disclosure, the automatic cleaning device 10 can include a housing assembly 100, a traveling device 200, a dry cleaning device 300, a dust collecting device 400, a wet cleaning device 500, and a detection device 600.

[0088] The housing assembly 100 forms an external shape of the automatic cleaning device 10, i.e., the housing assembly 100 forms an upper surface, a lower surface, and a side surface between the upper surface and the lower surface of the automatic cleaning device 10.

[0089] The traveling device 200 is provided in the housing assembly 100 and is used to realize the traveling of the automatic cleaning device 10, for example, the traveling device 200 can be controlled to make the automatic cleaning device 10 advance, retreat, and turn, or to make the automatic cleaning device 10 move along a preset trajectory.

[0090] The dry cleaning device 300 is provided in the housing assembly 100 and is used to clean the surface to be cleaned in a dry manner, wherein at least a part of the dry cleaning device 300 is located outside the housing assembly 100, for example, below the housing assembly 100, to remove dirt (e.g., large particles on the surface to be cleaned and light particles such as dust on the surface to be cleaned) from the surface to be cleaned by the dry cleaning device 300.

[0091] In the present disclosure, when the automatic cleaning device 10 is advancing or turning, 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 is retreating, for example, the automatic cleaning device 10 encounters an obstacle and evades the obstacle by retreating, the dry cleaning device 300 can be in a non-working state to prevent the dirt carried by the dry cleaning device 300 from polluting the surface to be cleaned which has been cleaned.

[0092] The dust collecting device 400 is provided in the housing assembly 100 and is used to collect the dirt generated after the surface to be cleaned is cleaned by the dry cleaning device 300. Preferably, the dust collecting device 400 can suck the mixture of the dirt and gas generated after the surface to be cleaned is cleaned by the dry cleaning device 300 to the dust collecting device 400, the gas is discharged to the outside of the dust collecting device 400 after passing through the dust collecting device 400, and the dirt is collected in the inside of the dust collecting device 400.

[0093] In the present disclosure, when the amount of dirt inside the dust collecting device 400 is greater than or equal to a preset value, the control causes the automatic cleaning apparatus 10 to stop at the base station, and the dirt inside the dust collecting device 400 is transferred to the base station; or the user removes the dust collecting device 400, pours out the dirt inside the dust collecting device 400, and then re-installs the dust collecting device 400 to the automatic cleaning apparatus 10.

[0094] The wet cleaning device 500 is arranged in the housing assembly 100, and is used to perform wet cleaning on the surface to be cleaned after the dry cleaning device 300 performs cleaning, for example, by the wet cleaning device 500 performing floor cleaning on the surface to be cleaned, so as to improve the cleaning effect of the surface to be cleaned.

[0095] When the automatic cleaning apparatus 10 of the present disclosure is in use, the dry cleaning device 300 and the wet cleaning device 500 can both support the housing assembly 100, that is, by the reaction force of the force applied by the dry cleaning device 300 and the wet cleaning device 500 to the surface to be cleaned, the support of the housing assembly 100 is achieved.

[0096] In an optional embodiment of the present disclosure, along the advancing direction of the automatic cleaning apparatus 10, the dry cleaning device 300 is located in front of the wet cleaning device 500, 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 floor cleaning is performed by the wet cleaning device 500, 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 in other words, 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.

[0097] The detection device 600 is arranged in the housing assembly 100, and is used to detect 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 control causes the walking device 200 of the automatic cleaning apparatus 10 to generate 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 walking device 200 first generates a backward movement, and then turns and continues to advance, so as to avoid the obstacle.

[0098] The various devices of the automatic cleaning apparatus 10 will be described in detail below in combination with the drawings.

[0099] 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.

[0100] AsFigures 1 to 4 As shown, the housing assembly 100 of this disclosure may include an upper housing portion 110 and a lower housing portion 120, wherein the lower housing portion 120 may be formed as the lower part of the automatic cleaning device 10 and as a support body of the automatic cleaning device 10, and may cooperate with the upper housing portion 110 described below to form a receiving space for accommodating multiple components of the automatic cleaning device 10.

[0101] like Figure 4 As 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] Of course, the shape of the upper wall portion 111 of the housing can also be a D shape formed by connecting a rectangular shape and a semicircular shape together, and the shape of the lower housing portion 120 can be adapted to the shape of the upper wall portion 111 of the housing; in the present disclosure, as the most optimal implementation form, the shapes of the lower housing portion 120 and the upper wall portion 111 of the housing are both circular.

[0109] According to at least one embodiment of the present disclosure, as shown in Figure 1 The housing assembly 100 can further include a housing cover portion 130 provided to the upper housing portion 110 to form an upper surface of the automatic cleaning device 10 by the housing cover portion 130.

[0110] Preferably, the housing cover portion 130 can be detached from the upper housing portion 110, and when the housing cover portion 130 is detached, the dust collecting device 400 accommodated in the housing assembly 100 is exposed to facilitate the user to take out the dust collecting device 400.

[0111] At least a portion of the housing assembly 100 can be formed as a transparent portion to obtain the current state of each component of the automatic cleaning device 10 through the transparent portion, for example, to obtain the amount of dirt in the dust collecting device 400 to prevent the amount of dirt inside the dust collecting device 400 from being excessive. Or to obtain the amount of cleaning liquid of the wet cleaning device 500 to add cleaning liquid to the wet cleaning device 500 in time.

[0112] As shown in Figure 4 The housing assembly 100 further includes a guard member 140 provided adjacent to the wet cleaning device 500, for example, provided 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 guard member 140 is provided at the front side of the first rotating member 511 and the second rotating member 512; more preferably, can be located at the rear side of the dry cleaning device 300.

[0113] The guard member 140 is provided relative to the first rotating member 511 and the second rotating member 512 respectively, or provided relative to the first rotating member 511 and the second rotating member 512 as a whole. In Figure 4 In the present disclosure, the guard member 140 provided as a whole is shown.

[0114] However, the guard member 140 can also include at least two sub-guard members, each of which at least partially wraps one or more rotating members, that is, the sub-guard member can wrap one rotating member, or can wrap multiple rotating members.

[0115] The protective member 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-enclosed form. By providing the protective member 140, the first rotating member 511, the second rotating member 512, and the drive shaft can be protected from being entangled by objects such as cables on the ground. Figure 4 As shown in FIG. 9, the protective member 140 is provided at a predetermined height from the cleaning surface, i.e., the lower end of the protective member 140 is 0.5-1 mm from the cleaning surface, which is less than the diameter of the charging wire, so that the wire can be blocked, and friction with the ground can also be avoided. The protective member 140 can be formed of a soft material, such as soft rubber, silicone, rubber, or TPU, or the hardness of the soft material can be about 50°, for example, between 40° and 60°, to prevent the presence of the protective member from affecting the obstacle crossing of the automatic cleaning device.

[0116] In the present disclosure, the protective member includes a planar portion and curved portions provided at both ends of the length direction of the planar portion, and the curved portions are provided to maintain a predetermined interval from the first rotation circumference or the second rotation circumference.

[0117] The protective member is provided on the lower housing portion and can be integrally formed with the lower housing portion, but can also be separately formed from the lower housing portion and mounted on the lower housing portion.

[0118] In the present disclosure, the drive shaft that drives the first rotating member 511 and the second rotating member 512 can be the first output shaft 539A, the second output shaft 539B, or the lift shaft 565.

[0119] When the automatic cleaning device according to the present disclosure is in use, the automatic cleaning device advances, and the protective member can block the charging wire or the like outside the protective member, thereby preventing the wet cleaning device from being entangled by the charging wire.

[0120] Figure 5 FIG. 10 is another perspective view of an automatic cleaning device according to an embodiment of the present disclosure. Figure 6 FIG. 11 is a perspective view of an automatic cleaning device according to another embodiment of the present disclosure. Figure 7 FIG. 12 is a bottom view of an automatic cleaning device according to another embodiment of the present disclosure.

[0121] As shown in FIG. 9, the protective member 140 is provided at a predetermined height from the cleaning surface, i.e., the lower end of the protective member 140 is 0.5-1 mm from the cleaning surface, which is less than the diameter of the charging wire, so that the wire can be blocked, and friction with the ground can also be avoided. The protective member 140 can be formed of a soft material, such as soft rubber, silicone, rubber, or TPU, or the hardness of the soft material can be about 50°, for example, between 40° and 60°, to prevent the presence of the protective member from affecting the obstacle crossing of the automatic cleaning device. Figures 5 to 7As 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.

[0122] 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.

[0123] The first drive wheel assembly 210 and the second drive wheel assembly 220 are arranged symmetrically along the transverse axis defined by the lower housing portion 120, for example, as Figures 5 to 7 As shown, the first drive wheel assembly 210 and the second drive wheel assembly 220 are respectively disposed on the left and right sides of the lower housing portion 120. Accordingly, the first drive wheel assembly 210 is the left drive wheel assembly, and the second drive wheel assembly 220 is the right drive wheel assembly.

[0124] More preferably, the structures of the first drive wheel assembly 210 and the second drive wheel assembly 220 are similar, and only the first drive wheel assembly 210 will be used as an example for explanation here.

[0125] Figure 9 This is a schematic diagram of the structure of a first drive wheel assembly according to one embodiment of the present disclosure. Figure 10 This is a schematic diagram of the walking speed change mechanism according to one embodiment of the present disclosure.

[0126] According to at least one embodiment of this disclosure, such as Figure 9 and Figure 10 As shown, the first drive wheel assembly 210 includes a walking drive device 211, a walking transmission mechanism 212, and walking wheels 213.

[0127] The walking drive device 211 is used to provide the driving force for the movement of the automatic cleaning equipment 10. The walking drive device 211 can be selected as a motor, such as a DC motor, AC motor, stepper motor and / or servo motor, etc. Of course, the walking drive device 211 can also be selected as other devices that can provide power.

[0128] like Figure 10As shown, the travel transmission mechanism 212 includes a travel gearbox body 2121 and a travel transmission assembly 2122. The travel gearbox body 2121 is fixed to the lower housing portion 120, and the travel drive device 211 is fixed to the lower housing portion 120 or to the travel gearbox body 2121. The travel transmission assembly 2122 is disposed inside the travel gearbox body 2121, and the travel drive device 211 is connected to the travel transmission assembly 2122 to transmit the driving force generated by the travel drive device 211 to the travel transmission assembly 2122.

[0129] In this disclosure, such as Figure 10 As shown, the travel transmission assembly 2122 can be selected as a gear transmission device, a chain transmission device, or a belt transmission device. The travel transmission assembly 2122 includes a power input shaft 2122A and a power output shaft 2122B. The power input shaft 2122A is connected to the travel drive device 211, and the travel wheel 213 is connected to the power output shaft 2122B of the travel transmission assembly 2122. When the travel transmission assembly 2122 is a gear transmission device, the power input shaft 2122A and the power output shaft 2122B are connected by gear transmission. Correspondingly, when the travel transmission assembly 2122 is a chain transmission device or a belt transmission device, the power input shaft 2122A and the power output shaft 2122B are connected by sprockets or pulleys.

[0130] According to at least one embodiment of this disclosure, the walking device 200 is detachably disposed on the lower housing portion 120 to facilitate the disassembly of the drive wheel assembly and maintenance.

[0131] like Figure 9 As shown, the walking wheel 213 is disposed on the power output shaft 2122B of the walking transmission assembly 2122, so that the rotation generated when the walking drive device 211 is working is changed (e.g., reduced speed) by the walking speed change mechanism 212, causing the walking wheel 213 to rotate.

[0132] In this disclosure, the walking drive device 211 can achieve forward and reverse rotation, thereby enabling the walking wheel 213 to rotate in a first direction or in a second direction, wherein the first direction is the opposite of the second direction.

[0133] Furthermore, when the walking wheel 213 rotates in the first direction, it enables the automatic cleaning device 10 to move forward, and when the walking wheel 213 rotates in the second direction, it enables the automatic cleaning device 10 to move backward.

[0134] As a preferred implementation, the number of driven wheel assemblies 230 can be one. The driven wheel assembly 230 is disposed on the transverse axis defined by the lower housing portion 120 and is spaced at a predetermined distance from the line connecting the first drive wheel assembly 210 and the second drive wheel assembly 220, so that the automatic cleaning device 10 can move more stably on the surface to be cleaned or has a stronger movement capability; wherein, the driven wheel assembly 230 includes, but is not limited to, omnidirectional wheels.

[0135] When the automatic cleaning device 10 is in motion, it can simultaneously control the movement of the first drive wheel assembly 210 and the second drive wheel assembly 220 based on distance and angle information, so that the automatic cleaning device 10 can move forward, backward or turn along a preset trajectory.

[0136] For example, when the first drive wheel assembly 210 and the second drive wheel assembly 220 have the same direction of rotation and the same speed, the automatic cleaning device 10 will move forward or backward; when the first drive wheel assembly 210 and the second drive wheel assembly 220 have different speeds or different directions of rotation, the automatic cleaning device 10 will turn, or even spin in place.

[0137] In this disclosure, the first drive wheel assembly 210 also includes an odometer to detect the rotation angle of the walking wheel 213 and / or the walking drive device 211; and based on the data detected by the odometer of the first drive wheel assembly 210 and the data detected by the odometer of the second drive wheel assembly 220, accurately determine the position and posture of the automatic cleaning device 10 in the current working area, thereby making the automatic cleaning device 10 more intelligent.

[0138] More preferably, both the first drive wheel assembly 210 and the second drive wheel assembly 220 are rotatably disposed on the lower housing portion 120, so that the distance between the travel wheel 213 and the lower housing portion 120 is adjustable; for example, taking the first drive wheel assembly 210 as an example, the travel gearbox body 2121 of the travel transmission mechanism 212 of the first drive wheel assembly 210 is rotatably disposed on the lower housing portion 120. At this time, the first drive wheel assembly 210 and the second drive wheel assembly 220 form an offset drop suspension system and provide offset force through the travel elastic portion.

[0139] That is, one end of the travel elastic part is fixed to the lower housing 120, and the other end of the travel elastic part is fixed to the travel gearbox 2121, such that the travel elastic part is located below the connection position between the travel gearbox 2121 and the lower housing 120. At this time, the travel elastic part is in a pre-stretched state, and in the free state, under the tension of the travel elastic part, the travel wheel 213 and the lower housing 120 are spaced by a first distance; in the working state, the travel wheel 213 and the lower housing 120 are spaced by a second distance, wherein the first distance is greater than the second distance.

[0140] In other words, by setting the walking elastic part (such as the bias spring), the walking wheel 213 is allowed to maintain contact and traction with the surface to be cleaned with a certain ground force, while the dry cleaning device 300 and wet cleaning device 500 of the automatic cleaning equipment 10 contact the surface to be cleaned with a certain pressure.

[0141] Figure 8 This is a schematic diagram of the structure of an automatic cleaning device according to one embodiment of the present disclosure.

[0142] like Figures 5 to 8 As shown, the dry cleaning device 300 of this disclosure is rotatably disposed on the lower housing portion 120 and is at least partially located outside the lower housing portion 120, so as to achieve dry cleaning of the surface to be cleaned by contact between the dry cleaning device 300 located outside the lower housing portion 120 and the surface to be cleaned.

[0143] In this disclosure, the dry cleaning device 300 includes at least one cleaning component, that is, the dry cleaning device 300 may include only one cleaning component. When the dry cleaning device 300 includes one cleaning component, it may be a side brush cleaning component 310 or a roller brush cleaning component 320.

[0144] Of course, to improve the cleaning efficiency of surfaces to be cleaned, such as Figures 5 to 8 As shown, the dry cleaning device 300 of this disclosure includes two cleaning components, which can be selected as two side brush cleaning components 310, or one side brush cleaning component 310 and one roller brush cleaning component 320.

[0145] Along the forward direction of the automatic cleaning device 10, the side brush cleaning component 310 is located in front of the roller brush cleaning component 320. That is, when the automatic cleaning device 10 is in working state and moving forward, the side brush cleaning component 310 first cleans the surface to be cleaned and collects the dust on the surface to be cleaned into the cleaning area or cleaning path of the roller brush cleaning component 320. Then, through the cleaning of the roller brush cleaning component 320, the dust and other light particles on the surface to be cleaned are disturbed and collected by the dust collection device 400.

[0146] In this disclosure, such as Figure 5 and Figure 6 As shown, the side brush cleaning assembly 310 includes a side brush section 311 and a side brush drive device 312.

[0147] like Figure 5 and Figure 6As shown, the side brush portion 311 includes a brush body 3111 and bristles 3112 mounted on the brush body 3111. The brush body 3111 of the side brush portion 311 is rotatably disposed on the housing assembly 100, for example, disposed on the lower housing portion 120 of the housing assembly 100, and cleans the surface to be cleaned by contact between the bristles 3112 and the surface to be cleaned. Of course, the side brush portion 311 can also be integrally formed by elastic material.

[0148] The side brush drive device 312 is disposed in the lower housing 120 and is used to drive the side brush 311 to rotate. The rotation axis of the side brush 311 is perpendicular to or substantially perpendicular to the lower housing 120. That is, when the automatic cleaning device 10 is working, the rotation axis of the side brush 311 is perpendicular to or substantially perpendicular to the surface to be cleaned.

[0149] In one optional embodiment of this disclosure, the number of side brush cleaning components 310 can be one or two. When the number of side brush cleaning components 310 is one, the side brush cleaning component 310 is disposed in front of the first drive wheel assembly 210 or the second drive wheel assembly 220. When the number of side brush cleaning components 310 is two, the two side brush cleaning components 310 are respectively disposed in front of the first drive wheel assembly 210 and the second drive wheel assembly 220.

[0150] In this disclosure, the roller brush cleaning assembly 320 is rotatably disposed on the housing assembly 100, for example, rotatably disposed on the lower housing portion 120 of the housing assembly 100, for dry cleaning of the surface to be cleaned, i.e., for a second cleaning; more preferably, the roller brush cleaning assembly 320 is detachably disposed on the housing assembly 100, for example, the roller brush cleaning assembly 320 can be detached from the housing assembly 100 by a manual switch.

[0151] The roller brush cleaning assembly 320 includes a roller brush portion 321, wherein the roller brush portion 321 is rotatably disposed on the lower housing portion 120, and the surface to be cleaned is cleaned by contact between the circumferential surface of the roller brush portion 321 and the surface to be cleaned.

[0152] The roller brush 321 includes a cylindrical body and a protrusion disposed outside the cylindrical body. The cylindrical body is rotatably disposed on the lower housing 120, and the surface to be cleaned is cleaned by contact between the protrusion of the roller brush 321 and the surface to be cleaned.

[0153] The protrusions can be formed in the form of bristles so that the roller brush 321 can clean the surface to be cleaned.

[0154] Preferably, such as Figure 7As shown, the rotation axis of the cylindrical body is parallel to or approximately parallel to the lower housing portion 120. In one implementation, the rotation axis of the cylindrical body is positioned in front of the line connecting the first drive wheel assembly 210 and the second drive wheel assembly 220. However, the position of the cylindrical body is not limited to this; it can also be positioned behind the line connecting the first drive wheel assembly 210 and the second drive wheel assembly 220.

[0155] In this disclosure, the cleaning area of ​​the side brush cleaning component 310 overlaps with the cleaning area of ​​the roller brush cleaning component 320.

[0156] For example, such as Figure 7 As shown, when there are two side brush cleaning components 310, the two side brush cleaning components 310 are located at both ends of the roller brush cleaning component 320 along the length direction of the roller brush cleaning component 320, and the projection of the side brush cleaning component 310 along the length direction of the roller brush cleaning component 320 partially overlaps with the roller brush cleaning component 320.

[0157] Accordingly, when there is only one side brush cleaning component 310, the side brush cleaning component 310 is located at one end of the roller brush cleaning component 320 in the length direction of the roller brush cleaning component 320, and the projection of the side brush cleaning component 310 in the length direction of the roller brush cleaning component 320 partially coincides with the roller brush cleaning component 320.

[0158] Therefore, when the side brush cleaning component 310 rotates, it can sweep light particles such as dust on the surface to be cleaned into the cleaning area of ​​the roller brush cleaning component 320, and then clean it again through the roller brush cleaning component 320, thereby increasing the cleaning area of ​​the automatic cleaning device 10.

[0159] In this disclosure, the roller brush cleaning assembly 320 also includes a roller brush drive device 322, which drives the roller brush section 321 to rotate in order to clean the surface to be cleaned.

[0160] The side brush drive device 312 and / or the roller brush drive device 322 can both be selected as a motor or other device capable of generating power. The motor is preferably a DC motor, stepper motor, servo motor or other motor that is easy to control.

[0161] Figure 11 This is a schematic diagram of the structure of a dust collection device according to one embodiment of the present disclosure.

[0162] According to at least one embodiment of this disclosure, such as Figure 8 and Figure 11 As shown, the dust collection device 400 is disposed in the housing assembly 100 and is used to draw the mixture of dirt and gas obtained after the dry cleaning device 300 cleans the surface to be cleaned into the dust collection device 400, so that the dirt in the mixture is collected by the dust collection device 400.

[0163] Figure 12 This is a schematic diagram of the dust collection device from another angle according to one embodiment of the present disclosure. Figure 13 This is a cross-sectional view of a dust collection device according to one embodiment of the present disclosure. Figure 14 This is a schematic diagram of the dust collection device after removing the suction device according to one embodiment of the present disclosure.

[0164] like Figures 12 to 14 As shown, the dust collection device 400 includes a dust collection container 410, a suction device 420, a dust collection section 430, and a filter device 440.

[0165] The dust collection container 410 is connected to the suction device 420 so that the suction device 420 creates a negative pressure inside the dust collection container 410, thereby sucking the dirt generated by the roller brush cleaning assembly 320 in cleaning the surface to be cleaned into the dust collection container 410.

[0166] The dust collection container 410 is connected to the dust collection part 430, wherein the dust collection part 430 partially encloses the roller brush cleaning assembly 320, so that the dirt generated by the roller brush cleaning assembly 320 in cleaning the surface to be cleaned enters the dust collection container 410 through the dust collection part 430.

[0167] The dust collection section 430 has an opening, and a portion of the roller brush cleaning assembly 320, such as a portion of the roller brush portion 321 of the roller brush cleaning assembly 320, passes through the opening and is located outside the dust collection section 430, so that when the automatic cleaning device 10 is working, the roller brush portion 321 of the roller brush cleaning assembly 320 contacts the surface to be cleaned.

[0168] The dust collection section 430 located behind the roller brush cleaning assembly 320 is formed into a flat shape and is spaced apart from the end of the protrusion of the roller brush section 321 of the roller brush cleaning assembly 320 away from the cylinder section, so as to reduce the airflow resistance inside the dust collection section 430 and allow the dirt carried in the airflow to be transported to the dust collection container 410.

[0169] Furthermore, the lower end of the portion of the dust collection part 430 located behind the roller brush cleaning assembly 320 is on the same horizontal plane, and preferably, the lower end of the portion of the dust collection part 430 located behind the roller brush cleaning assembly 320 is straight. When the automatic cleaning device 10 is in operation, the lower end of the portion of the dust collection part 430 located behind the roller brush cleaning assembly 320 is spaced at a preset distance from the surface to be cleaned.

[0170] In other words, the lower end of the portion of the dust collection part 430 located behind the roller brush cleaning assembly 320 is higher than the lowest position of the roller brush cleaning assembly 320. When the roller brush cleaning assembly 320 contacts the surface to be cleaned, the lower end of the portion of the dust collection part 430 located behind the roller brush cleaning assembly 320 is spaced apart from the surface to be cleaned.

[0171] Figure 14 This is a schematic diagram of the dust collection device after removing the suction device according to one embodiment of the present disclosure. Figure 15 This is a schematic diagram of the structure of a dust collection container according to one embodiment of the present disclosure. Figure 16 This is a schematic diagram of the dust collection container from another angle according to one embodiment of the present disclosure.

[0172] In this disclosure, such as Figures 13 to 16 As shown, the dust collection container 410 includes a box body 411, a cover plate 412, a cover component 413, and a baffle plate 414.

[0173] The box body 411 has a storage space for storing solid waste, and an inlet is formed on the side wall of the box body 411 so that the dust collection part 430 can be connected to the internal space of the box body 411 through the inlet, and the dirt transported by the dust collection part 430 can be stored in the storage space.

[0174] A cover plate 412 is disposed on the box body 411 for opening or closing the inlet of the box body 411. The cover plate 412 can be disposed on the outside of the box body 411 or on the inside of the box body 411, and preferably, as shown below... Figure 15 As shown, the cover plate 412 is disposed inside the box body 411. When a negative pressure is generated inside the box body 411 (for example, when the suction device 420 is working), the cover plate 412 opens the inlet of the box body 411; when no negative pressure is generated inside the box body 411 (for example, when the suction device 420 stops working), the cover plate 412 closes the inlet of the box body 411.

[0175] Alternatively, if the air pressure inside the box body 411 is less than the air pressure inside the dust collection section 430, and the absolute value of the difference between the air pressure inside the box body 411 and the air pressure inside the dust collection section 430 is greater than or equal to a preset value, the cover plate 412 opens the inlet of the box body; otherwise, the cover plate 412 closes the inlet of the box body 411.

[0176] As one form of implementation, such as Figure 13 As shown, the cover plate portion 412 is hinged to the box body portion 411. Through the rotation of the cover plate portion 412 about the hinge axis of the cover plate portion 412 and the box body portion 411, the cover plate portion 412 is either in contact with the box body portion 411 or spaced apart from the box body portion 411 by a predetermined distance. When the cover plate portion 412 is in contact with the box body portion 411, the cover plate portion 412 closes the inlet of the box body portion 411. When the cover plate portion 412 is spaced apart from the box body portion 411 by a predetermined distance, the cover plate portion 412 opens the inlet of the box body portion 411.

[0177] More preferably, such as Figure 16As shown, the side wall of the box portion 411 with the inlet is inclined. For example, from the bottom to the top of the box portion 411, the side wall of the box portion 411 with the inlet is inclined to the outside of the box portion 411. At this time, the cover portion 412 is provided inside the box portion 411, and the connection between the cover portion 412 and the box portion 411 is located above the inlet. Thus, the cover portion 412 can automatically close the inlet by gravity when the automatic cleaning equipment is not in a cleaning working state (or when the suction device 420 stops working), so as to prevent the dust collected in the dust box when the automatic cleaning equipment is not in a working state from escaping and causing secondary pollution. In addition, when the automatic cleaning equipment is in a cleaning working state, when a negative pressure is generated inside the box portion 411, the horizontal thrust generated by the pressure difference between the inside and outside of the box portion 411 is greater than the horizontal component of the gravity of the cover portion 412, thereby causing the cover portion 412 to leave the box portion 411 to open the inlet of the box portion 411.

[0178] like Figure 13 As shown, a portion of the box body 411 is formed as a first part of the box body 411, and another portion of the box body 411 is formed as a second part of the box body 411, wherein the height of the second part is less than the height of the first part, and the outlet is provided on the side wall near the first part.

[0179] Accordingly, the bottom wall of the first part of the box body 411 constitutes the first bottom wall 4111 of the box body 411, and the bottom wall of the second part of the box body 411 constitutes the second bottom wall 4112 of the box body 411. For ease of description, the technical terms first bottom wall 4111 and second bottom wall 4112 are used to describe this disclosure below.

[0180] Accordingly, the suction device is disposed on the bottom wall of the second part of the box body 411, that is, the suction device 420 can be placed below the second bottom wall 4112 of the box body 411.

[0181] Of course, the suction device 420 can also be set in other positions of the box body 411, as long as the suction device 420 is connected to the internal space of the box body 411.

[0182] The upper end of the box body 411 is open, and the cover part 413 is disposed on the box body 411 for opening or closing the upper end of the box body 411; that is, the cover part 413 has a first position and a second position. When the cover part 413 is in the first position, the cover part 413 closes the opening at the upper end of the box body 411. When the cover part 413 is in the second position, the opening at the upper end of the box body 411 is opened.

[0183] In one alternative embodiment of this disclosure, such asFigure 13 As shown, an annular groove is formed at the upper end of the box body 411, and the annular groove is formed around the upper end surface of the box body 411; an annular boss is formed on the lower surface of the cover member 413, and the shape of the annular boss matches the shape of the annular groove so that when the cover member 413 is in the first position, the annular boss is located in the annular groove, thereby forming a seal between the box body 411 and the cover member 413.

[0184] Of course, the seal between the box body 411 and the cover part 413 can also be achieved by other structures, such as providing a sealing gasket between the box body 411 and the cover part 413; or forming an annular boss on the upper end surface of the box body 411 and forming an annular groove on the lower surface of the cover part 413, and achieving the seal by the engagement of the annular boss of the box body 411 and the annular groove of the cover part 413, etc.

[0185] In this disclosure, a through hole is formed on the housing portion 411; as one implementation, the filter device 440 and the suction device 420 are respectively disposed on both sides of the through hole and connected through the through hole, that is, the filter device 440 and the housing portion 411 are indirectly connected; as another implementation, such as Figure 14 As shown, the filter device 440 is directly connected to the suction device 420. In this case, a portion of the filter device 440 and / or the suction device 420 is located within the through hole, thereby generating a negative pressure within the housing portion 411 when the suction device 420 is operating. Preferably, the through hole is provided in the second bottom wall 4112 of the housing portion 411, thereby allowing the suction device 420 to be directly connected to the filter device 440, reducing the connection piping between the suction device 420 and the filter device 440.

[0186] The filter device 440 is located inside the dust collection container 410 and is used to filter the gas flowing to the suction device 420 to prevent dust from entering the suction device 420 and damaging it.

[0187] In other words, when the suction device 420 is working, a negative pressure is generated inside the dust collection container 410, which mixes the dirt generated by the roller brush cleaning component 320 in the cleaning of the surface to be cleaned with the gas and is sucked into the dust collection container 410 by the suction device 420.

[0188] Furthermore, after the mixed dirty gas enters the dust collection container 410, it is filtered by the filter device 440, and the filtered gas is discharged to the outside of the dust collection container 410 by the suction device 420. At this time, the dirt mixed in the gas is settled in the dust collection container 410.

[0189] Figure 26 This is a schematic diagram of the structure of a filtering device according to one embodiment of the present disclosure. Figure 27This is a schematic diagram of the installation position of a filter device according to one embodiment of the present disclosure. Figure 28 This is a schematic diagram of the separation structure of a dust collection device according to one embodiment of the present disclosure. Figure 29 This is a cross-sectional view of a dust collection device according to one embodiment of the present disclosure.

[0190] In this disclosure, such as Figures 26 to 29 As shown, the filter device 440 includes an upper support portion 441, a lower support portion 442, and a filter portion 443 disposed between the upper support portion 441 and the lower support portion 442.

[0191] In this design, the size of the upper support portion 441 is smaller than the size of the through hole, and the size of the lower support portion 442 is larger than the size of the through hole. For example, when the through hole is circular, the maximum distance between two points on the outer contour of the upper support portion 441 is smaller than the diameter of the through hole. Furthermore, when the upper support portion 441 is also circular, the diameter of the upper support portion 441 is smaller than the diameter of the through hole. Thus, when the filter device 440 is installed in the dust collection container 410, the upper support portion 441 can be inserted into the interior of the dust collection container 410 through the through hole and contact or be spaced apart from the inner surface of the cover member 413 of the dust collection container 410.

[0192] The upper support portion 441 is plate-shaped, and no through holes for gas passage are formed on the upper support portion 441.

[0193] In this disclosure, correspondingly, a portion of the lower support portion 442 contacts the outer surface of the housing portion 411 of the dust collection container 410, and preferably, a portion of the lower support portion 442 is in sealed contact with the outer surface of the dust collection container 410 to prevent gas from entering the dust collection container 410 from between the lower support portion 442 and the dust collection container 410, thereby reducing the negative pressure effect generated by the suction device 420.

[0194] The filter section 443 can be in the shape of a cone, a frustum, a cylinder, etc., or it can be designed in other shapes, such as a shape that matches the upper support section 441.

[0195] The filter section 443 includes a plurality of interconnected filter elements in the circumferential direction. The cross-section of the filter element is V-shaped (the cross-section is a section perpendicular to the height direction of the filter element) and can be made of filter paper so that the filter section 443 has a large filtration area.

[0196] like 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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] 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.

[0201] In this disclosure, the adsorbent material is a material that can be attracted by a magnet, such as iron.

[0202] 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.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] 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.

[0208] 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.

[0209] More preferably, such as Figure 20 As shown, the first locking device 418 includes a rotating part 4181, a hook part 4182, and a position restoring part 4183.

[0210] The middle part of the rotating part 4181 is rotatably disposed on the side wall of the box body part 411. For example, the side wall of the box body part 411 has a concave space, and the rotating part 4181 is rotatably disposed on two opposite side walls of the concave space of the box body part 411 via a shaft.

[0211] In order to realize the rotation of the rotating part 4181 relative to the side wall of the box part 411, the two ends of the shaft are rotatably disposed on the two opposite side walls of the recessed space of the box part 411. At this time, the rotating part 4181 can rotate relative to the shaft, or it can be fixed to the shaft, for example, integrally formed with the shaft. Alternatively, at least one end of the shaft is fixed to the two opposite side walls of the recessed space of the box part 411, so that the shaft is kept stationary relative to the box part 411. In this case, the rotating part 4181 is rotatably disposed on the shaft, thereby realizing the rotation of the rotating part 4181 relative to the box part 411.

[0212] like Figure 20 As shown, the surface of the rotating part 4181 near the bottom wall of the recessed space of the box part 411 includes a first surface part 4181A and a second surface part 4181B, wherein the first surface part 4181A and the second surface part 4181B are connected. When the first locking device 418 is in the locked state, the first surface part 4181A is at least partially in contact with the bottom wall of the recessed space of the box part 411, so that the first locking device 418 can be stably held in the locked state.

[0213] Furthermore, at this time, the second surface portion 4181B is inclined relative to the bottom wall of the recessed space of the box portion 411. For example, when the box portion 411 is in a vertical state, that is, when the first bottom wall 4111 is located at the bottom of the box portion 411, the distance between the second surface portion 4181B and the bottom wall of the recessed space of the box portion 411 gradually increases in the direction from top to bottom.

[0214] The hook portion 4182 is provided on the rotating portion 4181 and rotates with the rotating portion 4181. The hook portion 4182 is formed near the first bottom wall 4111 so that when the first locking device is in the locked state, the first bottom wall 4111 closes the box portion 411 through the cooperation of the hook and the holding portion 4111A.

[0215] In this disclosure, the hook portion 4182 and the rotating portion 4181 can be integrally formed or separately formed and then assembled together.

[0216] The position restoration unit 4183 applies a pulling or pushing force to the rotating part 4181 or the hook part 4182, causing the first locking device 418 to move from the open state to the locked state.

[0217] For example, the position recovery part 4183 includes a spring, but it can also be implemented by an elastic element such as a rubber elastic block. One end of the position recovery part 4183 is provided on the bottom wall of the recessed space of the housing part 411, and the other end is provided on the rotating part 4181 or the hook part 4182. The position recovery part 4183 applies a pushing force to the rotating part 4181 or the hook part 4182 so that the hook part 4182 is stably held in the locked position.

[0218] The position restoration part 4183 can be located at the upper or lower part of the shaft, and preferably, as shown below. Figure 20 As shown, the position restoration part 4183 is located on the upper part of the shaft, that is, at the end away from the first bottom wall 4111.

[0219] When using, such as Figure 22 As shown, the user presses the upper part of the hook part 4182, causing the first bottom wall 4111 to open the lower end of the box part 411, thereby cleaning up solid waste; then, when the first bottom wall 4111 contacts the lower end of the box part 411, under the action of the thrust provided by the position restoration part 4183, the hook part 4182 rotates, and the hook of the hook part 4182 contacts the holding part 4111A, thereby putting the first locking device in a locked state. At this time, the first bottom wall 4111 closes the lower end of the box part 411.

[0220] Figure 17 This is a cross-sectional view of a dust collection container according to one embodiment of the present disclosure. Figure 18 yes Figure 17 A magnified structural diagram of part A.

[0221] In this disclosure, such as Figure 17 and Figure 18 As shown, the side wall of the box body 411 is provided with a drain outlet to discharge dirt from the inside of the box body 411.

[0222] For example, such as Figure 8 and Figure 11 As shown, the outlet can be connected to one end of the cleaning pipe 450, and the other end of the cleaning pipe 450 can be connected to the cleaning device of the base station, so that the dirt in the dust collection container 410 can be sucked out by the suction of the cleaning device.

[0223] Preferably, the housing assembly 100 of the automatic cleaning device 10 has an opening, and the other end of the cleaning pipe 450 is located near the opening of the housing assembly 100 or connected to the opening of the housing assembly 100, so as to facilitate the connection between the base station's cleaning device and the cleaning pipe 450.

[0224] In this disclosure, the opening of the housing assembly 100 may be formed on the side of the housing assembly 100, for example, on the housing sidewall of the upper housing portion 110.

[0225] Among them, such as Figure 5 As shown, a removable plug 150 is provided at the opening of the housing assembly 100. When the automatic cleaning device 10 is cleaning the surface to be cleaned, the plug 150 is provided 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 parked at the base station, the plug 150 is removed from the opening of the housing assembly 100 so that the cleaning device of the cleaning device can be connected to the cleaning pipe 450.

[0226] According to at least one embodiment of this disclosure, such as Figure 17 and Figure 18 As shown, the baffle part 414 is used to open or close the outlet of the box part 411. That is, when a negative pressure is generated in the cleaning pipe 450, the baffle part 414 opens the outlet of the box part 411, and 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 outlet of the box part 411.

[0227] Alternatively, when the air pressure outside the baffle portion 414 (e.g., the air pressure inside the cleaning pipe 450) is less than the air pressure inside the box portion 411, and the absolute value of the difference between the air pressure outside the baffle portion 414 (e.g., the air pressure inside the cleaning pipe 450) and the air pressure inside the box portion 411 is greater than or equal to a preset value, the baffle portion 414 opens the outlet; otherwise, the baffle portion 414 closes the outlet. That is, when the air pressure outside the baffle portion 414 is greater than or equal to the air pressure inside the box portion 411, or when the air pressure outside the baffle portion 414 is less than the air pressure inside the box portion 411, and the absolute value of the difference between the air pressure outside the baffle portion 414 and the air pressure inside the box portion 411 is less than a preset value, the baffle portion 414 closes the outlet.

[0228] Furthermore, when the baffle part 414 opens the outlet, the gas that enters the interior of the box part through the inlet of the box part 411 flows through at least part or all of the bottom surface of the storage space for solid waste in the box part 411, and then flows out from the outlet of the box part 411, so that the solid waste stored in the storage space for solid waste in the box part 411 is transported to the outside of the box part 411 by the airflow.

[0229] In one implementation, the baffle portion 414 can be hinged to the side wall of the box body portion 411 so that the outlet of the box body portion 411 can be opened or closed by rotating the baffle portion 414.

[0230] like Figures 16 to 18 As shown, the dust collection container 410 also includes an elastic reset part 415. The elastic reset part 415 is used to apply force to the baffle part 414 so that when the baffle part 414 is in the state of closing the outlet of the box part 411, there is a preset positive pressure between the baffle part 414 and the box part 411. When the baffle part 414 is in the state of opening the outlet of the box part 411, the elastic reset part 415 provides a reset force to the baffle part 414 so as to move the baffle part 414 from the state of opening the outlet of the box part 411 to the state of closing the outlet through the reset force.

[0231] Preferably, the elastic reset part 415 can be a torsion spring, so as to provide torsional force to the baffle part 414 and keep the baffle part 414 in a normally closed state.

[0232] Of course, the baffle part 414 can also be opened or closed by other structures, such as by an electromagnetic lock. In this case, when the automatic cleaning equipment is in working state, the electromagnetic lock will attract the baffle part 414, so that the baffle part 414 closes the outlet. When it is necessary to discharge solid waste in the automatic cleaning equipment to the outside of the automatic cleaning equipment, the electromagnetic lock will open the baffle part 414. When negative pressure is provided to the box part 411 through the outlet, the solid particles can be discharged.

[0233] On the other hand, the power of the electromagnetic lock can be controlled by the pressure difference between the inside and outside of the outlet of the box body 411. For example, when the air pressure outside the outlet is less than the air pressure inside the box body 411, and the absolute value of the pressure difference between the air pressure outside the outlet and the air pressure inside the box body 411 is greater than or equal to a preset value, the electromagnetic lock is controlled to operate, causing the baffle part 414 to open the outlet; otherwise, the electromagnetic lock is controlled to close the baffle part 411.

[0234] In this disclosure, the outlet is formed by the side wall of the box body 411 and the first bottom wall 4111. A sealing element 416 is provided on the baffle part 414. When the baffle part 414 closes the outlet of the box body 411, part of the sealing element 416 of the baffle part 414 is in sealing contact with the side wall of the box body 411, and part of the sealing element 416 of the baffle part 414 is in sealing contact with the first bottom wall 4111.

[0235] The first bottom wall 4111 and / or the side wall of the box body 411 can form a limiting part, and the baffle part 414 is located outside the limiting part, so as to restrict the baffle part 414 from moving further into the box body 411 by the limiting part, and thus the baffle part 414 will not open the discharge port when a negative pressure is generated inside the box body 411.

[0236] The limiting portion of the side wall of the box body portion 411 can be formed as part of the side wall of the box body portion 411. For example, the size of the side wall of the box body portion 411 is smaller than the size of the baffle portion 414; or, a step is formed on the first bottom wall 4111, and the step forms the limiting portion.

[0237] Preferably, the seal 416 is an annular seal, so that by setting the seal 416, gas is effectively prevented from entering the interior of the dust collection container 410 through the outlet, so that the negative pressure inside the box body 411 will not be reduced when the automatic cleaning equipment 10 is in operation.

[0238] In this disclosure, the inner surface of the lower end of the discharge port is flush with or substantially flush with the inner surface of the first bottom wall 4111, thereby achieving a better dust removal effect.

[0239] According to at least one embodiment of this disclosure, two opposite sidewalls of the box body 411 are respectively formed with concave structures 417. Preferably, the concave structures 417 are disposed in the middle of the two sidewalls in the length direction. By operating the concave structures 417, the user can remove the dust collection container 410 from the automatic cleaning device 10. That is, the concave structures 417 form a handle space for user operation.

[0240] Figure 23 This is a schematic diagram of the structure of a second locking device according to one embodiment of the present disclosure. Figure 24 yes Figure 23 Enlarged schematic diagram of part C. Figure 25 yes Figure 24 A schematic diagram of the second locking device in the open state.

[0241] like Figures 23 to 25 As shown, a second locking device 419 is provided in one of the recessed structures 417 to fix the dust collection container 410 to the lower housing portion 120 of the automatic cleaning equipment 10.

[0242] The second locking device 419 includes a pressing part 4191, a locking part 4192, and a resetting part 4193.

[0243] The pressing part 4191 and the locking part 4192 can be integrally formed or separately formed and then assembled together.

[0244] The pressing part 4191 is rotatably disposed on the side wall of the recessed structure 417 of the box body part 411, and the locking member 4192 is disposed on the pressing part 4191, and when the pressing part 4191 rotates, it drives the locking member 4192 to rotate.

[0245] Among them, such as Figure 24 As shown, when the pressing part 4191 is in the first position, at least a portion of the locking member 4192 extends to the outside of the recessed structure 417 and, through cooperation with other components of the automatic cleaning device, such as the housing assembly of the automatic cleaning device, fixes the position of the dust collection device 400.

[0246] When the pressing part 4191 is driven by external force and is in the second position, such as Figure 25 As shown, the locking component 4192 rotates, causing it to disengage from the housing assembly of the automatic cleaning device, and allowing the dust collection device 400 to be removed from the automatic cleaning device.

[0247] Preferably, when the pressing part 4191 is in the second position, the locking part 4192 can be located inside the recessed structure 417.

[0248] Moreover, such as Figure 24 As shown, the reset member 4193 can be a coil spring, and the torque applied by the coil spring causes the pressing part 4191 to move from the second position to the first position, that is, the pressing part 4191 is reset.

[0249] Figure 30 This is a schematic diagram of the structure of a scrubbing component according to one embodiment of the present disclosure.

[0250] like Figure 2 ,as well as Figures 5 to 7 As shown, the wet cleaning device 500 is rotatably disposed on the housing assembly 100, for example, rotatably disposed on the lower housing portion 120 of the housing assembly 100, for wet cleaning of the surface to be cleaned after being swept by the side brush cleaning assembly 310 and / or the roller brush cleaning assembly 320, so that the automatic cleaning device 10 of this disclosure can produce a mopping effect when cleaning the surface to be cleaned.

[0251] In this disclosure, the wet cleaning device 500 includes a scrubbing component 510, which is disposed below the lower housing portion 120 and located on the rear side of the automatic cleaning device 10 in the direction of travel. That is, along the direction of travel of the automatic cleaning device 10, the wet cleaning device 500 is located on the rear side of the roller brush cleaning assembly 320.

[0252] The wet cleaning device 500 also includes a scrubbing drive device 520, which drives the scrubbing component 510 to rotate in order to scrub the surface to be cleaned.

[0253] In this disclosure, such as Figure 30 As shown, the scrubbing component 510 includes at least one rotating component. Preferably, the scrubbing component 510 includes two rotating components, namely a first rotating component 511 and a second rotating component 512. The scrubbing drive device 520 is used to drive the first rotating component 511 and the second rotating component 512 to rotate, thereby realizing the scrubbing of the surface to be cleaned.

[0254] like Figure 30 As shown, the first rotating member 511 and the second rotating member 512 can be symmetrically arranged. When the first rotating member 511 rotates, it forms a first rotating circumference; when the second rotating member rotates, it forms a second rotating circumference. The first rotating member 511 and the second rotating member 512 are configured such that a portion of the first rotating circumference and a portion of the second rotating circumference are located outside the outer contour of the automatic cleaning device 10. Furthermore, 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 direction can be achieved during the movement of the automatic cleaning device 10, allowing it to clean along walls and other surfaces, preventing problems such as the inability to clean along walls.

[0255] Of course, the number of rotating parts can also be one, three, four, or other quantities.

[0256] Accordingly, the number of scrubbing drive devices 520 can be the same as the number of rotating parts, for example, each rotating part is driven by one scrubbing drive device 520.

[0257] Alternatively, the number of scrubbing drive units 520 is less than the number of rotating parts, and at least one rotating part is driven by one scrubbing drive unit 520; furthermore, the automatic cleaning device 10 includes only one scrubbing drive unit 520, and all rotating parts are driven by the scrubbing drive unit 520.

[0258] Figure 31 This is a schematic diagram of a speed change device according to one embodiment of the present disclosure. Figure 32 This is a schematic diagram of a speed change device according to one embodiment of the present disclosure.

[0259] 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.

[0260] 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.

[0261] 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.

[0262] 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.

[0263] 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.

[0264] The output shaft includes a first output shaft 539A and a second output shaft 539B, which drive the first rotating member 511 and the second rotating member 512 to rotate, so as to achieve cleaning of the surface to be cleaned through the first rotating member 511 and the second rotating member 512.

[0265] Of course, the number of output shafts can also be other values, such as one, three, four, etc. The number of output shafts can be the same as the number of rotating parts, so that each output shaft drives one rotating part to rotate.

[0266] Accordingly, when there are two output shafts, the transmission gear system includes a first transmission gear system and a second transmission gear system, wherein the drive gear 532 drives the first output shaft 539A to rotate through the first transmission gear system, and the drive gear 532 drives the second output shaft 539B to rotate through the second transmission gear system.

[0267] In this disclosure, the transmission device further includes: a first coaxial gear 533, which is rotatably disposed on the gearbox body 531, such that the rotation axis of the first coaxial gear 533 is parallel to the rotation axis of the scrubbing drive device;

[0268] The drive gear 532 is connected to the larger diameter gear in the first coaxial gear 533 so as to drive the first coaxial gear 533 to rotate.

[0269] The transmission device further includes a first coaxial gear 533, which is rotatably disposed on the gearbox body 531, such that the rotation axis of the first coaxial gear 533 is parallel to the rotation axis of the scrubbing drive device 520; wherein the drive gear 532 is connected to the gear with the larger diameter in the first coaxial gear 533, so as to drive the first coaxial gear 533 to rotate through the drive gear 532.

[0270] The first transmission gear train includes: a second coaxial gear 534, which is rotatably disposed on the gearbox body 531 such that the rotation axis of the second coaxial gear 534 is parallel to the rotation axis of the scrubbing drive device 520; and a first output gear 536, which is disposed on the first output shaft 539A; wherein the smaller diameter gear in the first coaxial gear 533 is connected to the larger diameter gear in the second coaxial gear 534, and the smaller diameter gear in the second coaxial gear 534 is connected to the first output gear 536.

[0271] The first transmission gear train further includes an idler gear 535, which is rotatably disposed on the gearbox body 531, such that the rotation axis of the idler gear 535 is parallel to the rotation axis of the scrubbing drive device 520; wherein, the smaller diameter gear of the second coaxial gear 534 is connected to the first output gear 536 through the idler gear 535, so that the driving force of the scrubbing drive device 520 can be transmitted to the first output shaft 539A.

[0272] The second transmission gear train includes: a third coaxial gear 537, which is rotatably disposed on the gearbox body 531, such that the rotation axis of the third coaxial gear 537 is parallel to the rotation axis of the scrubbing drive device 520; and a second output gear 538, which is disposed on the second output shaft 539B; wherein the smaller diameter gear in the first coaxial gear 533 is drivenly connected to the larger diameter gear in the third coaxial gear 537, and the smaller diameter gear in the third coaxial gear 537 is drivenly connected to the second output gear 538, so that the driving force of the scrubbing drive device 520 can be transmitted to the second output shaft 539B.

[0273] Of course, the first and second transmission gear systems are not limited to the above structures, as long as they can transmit power from the scrubbing drive device to the output shaft through gear transmission.

[0274] The scrubbing drive device 520 is fixed to the gearbox body 531, and the scrubbing drive device and the output end of the output shaft are both located on the lower side of the gearbox body 531; more preferably, the scrubbing drive device is located between the first output shaft 539A and the second output shaft 539B.

[0275] In this disclosure, one end of the first output shaft 539A passes through the gearbox body 531, is located outside the gearbox body 531, and is connected to the lifting transmission device 540 described below.

[0276] Accordingly, one end of the second output shaft 539B passes through the gearbox body 531, is located outside the gearbox body 531, and is connected to the lifting transmission device 540 described below.

[0277] In this disclosure, such as Figure 32 and Figure 32As shown, the portions of the first output shaft 539A and the second output shaft 539B extending to the outside of the gearbox body 531 are located on the same side of the gearbox body 531 as the scrubbing drive device 520. This allows the components of the automatic cleaning device 10 of this disclosure to be arranged more compactly, occupying less space, increasing the capacity of the cleaning liquid storage section 571, and achieving high transmission efficiency.

[0278] The first rotating member 511 and / or the second rotating member 512 are configured to be displaced in a direction perpendicular to the bottom surface of the lower housing portion 120, so that in some scenarios that are only suitable for dry cleaning, the first rotating member 511 and the second rotating member 512 are lifted toward the bottom of the lower housing portion 120, thereby causing the first rotating member 511 and / or the second rotating member 512 to leave the surface to be cleaned.

[0279] The first rotating member 511 and the second rotating member 512 have the same structure and are respectively connected to the first output shaft 539A or the second output shaft 539B. The connection method between the first rotating member 511 and the first output shaft 539A of the transmission device 530 is the same as the connection method between the second rotating member 512 and the second output shaft 539B of the transmission device 530. Here, only the first rotating member 511 is used as an example to illustrate the connection method between the first rotating member 511 and the second rotating member 512 and the transmission device 530.

[0280] Figure 33 This is a structural schematic diagram of a lifting transmission device according to one embodiment of the present disclosure. Figure 34 This is a structural schematic diagram of a lifting transmission device (partial) according to one embodiment of the present disclosure. Figure 35 This is a structural schematic diagram of a lifting transmission device (partial) according to one embodiment of the present disclosure.

[0281] In one alternative embodiment of this disclosure, such as Figures 33 to 35 As shown, the wet cleaning device 500 also includes a lifting transmission device 540, which is disposed in the housing assembly 100, for example, in the lower housing portion 120 of the housing assembly 100, and enables the lifting transmission device 540 to rise or fall relative to the lower housing portion 120, and simultaneously causes the scrubbing member 510 to rise or fall.

[0282] For example, the lifting transmission device 540 includes a guide column 541, a lifting bracket 542, and a floating shaft 543.

[0283] The guide post portion 541 is provided at least one. When the guide post portion 541 is provided as one, the cross-section of the guide post portion 541 is non-circular. When the guide post portion 541 is provided as two or more, the cross-section of the guide post portion 541 can be of any shape, such as circular or non-circular.

[0284] In this disclosure, the guide post portion 541 can be fixed to the transmission device 530, for example, fixed to the gearbox body portion 531 of the transmission device 530, or fixed to the housing assembly 100, for example, fixed to the lower housing portion 120 of the housing assembly 100. Those skilled in the art can set the position of the guide post portion 541 from the perspective of convenient installation.

[0285] The lifting bracket 542 is slidably disposed on the guide column portion 541, that is, the lifting bracket 542 is configured to move up and down along the guide column portion 541 to drive the first rotating member 511 and / or the second rotating member 512 to rise.

[0286] In this disclosure, the lifting bracket 542 is provided with a stepped hole, the bottom wall of which is formed as a through hole, and the size of the through hole is larger than the size of the floating shaft 543, so that the floating shaft 543 can move up and down and rotate within the through hole. For example, when both the through hole and the floating shaft 543 are circular, the diameter of the through hole is larger than the diameter of the floating shaft 543.

[0287] A drag-reducing device 544 is provided inside the stepped hole, and the stepped portion of the stepped hole supports the drag-reducing device 544, for example, the stepped portion of the stepped hole is located below the drag-reducing device 544.

[0288] In this disclosure, the drag reduction device 544 can be selected from linear bearings, plastic linear bearings, injection molded parts with lubrication, or copper bushings, etc., so as to reduce the friction force on the floating shaft 543 when it moves in the drag reduction device 544.

[0289] At this time, the floating shaft 543 is slidably and rotatably disposed in the drag reduction device 544. For example, when the drag reduction device 544 is a linear bearing, the floating shaft 543 is disposed 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 rotational resistance.

[0290] like Figure 35 As shown, an outer flange 5431 is formed at the upper end of the floating shaft 543. The size of the outer flange 5431 is larger than the size of the central hole of the drag reduction device 544. For example, the diameter of the outer flange 5431 is larger than the diameter of the central hole of the drag reduction device 544. When the lifting bracket 542 rises, the flange of the floating shaft 543 contacts the drag reduction device 544 or the lifting bracket 542, so that the rising of the lifting bracket 542 drives the floating shaft 543 to rise.

[0291] Furthermore, when the lifting bracket 542 descends, the floating shaft 543 moves downward under the driving force provided by the elastic recovery part 545 and the gravity of the floating shaft 543 and the first rotating member 511.

[0292] In this disclosure, the first rotating member 511 is disposed 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.

[0293] Preferably, the lower ends of the first output shaft 539A, the second output shaft 539B, and the lifting shaft 565 can also be directly mounted with the first rotating member 511. In this 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 section. The rotating shaft section is driven and can rotate.

[0294] The first rotating member 511 is disposed on the rotating shaft and is driven by the rotating shaft to rotate, so that the first rotating member 511 cleans the surface to be cleaned;

[0295] The first rotating member 511 is configured to be movable along the axial direction of the rotating shaft, and / or movable along the radial direction of the rotating shaft, and / or the rotation axis of the first rotating member 511 and the rotation axis of the rotating shaft can form an angle not equal to 0°.

[0296] In this disclosure, the rotating shaft portion includes a limiting portion to restrict the upward movement of the first rotating member 511 along the axial direction of the rotating shaft portion. Preferably, the limiting portion of the rotating shaft portion includes a shoulder formed in the rotating shaft portion.

[0297] In this disclosure, such as Figure 35 As shown, a mounting hole is formed in the middle of the first rotating member 511, and the lower end of the rotating shaft is inserted into the mounting hole. The mounting hole is a non-circular hole, and the lower end of the rotating shaft has the same shape as or matches the mounting hole so that the rotating shaft drives the first rotating member 511 to rotate.

[0298] In other words, when the mounting hole has the same shape as the lower end of the rotating shaft, the first rotating member 511 can only move along the axial direction of the rotating shaft.

[0299] As a preferred option, such as Figure 35 As shown, 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.

[0300] In this disclosure, there is a gap between the outer surface of the lower end of the rotating shaft and the mounting hole of the first rotating member 511, so that the first rotating member 511 can move in the radial direction of the rotating shaft, and / or, the rotation axis of the first rotating member 511 and the rotation axis of the rotating shaft can form an angle that is not 0°.

[0301] A fastening element 546 is provided at the lower end of the rotating shaft to limit the downward movement of the first rotating member 511 along the axial direction of the rotating shaft. For example, when the first rotating member 511 contacts the limiting part of the rotating shaft, there is a preset distance between the fastening element 546 and the first rotating member 511. This preset distance is the movement stroke of the first rotating member 511 along the axial direction of the rotating shaft.

[0302] As one implementation, the fastening element 546 includes a capped screw, which is fixed to the lower end of the rotating shaft. At this time, the lower end of the rotating shaft has a threaded hole so that the capped screw can be screwed into the threaded hole of the rotating shaft. When the first rotating member 511 contacts the limiting part of the rotating shaft, there is a preset distance between the screw head of the capped screw and the first rotating member 511. When the first rotating member 511 contacts the capped screw, at least a portion of the screw head of the capped screw contacts the first rotating member 511.

[0303] More preferably, such as Figure 35 As shown, a countersunk hole is formed at the lower end of the first rotating member 511. The countersunk hole of the first rotating member 511 is connected to the mounting hole of the first rotating member 511, and a portion of the fastening element 546 is located in the countersunk hole.

[0304] At this time, there is a gap between the fastening element 546 and the side wall of the countersunk hole, so that the first rotating member 511 can move in the radial direction of the rotating shaft, and / or the rotation axis of the first rotating member 511 and the rotation axis of the rotating shaft can form an angle that is not 0°.

[0305] For those skilled in the art, the fastening element 546 may also include screws and washers, and the configuration of the screws and washers is similar to that of the capped screws described above, and will not be repeated here.

[0306] In this disclosure, such as Figure 34 As shown, the floating shaft 543 is configured to approach or move away from the first output shaft 539A of the transmission device 530. A guide hole is provided at the upper end of the floating shaft 543 or the lower end of the first output shaft 539A of the transmission device 530. When the lower end of the first output shaft 539A of the transmission device 530 has a guide hole, the upper end of the floating shaft 543 is slidably disposed within the guide hole of the first output shaft 539A of the transmission device 530. Correspondingly, when the upper end of the floating shaft 543 has a guide hole, the lower end of the first output shaft 539A of the transmission device 530 is slidably disposed within 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 change position, thereby allowing the first output shaft 539A of the transmission device 530 and the floating shaft 543 to approach or move away from each other.

[0307] The guide hole is a non-circular hole; for example, the shape of the guide hole can be square, triangular, or other shapes. Moreover, the shape of the upper end of the floating shaft 543 is adapted to the shape of the guide hole of the first output shaft 539A of the transmission device 530. For example, the shape of the upper end of the floating shaft 543 is the same as the shape of the guide hole of the first output shaft 539A of the transmission device 530, so that power can be transmitted between the floating shaft 543 and the first output shaft 539A of the transmission device 530.

[0308] Therefore, when the first rotating member 511 is subjected to an external force from the surface to be cleaned, such as when the surface to be cleaned is uneven, relative motion can be generated between the floating shaft 543 and the first output shaft 539A of the speed change device 530.

[0309] Furthermore, the elastic recovery section 545 is used to provide a restoring force to the floating shaft 543. For example, the elastic recovery section 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 contacts the ground, a preset positive pressure can be generated. More preferably, one end of the elastic recovery section 545 does not rotate relative to the output shaft (first output shaft 539A and second output shaft 539B) or the rotation angle is within a preset range, and the other end of the elastic recovery section does not rotate relative to the floating shaft or the rotation angle is within a preset range.

[0310] Preferably, the elastic recovery part 545 can be a spring, such as a coil spring. Of course, the elastic recovery part 545 can also be implemented by other components, such as an elastic rubber block.

[0311] The spring can be sleeved on the outside of the first output shaft 539A, with one end abutting the floating shaft 543 and the other end fixed to the first output shaft 539A. 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.

[0312] In this disclosure, to prevent the elastic recovery part 545 from twisting during operation, a baffle part 547 is provided on the first output shaft 539A, and the other end of the elastic recovery part 545 is positioned against the baffle part 547, that is, the elastic recovery part 545 is located between the floating shaft 543 and the baffle part 547. The baffle part 547 rotates synchronously with the first output shaft 539A, thereby keeping the elastic recovery part 545 stationary between the floating shaft 543 and the baffle part 547.

[0313] For example, a shoulder is formed on the first output shaft 539A, and a baffle portion 547 is disposed on the shoulder of the first output shaft 539A so as to limit the axial position of the baffle portion 547 on the first output shaft 539A by the shoulder of the first output shaft 539A, and to make the baffle portion 547 and the gearbox body portion 531 of the transmission device 530 separated by a predetermined distance.

[0314] In other words, one end of the elastic recovery part 545 is mounted on the baffle part 547 so that when the first output shaft 539A rotates, it drives the baffle part 547 to rotate, thereby making the elastic recovery part 545 stationary relative to the first output shaft 539A or relative to the floating shaft 543.

[0315] In this 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.

[0316] Figure 36 This is a schematic diagram of the structure of a lifting drive assembly according to one embodiment of the present disclosure.

[0317] In one alternative embodiment of this disclosure, such as Figure 36 As shown, the lifting transmission device 540 also includes a lifting drive assembly 548, and the lifting bracket 542 is driven by the lifting drive assembly 548 so that the lifting bracket 542 moves up and down along the guide column portion 541.

[0318] like Figure 36 As shown, the lifting drive assembly 548 includes a lifting drive device 5481 and a connecting rod 5482.

[0319] The lifting drive device 5481 is installed on the lower housing 120 and on a non-moving structure such as the transmission device 530, and is used to provide lifting drive force.

[0320] One end of the connecting rod 5482 is disposed on the lifting drive device 5481, and the other end of the connecting rod 5482 is in contact with the lifting bracket 542. 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 rise.

[0321] Conversely, when the lifting drive device 5481 reverses, the lifting bracket 542 moves downward under the force of its own weight and the gravity of other components installed on the lifting bracket 542.

[0322] Preferably, the length direction of the connecting rod 5482 is perpendicular to the rotation axis of the lifting drive device 5481, and 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.

[0323] More preferably, the lifting drive device 5481 can be a servo motor, a motor, a stepper motor, or a reduction gearbox, etc.

[0324] In this disclosure, the lifting drive assembly 548 is not limited to the structure described above. Any structure capable of driving the floating shaft to lift or lower can achieve the purpose of this disclosure, such as a lifting cylinder and a linear motor. However, considering space constraints, a lifting drive device in the form of a motor, which drives the connecting rod to swing up and down through a small-angle rotation of the motor's output shaft, is preferred.

[0325] To reduce friction between the connecting rod 5482 and the lifting bracket 542 during contact, a rolling device 5483 is provided at the other end of the connecting rod 5482. The rolling device 5483 contacts the lifting bracket 542. For example, the rolling device 5483 can be a bearing, roller, or other structure.

[0326] Furthermore, the lifting bracket 542 is provided with a limiting groove, and the other end of the connecting rod 5482 or the rolling device 5483 moves within the limiting groove. By setting the limiting groove, the movement stroke of the lifting bracket 542 when it moves downward can be limited.

[0327] Figure 37 This is a structural schematic diagram of a speed-changing lifting device according to one embodiment of the present disclosure. Figure 38 This is a schematic diagram of the variable speed lifting device according to one embodiment of the present disclosure from another angle.

[0328] As another implementation, such as Figure 37 and 38 As shown, the wet cleaning device 500 includes a speed-changing lifting device 560, which is disposed in the housing assembly 100, for example, in a non-moving component such as the lower housing portion 120 of the housing assembly 100.

[0329] In this disclosure, there can be two speed-lifting devices 560, each driving a rotating component. Alternatively, there can also be two scrubbing drive devices 520, each connected to a speed-lifting device 560 to provide driving force to that device.

[0330] The speed-changing lifting device 560 includes a speed-changing lifting housing 561, a main gear 562, an intermediate gear 563, a lifting gear 564, and a lifting shaft 565.

[0331] The gearbox 561 can be formed by combining the upper part and the lower part of the gearbox, so that the components of the gearbox 560 can be installed inside the gearbox 561.

[0332] The scrubbing drive device 520 is disposed in the transmission lifting housing 561, for example, in the lower part of the housing of the transmission lifting housing 561. The main gear 562 is disposed in the scrubbing drive device 520 so as to drive the main gear 562 to rotate.

[0333] The intermediate gear 563 is rotatably disposed in the gearbox 561. For example, one end of the intermediate gear 563 is rotatably disposed in the upper part of the gearbox, and the other end is rotatably disposed in the lower part of the gearbox, such that the rotation axis of the intermediate gear 563 is parallel to the rotation axis of the scrubbing drive device 520.

[0334] The intermediate gear 563 includes a large gear 5631 and a small gear 5632, which rotate synchronously. For example, the large gear 5631 and the small gear 5632 are integrally formed, wherein the diameter and number of teeth of the large gear 5631 are greater than those of the small gear 5632.

[0335] The main gear 562 meshes with the large gear 5631 of the intermediate gear 563, and the small gear 5632 of the intermediate gear 563 meshes with the lifting gear 564, so that the lifting gear 564 can rise and fall relative to the small gear 5632.

[0336] In this disclosure, a lifting gear 564 is fixed at the upper end of the lifting shaft 565, and the rotation axis of the lifting shaft 565 is parallel to the rotation axis of the scrubbing drive device 520. A threaded portion is formed on the outer surface of the lifting shaft 565.

[0337] A nut 566 is sleeved on the outside of the lifting shaft 565, wherein the nut 566 engages with the threaded portion formed on the outer surface of the lifting shaft 565. Preferably, an outer flange 5431 is formed on the outer circumferential surface of the nut 566. The nut 566 is rotatably disposed on the gearbox 561 of the gear transmission device 530, and the gearbox 561 restricts the position of the nut 566 in the axial direction of the lifting shaft 565.

[0338] An installation space is formed in the lower part of the housing, and a bearing part 567 can be provided in the installation space. The nut 566 is rotatably disposed in the bearing part 567, and the radial movement of the nut 566 is limited by the bearing part 567.

[0339] Preferably, the bearing portion 567 can be selected as a linear bearing, such as a plastic linear bearing.

[0340] A thrust bearing 568 is provided on at least one of the upper and lower surfaces of the outer flange 5431 of the nut 566. For example, a thrust bearing 568 is provided on both the upper and lower surfaces of the outer flange 5431 of the nut 566. The thrust bearing 568 located on the upper surface of the outer flange 5431 of the nut 566 contacts the lower part of the housing, and the thrust bearing 568 located on the lower surface of the outer flange 5431 of the nut 566 contacts the end cover 5601 of the housing. The end cover 5601 of the housing is located at the lower part of the housing and is used to close the installation space at the lower part of the housing. At this time, the lifting shaft 565 can pass through the end cover 5601 of the housing and is located outside the end cover 5601 of the housing.

[0341] In one alternative embodiment of this disclosure, such as Figure 38 As shown, the variable speed lifting device 560 also includes a lifting selection device 569, which is used to selectively lock the nut 566. When the lifting selection device 569 locks the nut 566 and the wiping drive 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 wiping drive device 520 rotates in the second direction, the lifting shaft 565 rotates downward. When the lifting selection device 569 locks the nut 566 and the wiping drive device 520 rotates in the first direction or in the second direction, the wiping drive device 520 drives the first rotating member 511 to rotate, wherein the first direction and the second direction are opposite.

[0342] In one implementation, the lifting selection device 569 may include a solenoid valve, wherein a mounting groove is formed on the outer flange 5431 of the nut 566, so that when the solenoid valve is actuated, the valve stem of the solenoid valve extends and inserts into the mounting groove to lock the nut 566; otherwise, the valve stem of the solenoid valve retracts so that the nut 566 can rotate freely.

[0343] In this disclosure, the height of the pinion 5632 is set such that when the lifting shaft 565 is at its uppermost limit position and at its lowermost limit position, the pinion 5632 and the lifting gear 564 remain engaged.

[0344] In an optional embodiment of this disclosure, the first rotating member 511 is disposed at the lower end of the lifting shaft 565, and the lifting shaft 565 drives the first rotating member 511 to rotate and move up and down.

[0345] The connection method between the first rotating component 511 and the lifting shaft 565 is the same as / similar to the connection direction between the first rotating component 511 and the floating shaft 543, and will not be described in detail here.

[0346] The detailed structure of the scrubbing component 510 of this disclosure will be described below with reference to the accompanying drawings.

[0347] Specifically, such asFigure 30 As shown, the scrubbing component 510 may include a first rotating member 511 and a second rotating member 512.

[0348] The first rotating member 511 can rotate around the first rotation center 517 and form a first rotation circumference. The second rotating member 512 can rotate around the second rotation center 518 and form a second rotation circumference.

[0349] The first rotating member 511 may have a first edge, and the first edge is formed by 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.

[0350] Figure 30 The diagram shows that there are four first arc segments 513 and four second arc segments 514, and the four first arc segments 513 and the four second arc segments 514 are alternately connected to form the first edge.

[0351] 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, such as five, six, seven, eight, etc.

[0352] The second rotating member 512 may have a second edge, and the second edge is formed by a third arc segment 523 and a fourth arc segment 524. Although the figure shows four third arc segments 523 and four fourth arc segments 524, and the four third arc segments 523 and four fourth arc segments 524 are alternately connected to form the second edge, the second edge may also include more than four third arc segments 523 and fourth arc segments 524, just like the first edge. Furthermore, the shape and arrangement of the second rotating member 512 may be the same as the first rotating member 511.

[0353] 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.

[0354] By configuring the first rotating member 511 and the second rotating member 512 of this disclosure, the first rotating member 511 and the second rotating member 512 can occupy a larger effective cleaning surface area. For example, compared with a triangular rotating member, a rotating member composed of four or more arc segments will occupy a larger effective cleaning surface area and achieve better results in actual sweeping and mopping processes.

[0355] Furthermore, although the arc segments of the first rotating member 511 and the second rotating member 512 are shown in the figure to be circular arcs, they can be other arcs, such as arcs composed of straight lines and curves.

[0356] The first rotating circumference 515 and the second rotating circumference 516 have an overlapping area, and during the rotation of the first rotating member 511 and the second rotating member 512, the first edge and the second edge remain continuously tangent at the edge and inside of the overlapping area.

[0357] In this disclosure, a continuously tangent state refers to the first edge and the second edge being in contact or maintaining a small gap between them, such as a constant small gap. In this disclosure, the curvature of the first arc segment, the second arc segment, the third arc segment, and the fourth arc segment is set so as not to cause mutual interference in the form of compression, thereby ensuring the smooth rotation of the first rotating member 511 and the second rotating member 512.

[0358] For example, when the first and second edges are tangent, the sum of the distance from the first rotation center 517 to the point of the tangent first / second arc segment and the distance from the second rotation center 518 to the point of the tangent third / fourth arc segment will be equal to or substantially equal to the distance between the first rotation center 517 and the second rotation center 518. During the rotation of the first rotating member 511 and the second rotating member 512, the first arc segment typically engages with the fourth arc segment, and the second arc segment typically engages with the third arc segment. The distances from each point of the first and third arc segments to the first rotation center are set to be greater than or equal to half the distance between the first rotation center 517 and the second rotation center 518, and the distances from each point of the second and fourth arc segments to the first rotation center are set to be less than or equal to half the distance between the first rotation center 517 and the second rotation center 518.

[0359] As a specific example, the arrangement of the first to fourth arc segments can be as follows.

[0360] The distance between the first arc segment 513 and the first rotation center 517 is set such that the distance between the center point or intermediate region of the first arc segment 513 and the first rotation center 517 is greater than the distance between the two ends of the first arc segment 513 and the first rotation center 517. From the center or 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.

[0361] 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 a point in the middle region of the second arc segment 514 and the first rotation center 517 is less than the distance between the points at both ends of the second arc segment 514 and the first rotation center 517. From the center or middle region of the second arc segment 514 toward both 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.

[0362] 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 a point in the middle region of the third arc segment 523 and the second rotation center 518 is greater than the distance between the two ends of the third arc segment 523 and the second rotation center 518. From the center or middle region of the third arc segment 523 toward 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.

[0363] 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 a point in the middle region of the fourth arc segment 524 and the second rotation center 518 is less than the distance between the points at both ends of the fourth arc segment 524 and the second rotation center 518. From the center or middle region of the fourth arc segment 524 toward both 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.

[0364] In a preferred embodiment, the first arc segment 513 and the second arc segment 514 are smoothly transitioned circular arc segments, and / or the third arc segment 523 and the fourth arc segment 524 are smoothly transitioned circular arc segments.

[0365] When the scrubbing component 510 is working, it can rotate horizontally to conform to the surface being cleaned for mopping and cleaning. The first rotating component 511 and the second rotating component 512 are arranged symmetrically and their rotation directions can be set to opposite directions. This ensures that when cleaning equipment such as the automatic cleaning device 10 is working, the rotation of the first rotating component 511 and the second rotating component 512 will not affect the normal movement of the cleaning equipment.

[0366] In embodiments of this disclosure, the first rotating member 511 and the second rotating member 512 are configured to move vertically relative to the surface being cleaned. This vertical movement refers to movement in a direction perpendicular to the surface being cleaned. This allows the scrubbing member 510 to make better contact with the surface being cleaned, thereby achieving a better cleaning effect.

[0367] The first rotating member 511 and the second rotating member 512 may be provided with cleaning material for scrubbing the surface to be cleaned. The cleaning material may include, for example, a flexible brush head or a cleaning cloth. The cleaning head or brush head can scrub the surface to be cleaned using the cleaning material.

[0368] The cleaning material 519 is disposed on the first rotating member 511 or the second rotating member 512, and the cleaning material 519 rotates as the first rotating member 511 and the second rotating member 512 rotate.

[0369] like Figure 33 As shown, a perforated area 525 can be provided on the first rotating member 511 so that when cleaning liquid is provided to the perforated area 525, the cleaning liquid can pass through the perforated area 525 and reach the cleaning material 519, thereby achieving the mopping effect of the automatic cleaning device 10 through the wet cleaning material 519.

[0370] Although Figure 33 The form of the cutout area is shown, but those skilled in the art should understand that other shapes may also be used.

[0371] Furthermore, the same method can be used for the second rotating member 512, which will not be elaborated here.

[0372] Figure 39 This is a schematic diagram of the structure of a cleaning liquid supply device 570 according to one embodiment of the present disclosure.

[0373] In this disclosure, such as Figure 8 and Figure 39 As shown, the wet cleaning device also includes a cleaning liquid supply device 570, which stores cleaning liquid and supplies 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.

[0374] In an optional embodiment of this disclosure, the cleaning liquid supply device 570 includes:

[0375] Cleaning liquid storage unit 571, the cleaning liquid storage unit 571 is used to store cleaning liquid;

[0376] A replenishment control unit 572 is disposed in the cleaning liquid storage unit 571 and has a first position and a second position. When the replenishment control unit 572 is in the first position, it prevents the supply of cleaning liquid to the cleaning liquid storage unit 571. When the replenishment control unit 572 is in the second position, it allows the supply of cleaning liquid to the cleaning liquid storage unit 571.

[0377] The position detection module 610 is used to detect the position of the replenishment control unit 572 and determine whether cleaning liquid can be supplied to the cleaning liquid storage unit 571 based on the position of the replenishment control unit 572.

[0378] Therefore, when the automatic cleaning equipment stops at the base station, the base station's replenishment pipe can drive the replenishment control unit 572, and obtain the accurate position of the replenishment control unit through the position detection module, so that the process of replenishing cleaning liquid can proceed smoothly.

[0379] Of course, the position detection module 610 can also be used as part of the detection device 600 of the automatic cleaning equipment 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.

[0380] In this disclosure, the position detection module 610 includes:

[0381] Magnetic detection unit 611, which is used to generate a magnetic field; and

[0382] The detection element 612 determines the distance between the magnetic detection unit 611 and the detection element 612 by detecting the magnetic field strength of the magnetic detection unit 611, thereby determining the position of the liquid replenishment control unit 572.

[0383] In one implementation, the magnetic detection unit 611 is disposed in the liquid replenishment control unit 572, and the detection element 612 is disposed in the cleaning liquid storage unit 571; or, in another implementation, the magnetic detection unit 611 is disposed in the cleaning liquid storage unit 571, and the detection element 612 is disposed in the liquid replenishment control unit 572.

[0384] Preferably, the detection element 612 includes a Hall element and / or a reed switch.

[0385] According to at least one embodiment of the present disclosure, the cleaning liquid supply device 570 further includes:

[0386] A guide portion 573 is disposed in the cleaning liquid storage portion 571. In one implementation, the guide portion 573 may be formed to extend from the inner wall of one side wall of the cleaning liquid storage portion 571 toward the interior of the cleaning liquid storage portion 571. In another implementation, the guide portion 573 may be formed as a separate component, and the cleaning liquid storage portion 571 has a recess, at least a portion of which is located within the recess of the cleaning liquid storage portion.

[0387] Furthermore, the guide portion 573 can also be formed as part of the wall of the cleaning liquid storage unit, and the guide portion 573 forms a cleaning liquid flow channel, through which the internal space of the cleaning liquid storage unit 571 communicates with the outside of the cleaning liquid storage unit 571.

[0388] The guide section 573 has a liquid replenishment hole on its side wall. The liquid replenishment hole forms part of the cleaning liquid flow channel. That is, the guide section 573 is connected to the internal space of the cleaning liquid storage section 571 through the liquid replenishment hole. So when the liquid in the liquid replenishment tube flows to the guide section 573, it flows into the cleaning liquid storage section 571 through the liquid replenishment hole of the guide section 573.

[0389] On the one hand, the guide part 573 can be set horizontally, with the liquid replenishment hole located at the lowest position of the guide part 573.

[0390] On the other hand, the guide portion 573 can be inclined, for example, inclined downward along the direction from the first position to the second position of the liquid replenishment control portion (i.e., along the direction from front to back of the automatic cleaning device), the liquid replenishment hole is arranged along the length direction of the guide portion 573, and the extension line of the position of the liquid replenishment hole is located at the lowest position of the guide portion 573.

[0391] The replenishment control unit 572 is slidably disposed on the guide portion 573. When the replenishment control unit 572 is in the first position, the replenishment control unit 572 closes the replenishment hole to prevent the cleaning liquid from flowing out of the cleaning liquid storage unit 571 and does not allow the addition of cleaning liquid to the cleaning liquid storage unit 571. When the replenishment control unit 572 is in the second position, the internal space of the cleaning liquid storage unit 571 is connected to the cleaning liquid flow channel of the guide portion 573.

[0392] In this disclosure, the cleaning liquid supply device 570 further includes:

[0393] A sealing guide 574 is provided in the cleaning liquid storage section 571 to seal the cleaning liquid flow channel and guide the replenishment tube.

[0394] Specifically, a tapered central hole is formed in the center of the sealing guide 574, and the diameter of the central hole of the sealing guide 574 gradually decreases along the direction approaching the cleaning liquid storage section 571. This allows the sealing guide 574 to guide the liquid replenishment pipe of the base station and improve the sealing effect of the cleaning liquid storage section 571.

[0395] For example, when the replenishment control unit 572 is in the first position, a sealing member 575 is provided between the replenishment control unit 572 and the sealing guide 574. The sealing member 575 can be a sealant, so that the cleaning liquid storage unit 571 forms a sealed structure at the replenishment control unit 572.

[0396] Furthermore, when the replenishment control unit 572 is in the first position, at least a portion of the replenishment control unit 572 is located within the central hole of the sealing guide 574.

[0397] In order for the replenishment control unit 572 to move from the second position to the first position after the replenishment tube of the base station leaves the cleaning liquid storage unit 571, the cleaning liquid storage unit 571 also includes an elastic force application part 576. One end of the elastic force application part 576 is disposed on a wall of the cleaning liquid storage unit 571, and the other end is disposed on the replenishment control unit 572. When the replenishment control unit 572 is in the first position, the elastic force application part 576 applies an elastic force to the replenishment control unit 572.

[0398] When the replenishment control unit 572 moves from the first position to the second position, the replenishment control unit 572 further compresses the elastic force application unit 576, so that the replenishment control unit 572 moves from the second position to the first position by using the potential energy of the elastic force application unit 576.

[0399] According to at least one embodiment of the present disclosure, a cleaning liquid storage unit 571 includes an upper part of a container and a lower part of a container, and the cleaning liquid storage unit 571 is formed by connecting the upper part of the container and the lower part of the container.

[0400] An opening is formed on the housing side wall portion 112 of the upper housing portion 110, and the sealing guide 574 corresponds to the opening position of the housing side wall portion 112. In this way, the base station's liquid replenishment tube can pass through the opening of the housing side wall portion 112 and the sealing guide 574 to apply a thrust to the liquid replenishment control unit 572.

[0401] On the other hand, a portion of the sealing guide 574 can be located within the opening of the housing side wall portion 112, so that the base station's liquid replenishment tube can be directly inserted into the sealing guide 574 and apply a thrust to the liquid replenishment control unit 572.

[0402] More preferably, along the forward direction of the automatic cleaning device 10, the opening formed on the housing sidewall portion 112 is located on the rear side of the automatic cleaning device 10; for example, it is arranged near the wet cleaning module.

[0403] The cleaning liquid supply device 570 further includes a liquid supply module disposed in the housing assembly 100, for example, disposed in the lower housing portion 120 of the housing assembly 100, and connected to the cleaning liquid storage portion 571, for supplying cleaning liquid to the first rotating member 511 and / or the second rotating member 512.

[0404] The liquid supply module may include a peristaltic pump to quantitatively deliver the cleaning liquid stored in the cleaning liquid storage unit 571 to the first rotating member 511 and / or the second rotating member 512.

[0405] The detection device 600 includes a laser rangefinder 620 (LDS laser rangefinder 620), which is rotatably disposed on the housing assembly 100, for example, directly or indirectly disposed on the lower housing portion 120 of the housing assembly 100 and passes through the housing cover portion 130, such that a portion of the laser rangefinder 620 is located on the upper part of the housing cover portion 130.

[0406] The laser rangefinder 620 rotates at a speed of approximately 300 rpm. Of course, the speed of the laser rangefinder 620 can also be set to other values ​​to detect the distance between the automatic cleaning device 10 and surrounding obstacles, thereby enabling the mapping of the surface to be cleaned.

[0407] On the other hand, the detection device 600 also includes a wall-following sensor, which can detect the distance between the automatic cleaning device 10 and surrounding planar obstacles. For example, the wall-following sensor can detect the distance between the automatic cleaning device 10 and the wall, enabling the automatic cleaning device 10 to move along the wall, thereby effectively cleaning the area near the wall.

[0408] In this disclosure, the wall sensor can be selected as a line laser sensor, thereby enabling the automatic cleaning device 10 to maintain a distance of 5 mm or even less from the wall.

[0409] The wall-mounted sensor is disposed in the housing assembly 100. The signal emitted by the sensor can be transmitted from the opening formed on the side of the housing assembly 100 to the outside of the automatic cleaning device 10. The reflected signal is received by the wall-mounted sensor from the opening on the side of the housing assembly 100 to accurately detect the distance between the automatic cleaning device 10 and the surrounding planar obstacles.

[0410] In an optional embodiment of this disclosure, the detection device 600 further includes a collision sensor to detect the collision location between the automatic cleaning device 10 and surrounding obstacles, thereby confirming the location of the surrounding obstacles of the automatic cleaning device 10.

[0411] The collision sensor includes a collision plate portion, which is configured to generate relative displacement with respect to the housing assembly 100. In particular, the collision plate portion is formed as part of the outer surface of the automatic cleaning device 10.

[0412] The impact plate can be located at the front of the automatic cleaning device 10 in the direction of travel, so that when the impact plate collides with an obstacle, a relative displacement is generated between the impact plate colliding with the housing assembly 100, and the detection unit of the collision sensor is activated to detect the displacement signal.

[0413] In an optional embodiment of this disclosure, the detection device 600 further includes a cliff sensor, which is used to detect the distance between the automatic cleaning device 10 and 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 when the difference between the current distance between the automatic cleaning device 10 and the surface to be cleaned and the previous distance between the automatic cleaning device 10 and the surface to be cleaned is greater than a preset value, it is determined that there is a step or other situation on the surface to be cleaned. At this time, the automatic cleaning device 10 is controlled to stop to prevent the automatic cleaning device 10 from falling off the step.

[0414] Furthermore, the automatic cleaning device 10 can also create a virtual restricted area according to the user's settings. When the automatic cleaning device 10 moves to the vicinity of the virtual restricted area, the automatic cleaning device 10 can be controlled to prevent it from crossing the virtual restricted area.

[0415] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A wet cleaning device, characterized in that, Also includes Guide column section, A lifting bracket, which is slidably disposed on the guide column portion to guide the lifting movement of the lifting bracket through the guide column portion; A floating shaft is rotatably mounted on the lifting bracket, and the floating shaft moves up and down with the lifting bracket as the lifting bracket moves up and down. A scrubbing component, disposed at the lower end of the floating shaft, such that the scrubbing component moves up and down and / or rotates when the floating shaft rises and / or rotates; and A lifting drive assembly, wherein the lifting drive assembly is used to drive the lifting bracket to produce lifting motion; The lifting bracket is provided with a stepped hole, and a drag-reducing device is provided in the stepped hole. The floating shaft is slidably and rotatably disposed on the drag-reducing device. An outer flange is formed at the upper end of the floating shaft. The size of the outer flange is larger than the size of the center hole of the drag-reducing device, so that when the drag-reducing device is driven to generate a lifting motion, the floating shaft generates a lifting motion. The lifting drive assembly includes a lifting drive device and a connecting rod. The lifting drive device provides a driving force to raise or lower the lifting bracket. One end of the connecting rod is disposed on the lifting drive device, and the other end of the connecting rod contacts the lifting bracket. When the lifting drive device drives the connecting rod to rotate around the rotation axis of the lifting drive device, the other end of the connecting rod changes position relative to the lifting bracket and drives the lifting bracket to rise. When the lifting drive device reverses, the other end of the connecting rod changes position relative to the lifting bracket to allow the lifting bracket to descend.

2. The wet cleaning device as described in claim 1, characterized in that, The length direction of the connecting rod is perpendicular to the rotation axis of the lifting drive device.

3. The wet cleaning device as described in claim 2, characterized in that, The other end of the connecting rod is provided with a rolling device, which makes rolling contact with the lifting bracket when the connecting rod rotates.

4. The wet cleaning device as described in claim 2, characterized in that, The lifting bracket is provided with a limit groove, and the other end of the connecting rod or the rolling device moves within the limit groove.

5. The wet cleaning device as described in claim 1, characterized in that, The drag reduction device includes a linear bearing, and the floating shaft is slidably and rotatably disposed in the central hole of the linear bearing.

6. The wet cleaning device as described in claim 1, characterized in that, Also includes: An output shaft is driven to rotate, a floating shaft is driven to the output shaft, and the floating shaft is able to approach or move away from the output shaft along the axial direction of the output shaft.

7. The wet cleaning device as described in claim 6, characterized in that, Also includes: An elastic recovery section provides a restoring force to the floating shaft, thereby causing the floating shaft to move in a direction away from the output shaft.

8. The wet cleaning device as described in claim 7, characterized in that, One end of the elastic recovery section does not rotate relative to the output shaft or the rotation angle is within a preset range, and the other end of the elastic recovery section does not rotate relative to the floating shaft or the rotation angle is within a preset range.

9. The wet cleaning device as described in claim 7 or 8, characterized in that: The upper end of the floating shaft is provided with a guide hole, and the lower end of the output shaft is slidably disposed in the guide hole of the floating shaft, so that the output shaft and the floating shaft can approach or move away from each other. Alternatively, the lower end of the output shaft is provided with a guide hole, and the upper end of the floating shaft is slidably disposed in the guide hole of the output shaft, so that the output shaft and the floating shaft can approach or move away from each other.

10. The wet cleaning device as described in claim 9, characterized in that, Also includes: A baffle portion is disposed on the output shaft and driven to rotate by the output shaft, wherein one end of the elastic recovery portion is disposed on the baffle portion.

11. The wet cleaning device as described in claim 10, characterized in that, The output shaft includes a position limiting part, which is used to limit the position of the baffle part on the output shaft.

12. The wet cleaning device as described in claim 11, characterized in that, The position limiting part includes a shoulder formed on the output shaft.

13. The wet cleaning device as described in claim 12, characterized in that, The guide hole of the floating shaft is non-circular in shape, and the cross-section of the lower end of the output shaft is the same as or matches the shape of the guide hole of the floating shaft, so as to drive the floating shaft to rotate through the output shaft.

14. The wet cleaning device as described in claim 12, characterized in that, The central hole of the baffle portion is the same as or matches the cross-section of the lower end of the output shaft, so as to drive the baffle portion to rotate through the output shaft.

15. The wet cleaning device as claimed in claim 1, characterized in that, The scrubbing component is configured to be movable along the axial direction of the floating shaft, and / or, movable in the radial direction of the floating shaft, and / or, the rotation axis of the scrubbing component and the rotation axis of the floating shaft can form an angle not equal to 0°.

16. The wet cleaning device as described in claim 15, characterized in that, The floating shaft includes a limiting portion to restrict the upward movement of the scrubbing component along the axial direction of the floating shaft.

17. The wet cleaning device as described in claim 16, characterized in that, The limiting portion includes a shoulder formed on the floating shaft.

18. The wet cleaning device as described in claim 15, characterized in that, The scrubbing component has a mounting hole in the middle, and the lower end of the floating shaft is inserted into the mounting hole. The mounting hole is a non-circular hole, and the lower end of the floating shaft has the same shape as or matches the shape of the mounting hole so that the floating shaft drives the scrubbing component to rotate.

19. The wet cleaning device as described in claim 18, characterized in that, There is a gap between the outer surface of the lower end of the floating shaft and the mounting hole of the scrubbing component, so that the scrubbing component can move in the radial direction of the floating shaft, and / or, the rotation axis of the scrubbing component and the rotation axis of the floating shaft can form an angle that is not 0°.

20. The wet cleaning device as described in claim 16, characterized in that, The lower end of the floating shaft is provided with a fastening element to limit the downward movement of the scrubbing component along the axial direction of the floating shaft.

21. The wet cleaning device as described in claim 20, characterized in that, When the wiping component contacts the limiting part of the floating shaft, there is a preset distance between the fastening element and the wiping component.

22. The wet cleaning device as described in claim 21, characterized in that, The fastening element includes a capped screw, which is fixed to the lower end of the floating shaft. When the wiping component contacts the limiting part of the floating shaft, there is a preset distance between the screw head of the capped screw and the wiping component. When the wiping component contacts the capped screw, at least a portion of the screw head of the capped screw contacts the wiping component.

23. An automatic cleaning device, characterized in that, The wet cleaning device includes any one of claims 1-22.

Images