Variable speed lifting device and automatic cleaning equipment

Abstract

The present disclosure provides a variable speed lifting device, comprising: a lifting shaft, wherein at least a portion of the outer surface of the lifting shaft is formed with an external thread; a lifting control part, wherein the lifting control part is formed with a center hole, and at least a portion of the center hole of the lifting control part is formed as an internal thread, the lifting control part is rotatably arranged on the lifting shaft, and the external thread of the lifting shaft and the internal thread of the lifting control part are matched; and a lifting selection device, wherein the lifting selection device selectively locks the lifting control part so that when the lifting control part is locked and the lifting shaft rotates, the lifting shaft generates a lifting motion; when the lifting control part is unlocked, the lifting shaft and the lifting control part rotate at the same speed. The present disclosure also provides an automatic cleaning device.

Description

Technical Field

[0001] The present invention relates to a variable speed lifting device and an automatic cleaning device. Background Art

[0002] A sweeping robot is a device that cleans the surface to be cleaned by active movement. More and more families use sweeping robots to clean the floor instead of manual cleaning.

[0003] When sweeping the floor, a conventional sweeper draws dust into a dust box through negative pressure, and discharges gas to the outside of the dust box through a filter, thereby collecting solid waste in the dust box.

[0004] Furthermore, to improve the cleanliness of the surface after cleaning, most sweeping robots include a rotating mopping unit, particularly a mopping unit with dual turntables. However, since the mopping unit cannot be raised or lowered, secondary contamination of the cleaned surface occurs, and the sweeping robot is not suitable for cleaning special surfaces such as carpets. Summary of the Invention

[0005] In order to solve one of the above technical problems, the present disclosure provides a variable speed lifting device and an automatic cleaning device.

[0006] According to one aspect of the present disclosure, a variable speed lifting device is provided, which is used for an automatic cleaning device, so that when the automatic cleaning device is in an operating state, the variable speed lifting device drives a rotating member of the automatic cleaning device to rotate and / or lift, and includes:

[0007] a lifting shaft, wherein at least a portion of the outer surface of the lifting shaft is formed with an external thread;

[0008] A lifting control part, wherein the lifting control part is formed with a center hole, and at least a portion of the center hole of the lifting control part is formed into an internal threaded portion, and the lifting control part is rotatably provided on the lifting shaft, and the external threaded portion of the lifting shaft is matched with the internal threaded portion of the lifting control part;

[0009] a lifting selection device, the lifting selection device selectively locking the lifting control part so that when the lifting control part is locked and the lifting shaft rotates, the lifting shaft generates a lifting motion; when the lifting control part is unlocked, the lifting shaft and the lifting control part rotate at the same speed; and

[0010] A driving device is used to provide power to the lifting shaft to enable the lifting shaft to rise and fall and / or rotate.

[0011] According to at least one embodiment of the present disclosure, the variable speed lifting device further includes:

[0012] The speed-changing lifting case is used to limit the movement of the lifting control part along the axial direction of the lifting shaft.

[0013] According to at least one embodiment of the speed-changing lifting device disclosed herein, the lifting selection device is provided on the speed-changing lifting case.

[0014] According to at least one embodiment of the variable speed lifting device disclosed herein, an installation space is formed on the variable speed lifting case, a bearing portion is provided in the installation space, and the lifting control portion is rotatably provided in the bearing portion.

[0015] According to at least one embodiment of the variable speed lifting device disclosed herein, an outer flange is formed on the outer peripheral surface of the lifting control part, and the variable speed lifting box body cooperates with the outer flange of the lifting control part to limit the position of the lifting control part by limiting the position of the outer flange of the lifting control part.

[0016] According to at least one embodiment of the variable speed lifting device of the present disclosure, the variable speed lifting device further includes a box end cover portion, which is arranged on the variable speed lifting box portion and allows the outer flange of the lifting control portion to be confined between the variable speed lifting box portion and the box end cover portion.

[0017] According to at least one embodiment of the variable speed lifting device of the present disclosure, at least one of the upper surface and the lower surface of the outer flange of the lifting control part is provided with a friction reducing component to reduce friction when the lifting control part rotates.

[0018] According to at least one embodiment of the variable speed lifting device disclosed herein, the lifting control part is formed with a mounting groove, which cooperates with the mounting groove of the lifting control part to lock the lifting control part when the lifting selection part is actuated; otherwise, the lifting control part is allowed to rotate.

[0019] According to at least one embodiment of the variable speed lifting device of the present disclosure, the mounting groove is formed on the outer flange of the lifting control portion;

[0020] According to at least one embodiment of the variable speed lifting device of the present disclosure, the driving device is connected to a main gear, the driving device drives the main gear to rotate, and the main gear drives the lifting shaft to rotate through a transmission gear train;

[0021] According to at least one embodiment of the variable speed lifting device of the present disclosure, the transmission gear train includes:

[0022] An intermediate gear, the intermediate gear comprising a large gear and a small gear that rotate synchronously, the main gear being drivingly connected to the large gear of the intermediate gear; and

[0023] A lifting gear, which is provided on the lifting shaft and is used to drive the lifting shaft to rotate, and the lifting gear is in transmission connection with the pinion of the intermediate gear;

[0024] According to at least one embodiment of the variable speed lifting device of the present disclosure, the rotation axis of the intermediate gear is parallel to the rotation axis of the driving device;

[0025] According to at least one embodiment of the variable speed lifting device of the present disclosure, the height of the pinion of the intermediate gear is set so that when the lifting shaft is located at the uppermost limit position and moves to the lowermost limit position, the lifting gear and the pinion maintain a transmission connection;

[0026] According to at least one embodiment of the present disclosure, the variable speed lifting device further includes:

[0027] a first rotating member, which is disposed at a lower end of the lifting shaft and drives the first rotating member to rise and fall and rotate via the lifting shaft;

[0028] According to at least one embodiment of the variable speed lifting device of the present disclosure, the first rotating member is configured to be movable along the axial direction of the lifting shaft and / or movable along the radial direction of the lifting shaft, and / or the rotation axis of the first rotating member and the rotation axis of the lifting shaft can form an angle that is not 0°;

[0029] According to at least one embodiment of the variable speed lifting device of the present disclosure, the lifting shaft includes a limiting portion to limit the upward movement position of the first rotating member along the axial direction of the lifting shaft through the limiting portion;

[0030] According to at least one embodiment of the variable speed lifting device of the present disclosure, the limiting portion includes a shoulder formed on the lifting shaft;

[0031] According to at least one embodiment of the variable speed lifting device of the present disclosure, a mounting hole is formed in the middle of the first rotating member, and the lower end of the lifting shaft is inserted into the mounting hole, wherein the mounting hole is a non-circular hole, and the lower end of the lifting shaft has the same shape as or matches the mounting hole, so that the lifting shaft drives the first rotating member to rotate;

[0032] According to at least one embodiment of the variable speed lifting device of the present disclosure, a gap is provided between the outer surface of the lower end of the lifting shaft and the mounting hole of the first rotating member, so that the first rotating member can move in the radial direction of the lifting shaft, and / or the rotation axis of the first rotating member and the rotation axis of the lifting shaft can form an angle that is not 0°;

[0033] According to at least one embodiment of the variable speed lifting device of the present disclosure, a fastening element is provided at the lower end of the lifting shaft to limit the downward movement position of the first rotating member along the axis direction of the lifting shaft by the fastening element;

[0034] According to at least one embodiment of the variable speed lifting device of the present disclosure, when the first rotating member contacts the limiting portion of the lifting shaft, a preset distance exists between the fastening element and the first rotating member;

[0035] According to at least one embodiment of the variable speed lifting device of the present disclosure, the fastening element includes a cap screw, the cap screw being fixed to the lower end of the lifting shaft, and when the first rotating member contacts the limiting portion of the lifting shaft, a preset distance is provided between the screw head of the cap screw and the first rotating member; when the first rotating member contacts the cap screw, at least a portion of the screw head of the cap screw contacts the first rotating member;

[0036] According to at least one embodiment of the variable speed lifting device of the present disclosure, a countersunk hole is formed at the lower end of the first rotating member, the countersunk hole is communicated with the mounting hole of the first rotating member, and a portion of the fastening element is located in the countersunk hole;

[0037] According to at least one embodiment of the variable speed lifting device of the present disclosure, a gap is provided between the fastening element and the side wall of the counterbore, so that the first rotating member can move in the radial direction of the lifting shaft, and / or the rotation axis of the first rotating member and the rotation axis of the lifting shaft can form an angle that is not 0°;

[0038] According to the variable speed lifting device of at least one embodiment of the present disclosure, the driving device includes a scrubbing driving device.

[0039] According to another aspect of the present disclosure, an automatic cleaning device is provided, which includes the above-mentioned variable speed lifting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0041] Figure 1 It is a structural schematic diagram of an automatic cleaning device according to one embodiment of the present disclosure.

[0042] Figure 2 It is a schematic structural diagram of an automatic cleaning device according to another angle of an embodiment of the present disclosure.

[0043] Figure 32 is a schematic structural diagram of an upper shell portion according to an embodiment of the present disclosure.

[0044] Figure 4 2 is a schematic structural diagram of a lower housing portion according to an embodiment of the present disclosure.

[0045] Figure 5 It is a schematic structural diagram of an automatic cleaning device according to another angle of an embodiment of the present disclosure.

[0046] Figure 6 It is a structural schematic diagram of an automatic cleaning device according to another embodiment of the present disclosure.

[0047] Figure 7 is a bottom view of an automatic cleaning device according to another embodiment of the present disclosure.

[0048] Figure 8 It is a structural schematic diagram of an automatic cleaning device according to one embodiment of the present disclosure.

[0049] Figure 9 2 is a schematic structural diagram of a first drive wheel assembly according to one embodiment of the present disclosure.

[0050] Figure 10 It is a structural schematic diagram of a travel speed change mechanism according to an embodiment of the present disclosure.

[0051] Figure 11 It is a structural schematic diagram of a dust collecting device according to one embodiment of the present disclosure.

[0052] Figure 12 It is a schematic structural diagram of a dust collecting device according to an embodiment of the present disclosure from another angle.

[0053] Figure 13 is a cross-sectional view of a dust collecting device according to one embodiment of the present disclosure.

[0054] Figure 14 This is a schematic structural diagram from another angle of the dust collecting device after the suction device is removed according to an embodiment of the present disclosure.

[0055] Figure 15 It is a structural schematic diagram of a dust collecting container according to one embodiment of the present disclosure.

[0056] Figure 16 It is a schematic structural diagram of a dust collecting container according to another angle of an embodiment of the present disclosure.

[0057] Figure 17 is a cross-sectional view of a dust collecting container according to one embodiment of the present disclosure.

[0058] Figure 18 yes Figure 17 Schematic diagram of the enlarged structure of part A.

[0059] Figure 19 2 is a schematic diagram of a dust collecting container in an open state according to an embodiment of the present disclosure.

[0060] Figure 20 2 is a schematic structural diagram of a first locking device according to an embodiment of the present disclosure.

[0061] Figure 21 yes Figure 20 An enlarged schematic diagram of part B.

[0062] Figure 22 yes Figure 21 Schematic diagram of the open state of the first locking device.

[0063] Figure 23 2 is a schematic structural diagram of a second locking device according to an embodiment of the present disclosure.

[0064] Figure 24 yes Figure 23 Enlarged schematic diagram of part C.

[0065] Figure 25 yes Figure 24 Schematic diagram of the open state of the second locking device.

[0066] Figure 26 It is a schematic structural diagram of a filtering device according to one embodiment of the present disclosure.

[0067] Figure 27 Schematic diagram of the installation position of the filter device according to one embodiment of the present disclosure.

[0068] Figure 28 It is a schematic diagram of the separation structure of a dust collecting device according to one embodiment of the present disclosure.

[0069] Figure 29 is a cross-sectional view of a dust collecting device according to one embodiment of the present disclosure.

[0070] Figure 30 Schematic diagram of the structure of a scrubbing component according to one embodiment of the present disclosure.

[0071] Figure 31 It is a schematic structural diagram of a speed change device according to one embodiment of the present disclosure.

[0072] Figure 32 It is a schematic structural diagram of a speed change device according to one embodiment of the present disclosure.

[0073] Figure 33It is a structural schematic diagram of a lifting transmission device according to one embodiment of the present disclosure.

[0074] Figure 34 It is a structural schematic diagram of a lifting transmission device (part) according to an embodiment of the present disclosure.

[0075] Figure 35 It is a structural schematic diagram of a lifting transmission device (part) according to an embodiment of the present disclosure.

[0076] Figure 36 It is a structural schematic diagram of a lifting drive assembly according to one embodiment of the present disclosure.

[0077] Figure 37 It is a structural schematic diagram of a variable speed lifting device according to one embodiment of the present disclosure.

[0078] Figure 38 2 is a schematic structural diagram of a variable speed lifting device according to an embodiment of the present disclosure from another angle.

[0079] Figure 39 Schematic diagram of the structure of a cleaning liquid storage portion according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0080] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the relevant content and are not intended to limit the present disclosure. It should also be noted that, for ease of description, only the portions relevant to the present disclosure are shown in the accompanying drawings.

[0081] Figure 1 It is a structural schematic diagram of an automatic cleaning device according to one embodiment of the present disclosure. Figure 2 It is a schematic structural diagram of an automatic cleaning device according to another angle of an embodiment of the present disclosure.

[0082] like Figure 1 and Figure 2 As shown, the present disclosure provides an automatic cleaning device 10, in particular, an intelligent cleaning device, such as a sweeping robot, etc. The automatic cleaning device 10 is used to autonomously clean surfaces to be cleaned, such as soft surfaces of carpets and blankets, floor surfaces, and hard surfaces such as hardwood, tiles and linoleum.

[0083] In the present disclosure, the automatic cleaning device 10 may 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 .

[0084] The housing assembly 100 is formed into the outer shape of the automatic cleaning device 10 , that is, the housing assembly 100 forms the upper surface, the lower surface, and the side surface between the upper surface and the lower surface of the automatic cleaning device 10 .

[0085] The walking device 200 is provided in the housing assembly 100 and is used to realize the walking of the automatic cleaning device 10. For example, the walking device 200 can be controlled to make the automatic cleaning device 10 move forward, backward and turn, or make the automatic cleaning device 10 move along a preset trajectory.

[0086] The dry cleaning device 300 is arranged in the shell assembly 100 and is used for dry cleaning of the surface to be cleaned, wherein at least a portion of the dry cleaning device 300 is located outside the shell assembly 100, for example, below the shell assembly 100, so that dirt on the surface to be cleaned (such as large particles on the surface to be cleaned and light particles such as dust on the surface to be cleaned) can be removed from the surface to be cleaned by the dry cleaning device 300.

[0087] In the present disclosure, when the automatic cleaning device 10 is moving forward 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, when the automatic cleaning device 10 encounters an obstacle and avoids 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 contaminating the surface to be cleaned that has been cleaned.

[0088] The dust collecting device 400 is disposed in the housing assembly 100 and is used to collect dirt generated after the dry cleaning device 300 cleans the surface to be cleaned. Preferably, the dust collecting device 400 can suck a mixture of dirt and gas generated after the dry cleaning device 300 cleans the surface to be cleaned into the dust collecting device 400. After the gas passes through the dust collecting device 400, it is discharged to the outside of the dust collecting device 400, and the dirt is collected inside the dust collecting device 400.

[0089] 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 automatic cleaning device 10 is controlled to dock at the base station to transfer the dirt inside the dust collecting device 400 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 installs the dust collecting device 400 to the automatic cleaning device 10 again.

[0090] The wet cleaning device 500 is disposed in the housing assembly 100 and is used to wet clean the surface to be cleaned after being cleaned by the dry cleaning device 300 . For example, the wet cleaning device 500 is used to mop the surface to be cleaned to improve the cleaning effect of the surface to be cleaned.

[0091] When the automatic cleaning device 10 of the present disclosure is in use, both the dry cleaning device 300 and the wet cleaning device 500 can support the shell assembly 100, that is, the support of the shell assembly 100 is achieved through 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.

[0092] In an optional embodiment of the present disclosure, the dry cleaning device 300 is located in front of the wet cleaning device 500 along the forward direction of the automatic cleaning device 10, that is, when the automatic cleaning device 10 is in the cleaning operation, the surface to be cleaned is first cleaned by the dry cleaning device 300, and then the wet cleaning device 500 is used to mop the floor to reduce the accumulation of dirt on the wet cleaning device 500, thereby reducing the number of times the wet cleaning device 500 is cleaned, or reducing the number of times the automatic cleaning device 10 returns to the base station within a certain period of time, thereby increasing the single working time of the automatic cleaning device 10.

[0093] The detection device 600 is arranged on the shell assembly 100, and is used to detect obstacles around the automatic cleaning device 10, so that when the detection device 600 confirms that there is an obstacle within a preset range around the automatic cleaning device 10, the walking device 200 of the automatic cleaning device 10 is controlled to produce corresponding movement, so that the automatic cleaning device 10 avoids the obstacle; as an implementation form, the detection device 600 may include a collision detection device 600, for example, when the automatic cleaning device 10 collides with an obstacle, the walking device 200 first produces a backward action, and then turns and continues to move forward to avoid the obstacle.

[0094] The various devices of the automatic cleaning device 10 are described in detail below with reference to the accompanying drawings.

[0095] Figure 3 2 is a schematic structural diagram of an upper shell portion according to an embodiment of the present disclosure. Figure 4 2 is a schematic structural diagram of a lower housing portion according to an embodiment of the present disclosure.

[0096] like Figures 1 to 4 As shown, the shell assembly 100 of the present disclosure may include an upper shell portion 110 and a lower shell portion 120, wherein the lower shell portion 120 can be formed as the lower portion of the automatic cleaning device 10 and formed as a supporting body of the automatic cleaning device 10, which can cooperate with the upper shell portion 110 described below to form a accommodating space for accommodating multiple components of the automatic cleaning device 10.

[0097] like Figure 4As shown, the shape of the lower shell part 120 can be roughly circular, and can also be formed into other shapes. For example, the shape of the lower shell part 120 is a rectangular plus a semicircular shape. In the normal travel direction of the automatic cleaning device 10, the front side of the automatic cleaning device 10 is semicircular and the rear side is rectangular.

[0098] Of course, those skilled in the art will appreciate that the shape of the lower housing portion 120 may also be other shapes, which will not be described in detail herein.

[0099] In the present 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 to each other, thereby allowing the various components of the automatic cleaning device 10 to be selectively fixed to the upper housing portion 110 or the lower housing portion 120 .

[0100] like Figure 3 As shown, the upper shell 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 shell portion 110 includes a shell upper wall portion 111 and a shell side wall portion 112, wherein the shell upper wall portion 111 and the shell side wall portion 112 can be formed integrally.

[0101] For example, when viewed from a top view, that is, 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 shell can be roughly circular in shape. Accordingly, since the shape of the upper wall portion 111 of the shell is circular, the rotation radius of the automatic cleaning device 10 can be minimized.

[0102] Moreover, if Figure 3 As shown, the housing side wall portion 112 may be obtained by extending downward from at least a portion of the arc-shaped edge of the housing upper wall portion 111 .

[0103] Of course, the shell upper wall portion 111 and the shell side wall portion 112 of the upper shell portion 110 can be formed separately. For example, after the shell upper wall portion 111 and the shell side wall portion 112 are formed by injection molding respectively, the shell upper wall portion 111 and the shell side wall portion 112 can be connected by fasteners.

[0104] Of course, the shape of the upper wall portion 111 of the shell can also be a rectangle and a semicircle connected together, that is, a D-shape, and the shape of the lower shell portion 120 is adapted to the shape of the upper wall portion 111 of the shell; in the present disclosure, as the optimal implementation form, the shapes of the lower shell portion 120 and the upper wall portion 111 of the shell are both circular.

[0105] According to at least one embodiment of the present disclosure, Figure 1As shown, the housing assembly 100 may further include a housing cover 130 , which is disposed on the upper housing portion 110 , so as to form an upper surface of the automatic cleaning device 10 through the housing cover 130 .

[0106] Preferably, the housing cover 130 can be removed from the upper housing portion 110. When the housing cover 130 is removed, the dust collecting device 400 accommodated in the housing assembly 100 is exposed, making it convenient for the user to take out the dust collecting device 400.

[0107] At least a portion of the housing assembly 100 may be formed as a transparent portion, so that the current status of each component of the automatic cleaning device 10 can be obtained through the transparent portion, for example, the amount of dirt in the dust collecting device 400 can be obtained to prevent excessive dirt in the dust collecting device 400. Or the amount of cleaning liquid in the wet cleaning device 500 can be obtained to timely add cleaning liquid to the wet cleaning device 500.

[0108] like Figure 4 As shown, the shell assembly 100 also includes a protective component 140, which is arranged adjacent to the wet cleaning device 500, for example, adjacent to the first rotating member 511 and the second rotating member 512 of the wet cleaning device 500, and in the traveling direction of the surface cleaning equipment, the protective component 140 is arranged on the front side of the first rotating member 511 and the second rotating member 512; more preferably, it can be located on the rear side of the dry cleaning device 300.

[0109] The protection component 140 is respectively provided with respect to the first rotating member 511 and the second rotating member 512, or is provided with respect to the first rotating member 511 and the second rotating member 512 as a whole. Figure 4 In FIG, the integrally arranged protective component 140 is shown.

[0110] However, the shielding member 140 may also include at least two sub-shields, each sub-shield at least partially surrounding one or more rotating elements, that is, the sub-shields may surround one rotating element or multiple rotating elements.

[0111] The shape of the protective component 140 can be set to at least partially surround the first rotating member 511 and the second rotating member 512, such as a semi-enclosed form. By providing the protective component 140, the rotating first rotating member 511, the second rotating member 512 and the drive shaft can be protected to prevent objects such as cables on the ground from being entangled in the drive shaft. Figure 4As shown, the protective component 140 is set at a predetermined height from the cleaning surface, that is, the lower end of the protective component 140 is 0.5-1 mm from the cleaning surface. This distance is less than the diameter of the charging cable, thereby blocking the cable and preventing friction with the ground. The protective component 140 can be formed of a soft material, such as soft glue, silicone, rubber, or TPU. Alternatively, the hardness of the soft material is about 50°, for example, between 40° and 60°, to prevent the presence of the protective component from affecting the obstacle crossing of the automatic cleaning device.

[0112] In the present disclosure, the protection component includes a planar portion and curved surface portions provided at both ends of the planar portion in a longitudinal direction, wherein the curved surface portions are provided to maintain a preset interval with the first rotation circle or the second rotation circle.

[0113] The protective component is provided on the lower shell portion, and preferably can be integrally formed with the lower shell portion. Of course, the protective component can also be separately formed from the lower shell portion and installed on the lower shell portion.

[0114] In the present disclosure, the driving shaft for driving the first rotating member 511 and the second rotating member 512 may be the first output shaft 539A, the second output shaft 539B, or the lifting shaft 565 described below.

[0115] When the automatic cleaning device of the present disclosure is in use, the automatic cleaning device moves forward, and the protective component can block the charging cable and the like outside the protective component, thereby preventing the wet cleaning device from being entangled by the charging cable.

[0116] Figure 5 It is a schematic structural diagram of an automatic cleaning device according to another angle of an embodiment of the present disclosure. Figure 6 It is a structural schematic diagram of an automatic cleaning device according to another embodiment of the present disclosure. Figure 7 is a bottom view of an automatic cleaning device according to another embodiment of the present disclosure.

[0117] like Figures 5 to 7 As shown, the walking device 200 of the present 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 achieved.

[0118] In the present disclosure, specifically, the walking device 200 includes a first driving wheel assembly 210 , a second driving wheel assembly 220 and at least one driven wheel assembly 230 .

[0119] The first drive wheel assembly 210 and the second drive wheel assembly 220 are symmetrically arranged along the transverse axis defined by the lower housing portion 120, for example, Figures 5 to 7 As shown, the first drive wheel assembly 210 and the second drive wheel assembly 220 are respectively arranged on the left and right parts 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.

[0120] More preferably, the structures of the first driving wheel assembly 210 and the second driving wheel assembly 220 are similar, and only the first driving wheel assembly 210 is used as an example for description.

[0121] Figure 9 2 is a schematic structural diagram of a first drive wheel assembly according to one embodiment of the present disclosure. Figure 10 It is a structural schematic diagram of a travel speed change mechanism according to an embodiment of the present disclosure.

[0122] According to at least one embodiment of the present disclosure, Figure 9 and Figure 10 As shown, the first driving wheel assembly 210 includes a traveling driving device 211 , a traveling speed changing mechanism 212 and a traveling wheel 213 .

[0123] Among them, the travel drive device 211 is used to provide driving force for the movement of the automatic cleaning equipment 10. Among them, the travel drive device 211 can be selected as a motor, such as a DC motor, an AC motor, a stepper motor and / or a servo motor, etc. Of course, the travel drive device 211 can also be selected as other devices that can provide power.

[0124] like Figure 10 As shown, the travel speed change mechanism 212 includes a travel gearbox body 2121 and a travel transmission assembly 2122, wherein the travel gearbox body 2121 is fixed to the lower shell part 120, and the travel drive device 211 is fixed to the lower shell part 120 or fixed to the travel gearbox body 2121; the travel transmission assembly 2122 is arranged in 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.

[0125] In this disclosure, Figure 10As shown, the travel transmission assembly 2122 can be selected as a gear transmission device, a chain transmission device and a belt transmission device, wherein the travel transmission assembly 2122 includes a power input shaft portion 2122A and a power output shaft portion 2122B, the power input shaft portion 2122A is connected to the travel drive device 211, and the travel wheel 213 is connected to the power output shaft portion 2122B of the travel transmission assembly 2122. When the travel transmission assembly 2122 is a gear transmission device, the power input shaft portion 2122A and the power output shaft portion 2122B are connected through gear transmission; correspondingly, when the travel transmission assembly 2122 is a chain transmission device or a belt transmission device, the power input shaft portion 2122A and the power output shaft portion 2122B are connected through a sprocket or pulley transmission.

[0126] According to at least one embodiment of the present disclosure, the traveling device 200 is detachably provided on the lower housing portion 120 to facilitate disassembly and maintenance of the driving wheel assembly.

[0127] like Figure 9 As shown, the travel wheel 213 is provided on the power output shaft 2122B of the travel transmission assembly 2122, so that when the travel drive device 211 is working, the rotation generated is changed in speed (eg, reduced in speed) by the travel speed change mechanism 212, causing the travel wheel 213 to rotate.

[0128] In the present disclosure, the travel drive device 211 can realize forward rotation and reverse rotation, thereby, the travel wheel 213 can rotate in a first direction or a second direction, wherein the first direction is the opposite direction of the second direction.

[0129] Furthermore, when the traveling wheel 213 rotates in a first direction, the automatic cleaning device 10 can move forward, and when the traveling wheel 213 rotates in a second direction, the automatic cleaning device 10 can move backward.

[0130] As a preferred implementation form, the number of driven wheel assemblies 230 can be one, and the driven wheel assembly 230 is arranged on the transverse axis defined by the lower shell portion 120, and is spaced 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 have stronger movement ability; wherein, the driven wheel assembly 230 includes but is not limited to a universal wheel.

[0131] When the automatic cleaning device 10 is in motion, the first driving wheel assembly 210 and the second driving wheel assembly 220 can be controlled to move simultaneously based on the distance and angle information, so that the automatic cleaning device 10 moves forward, backward or turns along a preset track.

[0132] For example, when the first drive wheel assembly 210 and the second drive wheel assembly 220 have the same direction and the same rotation 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 rotation speeds or different directions, the automatic cleaning device 10 will turn, or even spin in place.

[0133] In the present disclosure, the first driving wheel assembly 210 also includes an odometer to detect the rotation angle of the walking wheel 213 and / or the walking drive device 211 through the odometer; and based on the data detected by the odometer of the first driving wheel assembly 210 and the data detected by the odometer of the second driving wheel assembly 220, the position and posture of the automatic cleaning device 10 in the current working area are accurately judged, thereby making the automatic cleaning device 10 more intelligent.

[0134] More preferably, the first drive wheel assembly 210 and the second drive wheel assembly 220 are both rotatably disposed on the lower housing portion 120, so that the distance between the walking wheel 213 and the lower housing portion 120 is adjustable; for example, taking the first drive wheel assembly 210 as an example, the walking gearbox body 2121 of the walking speed change 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 a biased drop-type suspension system, and the biasing force is provided by the walking elastic portion.

[0135] That is, one end of the walking elastic part is fixed to the lower shell part 120, and the other end of the walking elastic part is fixed to the walking gearbox body 2121, and the walking elastic part is located below the connection position between the walking gearbox body 2121 and the lower shell part 120. At this time, the walking elastic part is in a pre-stretched state, and in the free state, under the action of the tension of the walking elastic part, the walking wheel 213 and the lower shell part 120 are separated by a first distance; in the working state, the walking wheel 213 and the lower shell part 120 are separated by a second distance, wherein the first distance is greater than the second distance.

[0136] That is to say, 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 the wet cleaning device 500 of the automatic cleaning equipment 10 contact the surface to be cleaned with a certain pressure.

[0137] Figure 8 It is a structural schematic diagram of an automatic cleaning device according to one embodiment of the present disclosure.

[0138] like Figures 5 to 8As shown, the dry cleaning device 300 of the present 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 through contact between the dry cleaning device 300 located outside the lower housing portion 120 and the surface to be cleaned.

[0139] In the present 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 adopt a side brush cleaning component 310 or a roller brush cleaning component 320.

[0140] Of course, in order to improve the cleaning efficiency of the surface to be cleaned, such as Figures 5 to 8 As shown, the dry cleaning device 300 of the present disclosure includes two cleaning components. The two cleaning components can be selected as two side brush cleaning components 310 , or one side brush cleaning component 310 and one roller brush cleaning component 320 .

[0141] Among them, 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 moves forward, the side brush cleaning component 310 first cleans the surface to be cleaned, and collects the dust on the surface to be cleaned to the cleaning area or cleaning path of the roller brush cleaning component 320, and then the dust and other light particles on the surface to be cleaned are disturbed by the cleaning of the roller brush cleaning component 320 and collected by the dust collection device 400.

[0142] In this disclosure, Figure 5 and Figure 6 As shown, the side brush cleaning assembly 310 includes a side brush portion 311 and a side brush driving device 312 .

[0143] like Figure 5 and Figure 6 As shown, the side brush portion 311 includes a brush body 3111 and bristles 3112 installed on the brush body 3111, wherein the brush body 3111 of the side brush portion 311 is rotatably disposed on the shell assembly 100, for example, on the lower shell portion 120 of the shell assembly 100, and cleans the surface to be cleaned through the 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.

[0144] The side brush drive device 312 is arranged on the lower shell part 120, and is used to drive the side brush part 311 to rotate, wherein the rotation axis of the side brush part 311 is perpendicular to or substantially perpendicular to the lower shell part 120, that is, when the automatic cleaning device 10 is working, the rotation axis of the side brush part 311 is perpendicular to the surface to be cleaned, or substantially perpendicular to the surface to be cleaned.

[0145] In an optional embodiment of the present disclosure, the number of side brush cleaning assemblies 310 can be one or two. When the number of side brush cleaning assemblies 310 is one, the side brush cleaning assembly 310 is arranged in front of the first drive wheel assembly 210 or the second drive wheel assembly 220; when the number of side brush cleaning assemblies 310 is two, the two side brush cleaning assemblies 310 are respectively arranged in front of the first drive wheel assembly 210 and the second drive wheel assembly 220.

[0146] In the present disclosure, the roller brush cleaning assembly 320 is rotatably disposed on the shell assembly 100, for example, rotatably disposed on the lower shell portion 120 of the shell assembly 100, for dry cleaning of the surface to be cleaned, that is, a second cleaning; more preferably, the roller brush cleaning assembly 320 is detachably disposed on the shell assembly 100, for example, the roller brush cleaning assembly 320 can be removed from the shell assembly 100 through a manual switch.

[0147] 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 cleans the surface to be cleaned by contact between the circumferential surface of the roller brush portion 321 and the surface to be cleaned.

[0148] The roller brush portion 321 includes a cylindrical portion and a protrusion arranged outside the cylindrical portion, wherein the cylindrical portion is rotatably arranged on the lower shell portion 120, and the protrusion of the roller brush portion 321 contacts the surface to be cleaned to achieve cleaning of the surface to be cleaned.

[0149] The protrusions may be formed in the form of bristles, so that the rolling brush portion 321 has the effect of sweeping the surface to be cleaned.

[0150] Preferably, if Figure 7 As shown, the rotation axis of the cylindrical portion is parallel or substantially parallel to the lower housing portion 120. In one embodiment, the rotation axis of the cylindrical portion is located in front of the line connecting the first drive wheel assembly 210 and the second drive wheel assembly 220. Of course, the position of the cylindrical portion is not limited to this, and it can also be located behind the line connecting the first drive wheel assembly 210 and the second drive wheel assembly 220.

[0151] In the present disclosure, the cleaning area of ​​the side brush cleaning assembly 310 overlaps with the cleaning area of ​​the roller brush cleaning assembly 320 .

[0152] For example, Figure 7 As shown, when there are two side brush cleaning assemblies 310, the two side brush cleaning assemblies 310 are located at both ends of the roller brush cleaning assembly 320 in the length direction of the roller brush cleaning assembly 320, and the projection of the side brush cleaning assembly 310 in the length direction of the roller brush cleaning assembly 320 overlaps with part of the roller brush cleaning assembly 320.

[0153] Accordingly, when there is only one side brush cleaning assembly 310, the side brush cleaning assembly 310 is located at one end of the roller brush cleaning assembly 320 in the length direction of the roller brush cleaning assembly 320, and the projection of the side brush cleaning assembly 310 in the length direction of the roller brush cleaning assembly 320 overlaps with part of the roller brush cleaning assembly 320.

[0154] Therefore, when the side brush cleaning assembly 310 rotates, light particles such as dust on the surface to be cleaned can be swept into the cleaning area of ​​the roller brush cleaning assembly 320, and then cleaned again by the roller brush cleaning assembly 320, thereby increasing the cleaning area of ​​the automatic cleaning device 10.

[0155] In the present disclosure, the roller brush cleaning assembly 320 further includes a roller brush driving device 322 , which is used to drive the roller brush portion 321 to rotate so as to clean the surface to be cleaned.

[0156] Among them, the side brush driving device 312 and / or the roller brush driving device 322 can be selected as a device that can generate power, such as a motor, among which the motor is preferably a DC motor, a stepper motor, a servo motor or other easily controlled motor.

[0157] Figure 11 It is a structural schematic diagram of a dust collecting device according to one embodiment of the present disclosure.

[0158] According to at least one embodiment of the present disclosure, Figure 8 and Figure 11 As shown, the dust collecting device 400 is provided in the housing assembly 100 , and is used to suck the mixture of dirt and gas obtained after the dry cleaning device 300 cleans the surface to be cleaned into the dust collecting device 400 , and the mixed dirt is collected by the dust collecting device 400 .

[0159] Figure 12 It is a schematic structural diagram of a dust collecting device according to an embodiment of the present disclosure from another angle. Figure 13 is a cross-sectional view of a dust collecting device according to one embodiment of the present disclosure. Figure 14 This is a schematic structural diagram from another angle of the dust collecting device after the suction device is removed according to an embodiment of the present disclosure.

[0160] like Figures 12 to 14 As shown, the dust collecting device 400 includes a dust collecting container 410 , a suction device 420 , a dust collecting portion 430 and a filtering device 440 .

[0161] The dust collecting container 410 is connected to the suction device 420 so that negative pressure is generated in the dust collecting container 410 through the suction device 420, thereby sucking the dirt generated by the roller brush cleaning assembly 320 cleaning the surface to be cleaned into the dust collecting container 410.

[0162] The dust collecting container 410 is connected to the dust collecting portion 430 , wherein the dust collecting portion 430 partially wraps the roller brush cleaning assembly 320 , so that dirt generated by the roller brush cleaning assembly 320 when cleaning the surface to be cleaned enters the dust collecting container 410 through the dust collecting portion 430 .

[0163] The dust collecting portion 430 is formed with 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 collecting portion 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.

[0164] The part of the dust collecting section 430 located behind the roller brush cleaning assembly 320 is formed into a plane, and is spaced apart from the end of the cylindrical portion away from the protruding portion of the roller brush section 321 of the roller brush cleaning assembly 320 to reduce the resistance of the airflow inside the dust collecting section 430 and allow the dirt carried in the airflow to be transported to the dust collecting container 410.

[0165] Moreover, the lower end of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is located on the same horizontal plane, and preferably, the lower end of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is straight. When the automatic cleaning device 10 is in working state, the lower end of the dust collecting part 430 located behind the roller brush cleaning assembly 320 is spaced a preset distance from the surface to be cleaned.

[0166] In other words, the lower end of the dust collecting portion 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 dust collecting portion 430 located behind the roller brush cleaning assembly 320 is spaced apart from the surface to be cleaned.

[0167] Figure 14 This is a schematic structural diagram from another angle of the dust collecting device after the suction device is removed according to an embodiment of the present disclosure. Figure 15 It is a structural schematic diagram of a dust collecting container according to one embodiment of the present disclosure. Figure 16 It is a schematic structural diagram of a dust collecting container according to another angle of an embodiment of the present disclosure.

[0168] In this disclosure, Figures 13 to 16 As shown, the dust collecting container 410 includes a box body 411 , a cover plate 412 , a cover component 413 and a baffle 414 .

[0169] Among them, the box body 411 is formed with 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 collecting part 430 is connected with the internal space of the box body 411 through the setting of the inlet, and the dirt transported through the dust collecting part 430 is stored in the storage space.

[0170] The cover portion 412 is provided on the box body portion 411 and is used to open or close the entrance of the box body portion 411. The cover portion 412 can be provided on the outside of the box body portion 411 or on the inside of the box body portion 411, and preferably, as shown in FIG. Figure 15 As shown, the cover portion 412 is arranged inside the box body 411. When negative pressure is generated inside the box body 411 (for example, when the suction device 420 is working), the cover portion 412 opens the entrance of the box body 411; when negative pressure is not generated inside the box body 411 (for example, when the suction device 420 stops working), the cover portion 412 closes the entrance of the box body 411.

[0171] In other words, when the air pressure inside the box body 411 is lower than the air pressure inside the dust collecting part 430, and the absolute value of the difference between the air pressure inside the box body 411 and the air pressure inside the dust collecting part 430 is greater than or equal to a preset value, the cover part 412 opens the entrance of the box body; otherwise, the cover part 412 closes the entrance of the box body 411.

[0172] As an implementation form, Figure 13 As shown, the cover portion 412 is hinged to the box body portion 411, so that the cover portion 412 is fitted to the box body portion 411 or is spaced apart from the box body portion 411 by rotating the cover portion 412 around the hinge axis of the cover portion 412 and the box body portion 411, and when the cover portion 412 is fitted to the box body portion 411, the cover portion 412 closes the entrance of the box body portion 411, and when the cover portion 412 is spaced apart from the box body portion 411 by a preset distance, the cover portion 412 opens the entrance of the box body portion 411.

[0173] More preferably, if Figure 16As shown, the side wall of the box body 411 with an inlet is inclined, for example, from the bottom of the box body 411 to the top of the box body 411, the side wall of the box body 411 with an inlet is inclined toward the outside of the box body 411. At this time, the cover portion 412 is arranged inside the box body 411, and the connection between the cover portion 412 and the box body 411 is located above the inlet. Thus, the cover portion 412 can automatically close the inlet by gravity when the automatic cleaning device is in a non-cleaning working state (or the suction device 420 stops working) to avoid the dust collected in the dust box when the automatic cleaning device is in a non-working state from escaping and causing secondary pollution; in addition, when the automatic cleaning device is in a cleaning working state, when a negative pressure is generated inside the box body 411, the horizontal thrust generated by the pressure difference between the inside and outside of the box body 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 body 411 to open the inlet of the box body 411.

[0174] like Figure 13 As shown, a portion of the box body 411 is formed as the first portion of the box body 411, and another portion of the box body 411 is formed as the second portion of the box body 411, wherein the height of the second portion is smaller than the height of the first portion, and the discharge port is arranged near the side wall of the first portion.

[0175] Correspondingly, 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 the convenience of expression, the technical terms first bottom wall 4111 and second bottom wall 4112 are used below to illustrate the present disclosure.

[0176] Correspondingly, the suction device is arranged 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 .

[0177] Of course, the suction device 420 may also be disposed at other locations of the box body 411 , as long as the suction device 420 is in communication with the internal space of the box body 411 .

[0178] The upper end of the box body 411 is in an open state, and the cover part 413 is provided 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 of the upper end of the box body 411, and when the cover part 413 is in the second position, the opening of the upper end of the box body 411 is opened.

[0179] In an optional embodiment of the present disclosure, Figure 13 As shown, an annular groove is formed at the upper end of the box body 411, and the annular groove is formed in a circle along the upper end surface of the box body 411; an annular boss is formed on the lower surface of the cover part 413, and the shape of the annular boss matches the shape of the annular groove, so that when the cover part 413 is in the first position, the annular boss is located in the annular groove, thereby forming a seal between the box body 411 and the cover part 413.

[0180] Of course, the sealing between the box body 411 and the cover part 413 can also be achieved through other structures. For example, a sealing gasket is provided between the box body 411 and the cover part 413; or an annular boss is formed on the upper end face of the box body 411, and the lower surface of the cover part 413 is formed as an annular groove, and the sealing is achieved by cooperating between the annular boss of the box body 411 and the annular groove of the cover part 413, etc.

[0181] In the present disclosure, a through hole is formed on the box body 411; as an implementation form, the filter device 440 and the suction device 420 are respectively arranged on both sides of the through hole and are connected through the through hole, that is, an indirect connection is achieved between the filter device 440 and the box body 411; as another implementation form, 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. Thus, when the suction device 420 is in operation, a negative pressure can be generated within the box body 411. Preferably, the through hole is provided in the second bottom wall 4112 of the box body 411, thereby enabling the suction device 420 to be directly connected to the filter device 440, thereby reducing the number of connecting pipes between the suction device 420 and the filter device 440.

[0182] The filter device 440 is disposed inside the dust collecting 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 the suction device 420 .

[0183] That is to say, when the suction device 420 is working, negative pressure is generated in the dust collecting container 410, and the dirt generated by the roller brush cleaning assembly 320 cleaning the surface to be cleaned is mixed in the gas and sucked into the dust collecting container 410 by the suction device 420.

[0184] In addition, after the mixed dirty gas enters the dust collecting container 410, it is filtered by the filter device 440, and the filtered gas is discharged to the outside of the dust collecting container 410 by the suction device 420. At this time, the dirt mixed in the gas is deposited in the dust collecting container 410.

[0185] Figure 26 It is a schematic structural diagram of a filtering device according to one embodiment of the present disclosure. Figure 27Schematic diagram of the installation position of the filter device according to one embodiment of the present disclosure. Figure 28 It is a schematic diagram of the separation structure of a dust collecting device according to one embodiment of the present disclosure. Figure 29 is a cross-sectional view of a dust collecting device according to one embodiment of the present disclosure.

[0186] In this disclosure, 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 .

[0187] Among them, the size of the upper bracket part 441 is smaller than the size of the through hole, and the size of the lower bracket part 442 is larger than the size of the through hole. For example, when the through hole is formed into a circle, the maximum distance between two points on the outer contour of the upper bracket part 441 is smaller than the diameter of the through hole; further, when the upper bracket part 441 is also formed into a circle, the diameter of the upper bracket part 441 is smaller than the diameter of the through hole. Therefore, when the filter device 440 is installed on the dust collecting container 410, the upper bracket part 441 can be inserted from the through hole into the interior of the dust collecting container 410, and contact or spaced apart from the inner surface of the cover part 413 of the dust collecting container 410.

[0188] The upper support portion 441 is formed in a plate shape, and no through hole for gas to pass through is formed on the upper support portion 441 .

[0189] In the present disclosure, accordingly, part of the lower bracket portion 442 is in contact with the outer surface of the box body portion 411 of the dust collecting container 410, and preferably, part of the lower bracket portion 442 is in sealing contact with the outer surface of the dust collecting container 410 to prevent gas from entering the dust collecting container 410 from between the lower bracket portion 442 and the dust collecting container 410, thereby reducing the effect of the negative pressure generated by the suction device 420.

[0190] The filter portion 443 may be in a conical, truncated cone, cylindrical, or other shape, and may also be designed in other shapes, such as a shape that matches the upper bracket portion 441 .

[0191] The filter portion 443 includes a plurality of filter elements interconnected in the circumferential direction, wherein the cross-section of the filter element is V-shaped (the cross-section is the cross-section perpendicular to the height direction of the filter element), and can be prepared by filter paper so that the filter portion 443 has a larger filtering area.

[0192] like Figure 29As shown, in order to facilitate the installation of the filter device 440, or in other words, when the filter device 440 is installed on the dust collecting container 410, the filter device 440 of the present disclosure also includes a first adsorption portion 444, and the first adsorption portion 444 is arranged on the upper bracket portion 441. Preferably, the first adsorption portion 444 is arranged on the upper surface of the upper bracket portion 441.

[0193] At this time, a receiving groove is defined on the upper bracket portion 441 , and the first adsorption portion 444 is disposed in the receiving groove of the upper bracket portion 441 .

[0194] Accordingly, if Figure 29 As shown, the cover member 413 is provided with a second adsorption portion 445 . Preferably, the second adsorption portion 445 is provided on the lower surface of the cover member 413 .

[0195] Thus, the position of the filter device 440 and the cover member 413 is maintained by the suction force between the first adsorption portion 444 and the second adsorption portion 445 .

[0196] Preferably, the first adsorption portion 444 and the second adsorption portion 445 can both be selected as magnetic portions or adsorption materials. When the first adsorption portion 444 and the second adsorption portion 445 are both selected as magnetic portions, the magnetic poles of the ends close to each other of the first adsorption portion 444 and the second adsorption portion 445 are opposite; and the first adsorption portion 444 and the second adsorption portion 445 cannot be selected as adsorption materials at the same time. At this time, no attraction can be generated between the first adsorption portion 444 and the second adsorption portion 445.

[0197] In the present disclosure, the adsorption material is a material that can be adsorbed by a magnet, such as iron.

[0198] like Figure 28 As shown, an annular protrusion is formed at the lower end of the lower bracket 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 bracket portion 442 is arranged 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 space-saving. 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 human interventions (dumping dust, adding water).

[0199] Of course, an annular groove can also be formed at the lower end of the lower bracket portion 442. At this time, an annular protrusion is formed on the suction device 420. When the filtering device 440 is connected to the suction device 420, the annular protrusion of the suction device 420 is arranged in the annular groove of the lower bracket portion 442.

[0200] In the present disclosure, the filter device 440 also includes a magnetic field generating unit 446, which is used to generate a magnetic field; the detection device 600 includes an in-place detection module (not shown in the figure). When the in-place 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 judged that the filter device 440 is normally installed on the dust collecting container 410, or is normally installed on the automatic cleaning device 10; when the in-place detection module does not detect the magnetic field generated by the magnetic field generating unit 446, it is judged that the filter device 440 is not normally installed on the dust collecting container 410, or is not normally installed on the automatic cleaning device 10; wherein, the magnetic field generating unit 446 is arranged on the lower bracket portion 442 of the filter device 440.

[0201] In an optional embodiment of the present disclosure, the first bottom wall 4111 is configured to open or close the bottom of the box body 411. For example, a discharge hole is formed at the lower end of the box body 411, and the first bottom wall 4111 is used to open or close the discharge hole.

[0202] Figure 19 2 is a schematic diagram of a dust collecting container in an open state according to an embodiment of the present disclosure. Figure 20 2 is a schematic structural diagram of a first locking device according to an embodiment of the present disclosure. Figure 21 yes Figure 20 An enlarged schematic diagram of part B. Figure 22 yes Figure 21 Schematic diagram of the open state of the first locking device.

[0203] As an implementation form, Figures 19 to 22 As shown, the first bottom wall 4111 is rotatably arranged on the side wall of the box body 411, and can be locked to the other side wall of the box body 411 by a first locking device 418, wherein 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 therein, and at this time, secondary pollution caused by the dirt in the dust collecting container 410 contacting the user can be prevented.

[0204] Among them, 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, and the other end of the first bottom wall 4111, that is, the end opposite to the end of the first bottom wall 4111 hinged to the box body 411, is formed with a retaining portion 4111A, and the first locking device 418 cooperates with the retaining portion 4111A to realize the locking and opening of the first bottom wall 4111.

[0205] More preferably, if Figure 20 As shown, the first locking device 418 includes a rotating portion 4181 , a hook portion 4182 and a position recovery portion 4183 .

[0206] The middle part of the rotating part 4181 is rotatably arranged on the side wall of the box body 411. For example, the side wall of the box body 411 is formed with a concave space, and the rotating part 4181 is rotatably arranged on two opposite side walls of the concave space of the box body 411 through an axis.

[0207] Among them, in order to realize the rotation of the rotating part 4181 relative to the side wall of the box body 411, the two ends of the shaft body are rotatably arranged on the two opposite side walls of the concave space of the box body 411; at this time, the rotating part 4181 can rotate relative to the shaft body, or it can be fixed to the shaft body, for example, formed integrally with the shaft body; or, at least one of the two ends of the shaft body is fixed to the two opposite side walls of the concave space of the box body 411, so that the shaft body remains stationary relative to the box body 411. At this time, the rotating part 4181 is rotatably arranged on the shaft body, so as to realize the rotation of the rotating part 4181 relative to the box body 411.

[0208] like Figure 20 As shown, the surface of the rotating portion 4181 close to the bottom wall of the concave space of the box body portion 411 includes a first surface portion 4181A and a second surface portion 4181B, wherein the first surface portion 4181A and the second surface portion 4181B are connected, and when the first locking device 418 is in a locked state, the first surface portion 4181A is at least partially in contact with the bottom wall of the concave space of the box body portion 411, so that the first locking device 418 can be stably maintained in the locked state.

[0209] Moreover, at this time, the second surface portion 4181B is inclined relative to the bottom wall of the concave space of the box body portion 411. For example, when the box body portion 411 is in a vertical state, that is, the first bottom wall 4111 is located at the bottom of the box body portion 411, the distance between the second surface portion 4181B and the bottom wall of the concave space of the box body portion 411 gradually increases from top to bottom.

[0210] The hook portion 4182 is arranged on the rotating portion 4181 and rotates with the rotation of the rotating portion 4181, wherein a hook is formed at a position close to the first bottom wall 4111 of the hook portion 4182, so that when the first locking device is in a locked state, the first bottom wall 4111 cooperates with the retaining portion 4111A to close the box body portion 411.

[0211] In the present disclosure, the hook portion 4182 and the rotating portion 4181 can be integrally formed, or can be separately formed and assembled together.

[0212] The position recovery portion 4183 applies a pulling force or a pushing force to the rotating portion 4181 or the hook portion 4182 , so that the first locking device 418 moves from the open state to the locked state.

[0213] For example, the position restoring portion 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 restoring portion 4183 is disposed on the bottom wall of the concave space of the box body 411, and the other end is disposed on the rotating portion 4181 or the hook portion 4182. The position restoring portion 4183 applies a pushing force to the rotating portion 4181 or the hook portion 4182, so that the hook portion 4182 is stably maintained in the locked position.

[0214] The position recovery portion 4183 may be located at the upper or lower portion of the shaft, and preferably, as shown in FIG. Figure 20 As shown, the position recovery portion 4183 is located at the upper portion of the shaft, that is, at the end away from the first bottom wall 4111 .

[0215] When using, such as Figure 22 As shown, the user presses the upper part of the hook portion 4182 to make the first bottom wall 4111 open the lower end of the box body 411, thereby achieving the cleaning of solid waste; then, when the first bottom wall 4111 contacts the lower end of the box body 411, under the action of the thrust provided by the position recovery portion 4183, the hook portion 4182 rotates, and the hook of the hook portion 4182 contacts the retaining portion 4111A, thereby making the first locking device in a locked state. At this time, the first bottom wall 4111 closes the lower end of the box body 411.

[0216] Figure 17 is a cross-sectional view of a dust collecting container according to one embodiment of the present disclosure. Figure 18 yes Figure 17 Schematic diagram of the enlarged structure of part A.

[0217] In this disclosure, Figure 17 and Figure 18 As shown, a discharge port is provided on the side wall of the box body 411 so as to discharge dirt inside the box body 411 through the discharge port.

[0218] For example, Figure 8 and Figure 11 As shown, the exhaust port 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 is sucked out by the suction force of the cleaning device.

[0219] Preferably, an opening is formed on the shell assembly 100 of the automatic cleaning device 10, and the other end of the cleaning pipe 450 is located near the opening of the shell assembly 100, or connected to the opening of the shell assembly 100, so as to facilitate the connection between the cleaning device of the base station and the cleaning pipe 450.

[0220] In the present disclosure, the opening of the housing assembly 100 may be formed at a side of the housing assembly 100 , for example, at a housing sidewall of the upper housing portion 110 .

[0221] Among them, such as Figure 5 As shown, a detachable plugging portion 150 is provided at the opening of the shell assembly 100, that is, when the automatic cleaning device 10 is in the state of cleaning the surface to be cleaned, the plugging portion 150 is provided at the opening of the shell assembly 100, for closing the opening of the shell assembly 100, or for closing the cleaning pipe 450; when the automatic cleaning device 10 is docked at the base station, the plugging portion 150 is removed from the opening of the shell assembly 100 so that the cleaning device of the cleaning device can be connected to the cleaning pipe 450.

[0222] According to at least one embodiment of the present disclosure, Figure 17 and Figure 18 As shown, the baffle portion 414 is used to open or close the exhaust port of the box body 411, that is, when negative pressure is generated in the cleaning pipe 450, the baffle portion 414 opens the exhaust port of the box body 411, and when the air pressure in the cleaning pipe 450 is greater than or equal to the air pressure in the box body 411, the baffle portion 414 closes the exhaust port of the box body 411.

[0223] In other words, when the air pressure outside the baffle portion 414 (for example, the air pressure inside the cleaning pipe 450) is lower than the air pressure inside the box body 411, and the absolute value of the difference between the air pressure outside the baffle portion 414 (for example, the air pressure inside the cleaning pipe 450) and the air pressure inside the box body 411 is greater than or equal to a preset value, the baffle portion 414 opens the exhaust port; otherwise, the baffle portion 414 closes the exhaust port; that is, when the air pressure outside the baffle portion 414 is greater than or equal to the air pressure inside the box body 411, or the air pressure outside the baffle portion 414 is lower than the air pressure inside the box body 411, and the absolute value of the difference between the air pressure outside the baffle portion 414 and the air pressure inside the box body 411 is less than a preset value, the baffle portion 414 closes the exhaust port.

[0224] Furthermore, when the baffle portion 414 opens the discharge port, the gas entering the interior of the box body portion through the inlet of the box body portion 411 flows through at least part or all of the bottom surface of the storage space for storing solid waste of the box body portion 411, and then flows out from the discharge port of the box body portion 411, so that the solid waste stored in the storage space for storing solid waste of the box body portion 411 is transported to the outside of the box body portion 411 along with the airflow.

[0225] As an implementation form, the baffle portion 414 may be hinged to the side wall of the box body portion 411 , so that the discharge port of the box body portion 411 can be opened or closed by rotating the baffle portion 414 .

[0226] like Figures 16 to 18 As shown, the dust collecting container 410 also includes an elastic reset portion 415, which is used to apply force to the baffle portion 414 so that when the baffle portion 414 is in a state of closing the discharge outlet of the box body 411, there is a preset positive pressure between the baffle portion 414 and the box body 411. When the baffle portion 414 is in a state of opening the discharge outlet of the box body 411, the elastic reset portion 415 provides a reset force to the baffle portion 414, so that the baffle portion 414 moves from the state of opening the discharge outlet of the box body 411 to the state of closing the discharge outlet through the reset force.

[0227] Preferably, the elastic reset portion 415 may be a torsion spring, so as to provide a torsional force to the baffle portion 414 through the torsion spring, and to keep the baffle portion 414 in a normally closed state.

[0228] Of course, the baffle portion 414 can also be opened or closed by other structures, such as by an electromagnetic lock. At this time, when the automatic cleaning device is in working state, the electromagnetic lock attracts the baffle portion 414 so that the baffle portion 414 closes the discharge port; when the solid waste in the automatic cleaning device needs to be discharged to the outside of the automatic cleaning device, the electromagnetic lock opens the baffle portion 414, and when negative pressure is provided to the box body 411 through the discharge port, the discharge of solid particles can be achieved.

[0229] On the other hand, the power of the electromagnetic lock can be controlled by the pressure difference between the inside and outside of the exhaust port of the box body 411. For example, when the air pressure outside the exhaust port is lower than the air pressure inside the box body 411, and the absolute value of the pressure difference between the air pressure outside the exhaust port 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 so that the baffle portion 414 opens the exhaust port; otherwise, the electromagnetic lock is controlled to cause the baffle portion 411 to close the exhaust port.

[0230] In the present disclosure, the discharge outlet is formed by the side wall of the box body 411 and the first bottom wall 4111, and a seal 416 is provided on the baffle portion 414. When the baffle portion 414 closes the discharge outlet of the box body 411, part of the seal 416 of the baffle portion 414 is in sealing contact with the side wall of the box body 411, and part of the seal 416 of the baffle portion 414 is in sealing contact with the first bottom wall 4111.

[0231] The first bottom wall 4111 and / or the side wall of the box body 411 can form a limiting portion, and the baffle portion 414 can be located outside the limiting portion, so as to limit the baffle portion 414 from further moving toward the interior of the box body 411 through the limiting portion, and thereby when negative pressure is generated inside the box body 411, the baffle portion 414 will not open the discharge port.

[0232] In which, the limiting portion of the side wall of the box body 411 can be formed as a part of the side wall of the box body 411, for example, the size of the side wall of the box body 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.

[0233] Preferably, the seal 416 is an annular seal, so that the setting of the seal 416 effectively prevents gas from entering the interior of the dust collecting container 410 through the exhaust port, so that when the automatic cleaning device 10 is in working state, the negative pressure inside the box body 411 will not be reduced.

[0234] In the present disclosure, the inner surface of the lower end of the discharge port is flush or substantially flush with the inner surface of the first bottom wall 4111 , thereby achieving a better dust cleaning effect.

[0235] According to at least one embodiment of the present disclosure, two opposite side walls of the box body 411 are respectively formed with a concave structure 417. Preferably, the concave structure 417 is arranged in the middle of the two length directions of the side walls. The user operates the concave structure 417 to remove the dust collection container 410 from the automatic cleaning device 10, that is, the concave structure 417 forms a hand-holding space for user operation.

[0236] Figure 23 2 is a schematic structural diagram of a second locking device according to an embodiment of the present disclosure. Figure 24 yes Figure 23 Enlarged schematic diagram of part C. Figure 25 yes Figure 24 Schematic diagram of the open state of the second locking device.

[0237] like Figures 23 to 25 As shown, a second locking device 419 is provided in one of the concave structures 417 , so as to fix the dust collection container 410 on the lower housing portion 120 of the automatic cleaning device 10 through the second locking device 419 .

[0238] The second locking device 419 includes a pressing portion 4191 , a locking component 4192 and a restoring component 4193 .

[0239] The pressing portion 4191 and the locking component 4192 may be integrally formed or separately formed and then assembled together.

[0240] The pressing portion 4191 is rotatably disposed on the side wall of the concave structure 417 of the box body 411 , and the locking component 4192 is disposed on the pressing portion 4191 . When the pressing portion 4191 rotates, the locking component 4192 is driven to rotate.

[0241] Among them, such as Figure 24 As shown, when the pressing portion 4191 is in the first position, at least part of the locking component 4192 extends to the outside of the recessed structure 417, and by cooperating with other components of the automatic cleaning device, such as the shell assembly of the automatic cleaning device, the position of the dust collecting device 400 is fixed.

[0242] When the pressing portion 4191 is driven by an external force and is located at the second position, Figure 25 As shown, the lock component 4192 rotates, causing the lock component 4192 to be out of contact with the housing assembly of the automatic cleaning device, and allowing the dust collecting device 400 to be removed from the automatic cleaning device.

[0243] Preferably, when the pressing portion 4191 is located at the second position, the locking component 4192 may be located inside the concave structure 417 .

[0244] Moreover, if Figure 24 As shown, the reset member 4193 may be a coil spring, and the torque applied by the coil spring causes the pressing portion 4191 to move from the second position to the first position, that is, the pressing portion 4191 is reset.

[0245] Figure 30 Schematic diagram of the structure of a scrubbing component according to one embodiment of the present disclosure.

[0246] like Figure 2 ,as well as Figures 5 to 7 As shown, the wet cleaning device 500 can be rotatably disposed on the shell assembly 100, for example, can be rotatably disposed on the lower shell portion 120 of the shell assembly 100, for wet cleaning the surface to be cleaned after being cleaned by the side brush cleaning assembly 310 and / or the roller brush cleaning assembly 320, so that the automatic cleaning device 10 of the present disclosure can produce a mopping effect when cleaning the surface to be cleaned.

[0247] In the present disclosure, the wet cleaning device 500 includes a scrubbing component 510, which is arranged below the lower shell part 120 and is located on the rear side of the travel direction of the automatic cleaning equipment 10, that is, along the travel direction of the automatic cleaning equipment 10, the wet cleaning device 500 is located on the rear side of the roller brush cleaning assembly 320.

[0248] The wet cleaning device 500 further includes a scrubbing driving device 520 , which is used to drive the scrubbing member 510 to rotate so as to scrub the surface to be cleaned.

[0249] In this disclosure, Figure 30 As shown, the scrubbing component 510 includes at least one rotating member. Preferably, the scrubbing component 510 includes two rotating members, namely a first rotating member 511 and a second rotating member 512, wherein the scrubbing drive device 520 is used to drive the first rotating member 511 and the second rotating member 512 to rotate, thereby achieving scrubbing of the surface to be cleaned.

[0250] 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 circle; when the second rotating member rotates, it forms a second rotating circle. The first rotating member 511 and the second rotating member 512 are arranged so that a portion of the first rotating circle and a portion of the second rotating circle are located outside the outer contour of the automatic cleaning device 10. In addition, the first rotating circle and the second rotating circle 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, so that the automatic cleaning device 10 can mop and clean along the edge of a wall, etc., avoiding problems such as being unable to clean the wall.

[0251] Of course, the number of rotating parts can also be one, three, four or other numbers.

[0252] Accordingly, the number of scrubbing drive devices 520 may be the same as the number of rotating members, for example, each rotating member is driven by one scrubbing drive device 520 .

[0253] Alternatively, the number of scrubbing drive devices 520 is less than the number of rotating parts, and at least one rotating part is driven by one scrubbing drive device 520; further, the automatic cleaning device 10 includes only one scrubbing drive device 520, and all rotating parts are driven by the scrubbing drive device 520.

[0254] Figure 31 It is a schematic structural diagram of a speed change device according to one embodiment of the present disclosure. Figure 32 It is a schematic structural diagram of a speed change device according to one embodiment of the present disclosure.

[0255] For example, in this disclosure, 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 through 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 through a speed change device 530, and makes 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.

[0256] Moreover, 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 for 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 electricity; in specific cleaning scenarios, such as when cleaning sticky floor stains, providing resistance to the automatic cleaning device 10 can often achieve better cleaning effects.

[0257] like Figure 32 As shown, the speed change device 530, that is, the speed change device for automatic cleaning equipment (coaxial speed change device 530) includes: a gearbox body 531; a driving device, which can be a scrubbing driving device 520, and the scrubbing driving device 520 is used to provide driving force; a driving gear 532, the driving gear 532 is rotatably arranged on the gearbox body 531, and the scrubbing driving device 520 drives the driving gear 532 to rotate; and at least one output shaft, the driving gear 532 drives the output shaft to rotate through a transmission gear train; wherein, the rotation axis of the driving gear 532 coincides with the rotation axis of the scrubbing driving device 520; the rotation axis of the output shaft is parallel to the rotation axis of the scrubbing driving device 520.

[0258] For example, the transmission body 531 is formed as a box body of the speed change device 530 to accommodate various components of the speed change device 530 through the transmission body 531, wherein the scrubbing drive device 520 is fixed to the transmission body 531 and is located below the transmission body 531, and the rotation axis of the scrubbing drive device 520 is perpendicular to the transmission body 531.

[0259] Preferably, the output end of the output shaft is located outside the gearbox body 531 , and the scrubbing drive device 520 and the output end of the output shaft are both located on the same side of the gearbox body 531 .

[0260] The output shaft includes a first output shaft 539A and a second output shaft 539B, so as to respectively drive the first rotating member 511 and the second rotating member 512 to rotate, so as to clean the surface to be cleaned by the first rotating member 511 and the second rotating member 512 .

[0261] Of course, the number of the output shafts may also be other values, such as one, three, four, etc. The number of the output shafts may be the same as the number of the rotating members, so that each output shaft drives one rotating member to rotate.

[0262] Accordingly, when the number of the output shafts is two, the transmission gear train includes a first transmission gear train and a second transmission gear train, wherein the driving gear 532 drives the first output shaft 539A to rotate through the first transmission gear train, and the driving gear 532 drives the second output shaft 539B to rotate through the second transmission gear train.

[0263] In the present disclosure, the speed change device further includes: a first coaxial gear 533 rotatably disposed on the transmission housing 531 , such that the rotation axis of the first coaxial gear 533 is parallel to the rotation axis of the scrubbing drive device;

[0264] The driving gear 532 is in transmission connection with the gear with a larger diameter in the first coaxial gear 533 , so that the driving gear 532 drives the first coaxial gear 533 to rotate.

[0265] The speed change device also includes: a first coaxial gear 533, which is rotatably arranged on the transmission body 531, and makes the rotation axis of the first coaxial gear 533 parallel to the rotation axis of the scrubbing drive device 520; wherein the driving gear 532 is connected to the gear with a larger diameter in the first coaxial gear 533 to drive the first coaxial gear 533 to rotate through the driving gear 532.

[0266] The first transmission gear train includes: a second coaxial gear 534, which is rotatably arranged on the transmission body 531, and makes the rotation axis of the second coaxial gear 534 parallel to the rotation axis of the scrubbing drive device 520; and a first output gear 536, which is arranged on the first output shaft 539A; wherein the gear with smaller diameter in the first coaxial gear 533 is transmission-connected with the gear with larger diameter in the second coaxial gear 534, and the gear with smaller diameter in the second coaxial gear 534 is transmission-connected with the first output gear 536.

[0267] The first transmission gear train also includes: an idler gear 535, which is rotatably arranged on the transmission body 531, and makes the rotation axis of the idler gear 535 parallel to the rotation axis of the scrubbing drive device 520; wherein, the gear with a smaller diameter of the second coaxial gear 534 is transmission-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.

[0268] The second transmission gear train includes: a third coaxial gear 537, which is rotatably arranged on the transmission body 531, and makes the rotation axis of the third coaxial gear 537 parallel to the rotation axis of the scrubbing drive device 520; and a second output gear 538, which is arranged on the second output shaft 539B; wherein the gear with a smaller diameter in the first coaxial gear 533 is transmission-connected with the gear with a larger diameter in the third coaxial gear 537, and the gear with a smaller diameter in the third coaxial gear 537 is transmission-connected with 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.

[0269] Of course, the first transmission gear train and the second transmission gear train are not limited to the above structure, as long as they can transmit power from the scrubbing drive device to the output shaft through gear transmission.

[0270] 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.

[0271] In the present disclosure, one end of the first output shaft 539A passes through the transmission case 531 and is located outside the transmission case 531 , so that the first output shaft 539A is connected to the lifting transmission device 540 described below.

[0272] Correspondingly, one end of the second output shaft 539B passes through the transmission case 531 and is located outside the transmission case 531 , so that the second output shaft 539B is connected to the lifting transmission device 540 described below.

[0273] In this disclosure, Figure 32 and Figure 32As shown, the parts of the first output shaft 539A and the second output shaft 539B extending to the outside of the transmission body 531 are located on the same side of the transmission body 531 as the scrubbing drive device 520, thereby enabling the various parts of the automatic cleaning device 10 disclosed in the present invention to be arranged more compactly, occupying less space, and being able to increase the capacity of the cleaning liquid storage part 571, and having high transmission efficiency.

[0274] The first rotating member 511 and / or the second rotating member 512 are configured to be displaceable in a direction perpendicular to the bottom surface of the lower housing portion 120, so that in certain 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 allowing the first rotating member 511 and / or the second rotating member 512 to leave the surface to be cleaned.

[0275] 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, wherein the connection method between the first rotating member 511 and the first output shaft 539A of the speed transmission device 530 is the same as the connection method between the second rotating member 512 and the second output shaft 539B of the speed transmission device 530. Here, only the first rotating member 511 is taken as an example to illustrate the connection method between the first rotating member 511 and the second rotating member 512 and the speed transmission device 530.

[0276] Figure 33 It is a structural schematic diagram of a lifting transmission device according to one embodiment of the present disclosure. Figure 34 It is a structural schematic diagram of a lifting transmission device (part) according to an embodiment of the present disclosure. Figure 35 It is a structural schematic diagram of a lifting transmission device (part) according to an embodiment of the present disclosure.

[0277] In an optional embodiment of the present disclosure, Figures 33 to 35 As shown, the wet cleaning device 500 also includes: a lifting transmission device 540, which is arranged on the shell assembly 100, for example, on the lower shell part 120 of the shell assembly 100, and enables the lifting transmission device 540 to rise or fall relative to the lower shell part 120, and at the same time enables the scrubbing component 510 to rise or fall.

[0278] For example, the lifting transmission device 540 includes a guide column portion 541 , a lifting bracket 542 and a floating shaft 543 .

[0279] There is at least one guide column portion 541. When there is one guide column portion 541, the cross-section of the guide column portion 541 is non-circular. When there are more than two guide column portions 541, the cross-section of the guide column portion 541 can be any shape, for example, circular or non-circular.

[0280] In the present disclosure, the guide column portion 541 can be fixed to the speed shifting device 530, for example, fixed to the gearbox body portion 531 of the speed shifting 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 column portion 541 from the perspective of convenient installation.

[0281] The lifting bracket 542 is slidably disposed on the guide column portion 541 , that is, the lifting bracket 542 is configured to be lifted and lowered along the guide column portion 541 to drive the first rotating member 511 and / or the second rotating member 512 to rise.

[0282] In the present disclosure, a stepped hole is provided on the lifting bracket 542, the bottom wall of the stepped hole is formed as a through hole, and the size of the through hole is made larger than the size of the floating shaft 543, so that the floating shaft 543 can move up and down and rotate in the through hole. For example, when the through hole and the floating shaft 543 are both circular, the diameter of the through hole is larger than the diameter of the floating shaft 543.

[0283] A drag reducing device 544 is provided in 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 .

[0284] In the present disclosure, the drag reduction device 544 can be selected from linear bearings, plastic linear bearings, injection molded parts with lubrication, or copper sleeves, so as to reduce the friction force on the floating shaft 543 when the floating shaft 543 moves in the drag reduction device 544.

[0285] At this time, the floating shaft 543 is slidably and rotatably arranged on the drag reduction device 544. For example, when the drag reduction device 544 is a linear bearing, the floating shaft 543 is arranged in the center hole of the linear bearing, so that the floating shaft 543 can slide up and down with lower sliding resistance and rotate with lower rotational resistance.

[0286] like Figure 35 As shown, an outer flange 5431 is formed at the upper end of the floating shaft 543, and the size of the outer flange 5431 is larger than the size of the center hole of the drag reduction device 544. For example, the diameter of the outer flange 5431 is larger than the diameter of the center hole of the drag reduction device 544, so that when the lifting bracket 542 rises, the flange portion of the floating shaft 543 contacts the drag reduction device 544 or contacts the lifting bracket 542, so that the rising of the lifting bracket 542 drives the floating shaft 543 to rise.

[0287] Furthermore, when the lifting bracket 542 descends, the floating shaft 543 moves downward under the driving force of the restoring force provided by the elastic restoring portion 545 and the gravity of the floating shaft 543 and the first rotating member 511 .

[0288] In the present 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 .

[0289] Preferably, the first rotating member 511 can also be directly mounted on the lower ends of the first output shaft 539A, the second output shaft 539B, and the lifting shaft 565. 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 portion. The rotating shaft portion is driven and rotatable.

[0290] The first rotating member 511 is disposed on the rotating shaft portion, and the rotating shaft portion drives the first rotating member 511 to rotate, so that the first rotating member 511 cleans the surface to be cleaned;

[0291] In which, the first rotating member 511 is configured to be movable along the axial direction of the rotating shaft portion, and / or, movable along the radial direction of the rotating shaft portion, and / or, the rotation axis of the first rotating member 511 and the rotation axis of the rotating shaft portion can form an angle that is not 0°.

[0292] In the present disclosure, the shaft portion includes a limiting portion to limit the upward movement of the first rotating member 511 along the axial direction of the shaft portion. Preferably, the limiting portion of the shaft portion includes a shoulder formed on the shaft portion.

[0293] In this disclosure, 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, wherein 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.

[0294] That is, when the mounting hole and the lower end of the rotating shaft have the same shape, the first rotating member 511 can only move along the axis direction of the rotating shaft.

[0295] As a preferred option, Figure 35 As shown, the length from the limiting portion to the lower end of the rotating shaft portion is greater than the height of the mounting hole of the first rotating member 511 .

[0296] In the present disclosure, there is a gap between the outer surface of the lower end of the shaft portion and the mounting hole of the first rotating member 511, so that the first rotating member 511 can move along the radial direction of the shaft portion, and / or the rotation axis of the first rotating member 511 and the rotation axis of the shaft portion can form an angle that is not 0°.

[0297] A fastening element 546 is provided at the lower end of the rotating shaft portion to limit the downward movement position of the first rotating member 511 along the axial direction of the rotating shaft portion through the fastening element 546; for example, when the first rotating member 511 contacts the limiting portion of the rotating shaft portion, there is a preset distance between the fastening element 546 and the first rotating member 511, and the preset distance is the movement stroke of the first rotating member 511 along the axial direction of the rotating shaft portion.

[0298] As an implementation form, the fastening element 546 includes a cap screw, which is fixed to the lower end of the rotating shaft portion. At this time, a threaded hole is provided at the lower end of the rotating shaft portion so that the cap screw can be screwed into the threaded hole of the rotating shaft portion. When the first rotating member 511 contacts the limiting portion of the rotating shaft portion, there is a preset distance between the screw head of the cap screw and the first rotating member 511; when the first rotating member 511 contacts the cap screw, at least part of the screw head of the cap screw contacts the first rotating member 511.

[0299] More preferably, if Figure 35 As shown, a countersink is formed at the lower end of the first rotating member 511 , and the countersink of the first rotating member 511 is communicated with the mounting hole of the first rotating member 511 , so that part of the fastening element 546 is located in the countersink.

[0300] 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 along the radial direction of the rotating shaft portion, and / or the rotation axis of the first rotating member 511 and the rotation axis of the rotating shaft portion can form an angle that is not 0°.

[0301] For those skilled in the art, the fastening element 546 may also include a screw and a washer. The configuration of the screw and the washer is similar to the above-mentioned cap screw, and they will not be described in detail here.

[0302] In this disclosure, Figure 34 As shown, the floating shaft 543 is configured to be able to approach or move away from the first output shaft 539A of the speed change device 530; wherein, 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 speed change device 530, and when the guide hole is provided at the lower end of the first output shaft 539A of the speed change device 530, the upper end of the floating shaft 543 can be slidably provided in the guide hole of the first output shaft 539A of the speed change device 530; accordingly, when the guide hole is provided at the upper end of the floating shaft 543, the lower end of the first output shaft 539A of the speed change device 530 can be slidably provided in the guide hole of the floating shaft 543, so that the first output shaft 539A of the speed change device 530 and the floating shaft 543 can slide, thereby making the first output shaft 539A of the speed change device 530 approach or move away from the floating shaft 543.

[0303] The guide hole is a non-circular hole, for example, the shape of the guide hole can be square, triangular, etc.; 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 speed 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 speed transmission device 530, so that power can be transmitted between the floating shaft 543 and the first output shaft 539A of the speed transmission device 530.

[0304] Therefore, when the first rotating member 511 is subjected to an external force from the surface to be cleaned, for example, when the surface to be cleaned is uneven, relative movement can be generated between the floating shaft 543 and the first output shaft 539A of the speed change device 530 .

[0305] Furthermore, the elastic restoring portion 545 is used to provide a restoring force to the floating shaft 543. For example, the elastic restoring portion 545 can provide a downward force to the floating shaft 543 and the first rotating member 511 mounted thereto, thereby generating a predetermined positive pressure when the first rotating member 511 contacts the ground. More preferably, one end of the elastic restoring portion 545 does not rotate relative to the output shafts (the first output shaft 539A and the second output shaft 539B), or the rotation angle is within a predetermined range, and the other end of the elastic restoring portion does not rotate relative to the floating shaft, or the rotation angle is within a predetermined range.

[0306] Preferably, the elastic restoring portion 545 may be a spring, such as a coil spring. Of course, the elastic restoring portion 545 may also be implemented by other elements, such as an elastic rubber block.

[0307] The spring can be mounted on the outside of the first output shaft 539A, with one end of the spring resting on 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.

[0308] In the present disclosure, in order 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 placed on the baffle part 547, that is, the elastic recovery part 545 is located between the floating shaft 543 and the baffle part 547, wherein the baffle part 547 rotates synchronously with the first output shaft 539A, so that the elastic recovery part 545 is in a stationary state between the floating shaft 543 and the baffle part 547.

[0309] For example, a shoulder is formed on the first output shaft 539A, and the baffle portion 547 is arranged on the shoulder of the first output shaft 539A to limit the axial position of the baffle portion 547 on the first output shaft 539A through the shoulder of the first output shaft 539A, and to make the baffle portion 547 and the gearbox body portion 531 of the speed change device 530 spaced a preset distance apart.

[0310] That is to say, one end of the elastic recovery part 545 is placed on the baffle part 547, so that when the first output shaft 539A rotates, the baffle part 547 is driven to rotate, thereby making the elastic recovery part 545 in a stationary state relative to the first output shaft 539A or relative to the floating shaft 543.

[0311] In the present disclosure, the shape of the center hole of the blocking piece 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 blocking piece 547 can rotate synchronously with the first output shaft 539A.

[0312] Figure 36 It is a structural schematic diagram of a lifting drive assembly according to one embodiment of the present disclosure.

[0313] In an optional embodiment of the present disclosure, Figure 36 As shown, the lifting transmission device 540 further 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 .

[0314] like Figure 36 As shown, the lifting drive assembly 548 includes: a lifting drive device 5481 and a connecting rod 5482.

[0315] The lifting drive device 5481 is arranged on non-moving structures such as the lower shell part 120 and the speed change device 530 to provide lifting drive force.

[0316] One end of the connecting rod 5482 is set on the lifting drive device 5481, and the other end of the connecting rod 5482 is in contact with the lifting bracket 542, so that when the lifting drive device 5481 drives the connecting rod 5482 to rotate around the rotation axis of the lifting drive device 5481, the other end of the connecting rod 5482 slides relative to the lifting bracket 542 and drives the lifting bracket 542 to rise.

[0317] In the opposite process, when the lifting drive device 5481 is reversed, the lifting bracket 542 moves downward under the action of its own gravity and other forces of the lifting bracket 542.

[0318] 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.

[0319] More preferably, the lifting drive device 5481 can be a servo, a motor, a stepper motor, a reduction gear box, etc.

[0320] In the present disclosure, the lift drive assembly 548 is not limited to the structure described above; any structure capable of driving the floating shaft to move upward and downward can achieve the objectives of the present disclosure, such as a lift cylinder and a linear motor. However, due to space constraints, a structure in which a motor-type lift drive device, in which the motor's output shaft rotates at a small angle to drive the connecting rod to swing up and down, is preferred.

[0321] In order to reduce the friction during the contact process between the connecting rod 5482 and the lifting bracket 542, a rolling device 5483 is provided at the other end of the connecting rod 5482, and the rolling device 5483 is in contact with the lifting bracket 542. For example, the rolling device 5483 can be a bearing, roller or other structure.

[0322] Moreover, a limiting groove is provided on the lifting bracket 542, and the other end of the connecting rod 5482 or the rolling device 5483 moves in the limiting groove. Through the setting of the limiting groove, the movement range of the lifting bracket 542 when moving downward can be limited.

[0323] Figure 37 It is a structural schematic diagram of a variable speed lifting device according to one embodiment of the present disclosure. Figure 38 It is a schematic structural diagram of a variable speed lifting device according to another angle of an embodiment of the present disclosure.

[0324] As another implementation, Figure 37 and 38 As shown, the wet cleaning device 500 includes a variable speed lifting device 560 , which is disposed on the housing assembly 100 , for example, on a non-moving component such as the lower housing portion 120 of the housing assembly 100 .

[0325] In the present disclosure, two speed-changing lifting devices 560 can be provided, that is, each speed-changing lifting device 560 drives one rotating member. Of course, the number of scrubbing drive devices 520 can also be two, each scrubbing drive device 520 is connected to a speed-changing lifting device 560 to provide driving force to the speed-changing lifting device 560.

[0326] 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 .

[0327] The speed-changing lifting box body 561 can be formed by combining an upper box body and a lower box body, so that the various components of the speed-changing lifting device 560 can be arranged inside the speed-changing lifting box body 561 .

[0328] The scrubbing drive device 520 is disposed in the variable speed lifting box body 561 , for example, in the lower part of the box body of the variable speed lifting box body 561 . The main gear 562 is disposed in the scrubbing drive device 520 so as to drive the main gear 562 to rotate through the scrubbing drive device 520 .

[0329] The intermediate gear 563 is rotatably arranged on the variable speed lifting box body 561. For example, one end of the intermediate gear 563 is rotatably arranged on the upper part of the box body, and the other end is rotatably arranged on the lower part of the box body, and the rotation axis of the intermediate gear 563 is parallel to the rotation axis of the scrubbing drive device 520.

[0330] The intermediate gear 563 includes a large gear 5631 and a small gear 5632 . The large gear 5631 and the small gear 5632 rotate synchronously. For example, the large gear 5631 and the small gear 5632 are integrally formed. The large gear 5631 has a larger diameter and more teeth than the small gear 5632 .

[0331] 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 , allowing the lifting gear 564 to be raised and lowered relative to the small gear 5632 .

[0332] In the present disclosure, a lifting gear 564 is fixed to 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 , wherein a threaded portion is formed on the outer surface of the lifting shaft 565 .

[0333] The outer sleeve of the lifting shaft 565 is provided with a nut 566, wherein the nut 566 cooperates 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 arranged on the speed-changing lifting box body 561 of the speed-changing device 530, and the position of the nut 566 in the axial direction of the lifting shaft 565 is limited by the speed-changing lifting box body 561.

[0334] An installation space is formed on the lower portion of the box body, and a bearing portion 567 can be provided in the installation space. The nut 566 is rotatably provided in the bearing portion 567 , and the radial movement of the nut 566 is limited by the bearing portion 567 .

[0335] Preferably, the bearing portion 567 can be selected as a linear bearing, such as a plastic linear bearing.

[0336] A thrust bearing 568 is provided on at least one of the upper surface and the lower surface of the outer flange 5431 of the nut 566. For example, thrust bearings 568 are provided on both the upper surface and the lower surface 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 box, and the thrust bearing 568 located on the lower surface of the outer flange 5431 of the nut 566 contacts the box end cover 5601, wherein the box end cover 5601 is provided at the lower part of the box for closing the installation space at the lower part of the box. At this time, the lifting shaft 565 can pass through the box end cover 5601 and be located outside the box end cover 5601.

[0337] In an optional embodiment of the present disclosure, 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, wherein when the lifting selection device 569 locks the nut 566 and the scrubbing drive device 520 rotates along the first direction, the lifting shaft 565 rotates upward; when the lifting selection device 569 locks the nut 566 and the scrubbing drive device 520 rotates along the second direction, the lifting shaft 565 rotates downward, and when the lifting selection device 569 locks the nut 566 and the scrubbing drive device 520 rotates along the first direction or the second direction, the scrubbing drive device 520 drives the first rotating member 511 to rotate, wherein the first direction and the second direction are opposite.

[0338] As an implementation form, 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 is inserted 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.

[0339] In the present disclosure, the height of the pinion 5632 is set so that when the lifting shaft 565 is located at the uppermost limit position and the lowermost limit position, the pinion 5632 remains engaged with the lifting gear 564.

[0340] In an optional embodiment of the present 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 lift.

[0341] The connection between the first rotating member 511 and the lifting shaft 565 is the same as / similar to the connection between the first rotating member 511 and the floating shaft 543 , and thus will not be described in detail herein.

[0342] The detailed structure of the scrubbing component 510 of the present disclosure will be described below with reference to the accompanying drawings.

[0343] Specifically, if Figure 30 As shown, the scrubbing member 510 may include a first rotating member 511 and a second rotating member 512 .

[0344] The first rotating member 511 can rotate around a first rotation center 517 and form a first rotation circle, and the second rotating member 512 can rotate around a second rotation center 518 and form a second rotation circle.

[0345] The first rotating member 511 may have a first edge, and the first edge is composed of a first arc segment 513 and a second arc segment 514. The first arc segment 513 and the second arc segment 514 are alternately connected end to end to form the first edge.

[0346] Figure 30 It is shown that the number of the first arc segments 513 and the number of the second arc segments 514 are four respectively, and the four first arc segments 513 and the four second arc segments 514 are alternately connected to form a first edge.

[0347] However, those skilled in the art should understand that the number of the first arc segments 513 and the second arc segments 514 may also be other numbers, for example, five, six, seven, eight, etc.

[0348] The second rotating member 512 may have a second edge, and the second edge may be composed of a third arc segment 523 and a fourth arc segment 524. Although the figure shows that there are 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, as with the first edge. Furthermore, the shape and configuration of the second rotating member 512 may be the same as those of the first rotating member 511.

[0349] 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.

[0350] The arrangement of the first rotating member 511 and the second rotating member 512 of the present disclosure allows the first rotating member 511 and the second rotating member 512 to occupy a larger effective cleaning surface area. For example, compared to 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 during actual sweeping and mopping.

[0351] In addition, although the arc segments of the first rotating member 511 and the second rotating member 512 are shown in the figure as being in the shape of a circular arc, they may be in other arc shapes, for example, an arc shape consisting of straight lines and curves.

[0352] The first rotating circle 515 and the second rotating circle 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 in a continuously tangent state at the edge and inside of the overlapping area.

[0353] In the present disclosure, a continuously tangent state refers to the first edge and the second edge being in contact or maintaining a small gap therebetween, such as a constant small gap. In the present disclosure, the curvatures of the first, second, third, and fourth arc segments are configured to prevent mutual interference such as squeezing, thereby ensuring smooth rotation of the first rotating member 511 and the second rotating member 512.

[0354] For example, when the first edge and the second edge are tangent, the sum of the distance from the first rotation center 517 to a point on the first / second arc segment where they are tangent and the distance from the second rotation center 518 to a point on the third / fourth arc segment where they are tangent 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 generally mates with the fourth arc segment, and the second arc segment generally mates with the third arc segment. The distance from each point on the first and third arc segments to the first rotation center is set to be greater than or equal to half the distance between the first rotation center 517 and the second rotation center 518, and the distance from each point on the second and fourth arc segments to the first rotation center is set to be less than or equal to half the distance between the first rotation center 517 and the second rotation center 518.

[0355] As a specific example, the settings of the first arc segment to the fourth arc segment may be as follows.

[0356] 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 a point in the middle area of ​​the first arc segment 513 and the first rotation center 517 is greater than the distance between the points at the two ends of the first arc segment 513 and the first rotation center 517. The distance between each point of the first arc segment 513 and the first rotation center 517 gradually decreases from the center or middle area of ​​the first arc segment 513 toward the two ends of the first arc segment 513.

[0357] 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 area of ​​the second arc segment 514 and the first rotation center 517 is smaller than the distance between the points at the two ends of the second arc segment 514 and the first rotation center 517. The distance between each point of the second arc segment 514 and the first rotation center 517 gradually increases from the center or middle area of ​​the second arc segment 514 toward the two ends of the second arc segment 514.

[0358] 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 area of ​​the third arc segment 523 and the second rotation center 518 is greater than the distance between the points at the two ends of the third arc segment 523 and the second rotation center 518. The distance between each point of the third arc segment 523 and the second rotation center 518 gradually decreases from the center or middle area of ​​the third arc segment 523 toward the two ends of the third arc segment 523.

[0359] 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 area of ​​the fourth arc segment 524 and the second rotation center 518 is smaller than the distance between the points at the two ends of the fourth arc segment 524 and the second rotation center 518. The distance between each point of the fourth arc segment 524 and the second rotation center 518 gradually increases from the center or middle area of ​​the fourth arc segment 524 toward the two ends of the fourth arc segment 524.

[0360] In a preferred embodiment, the first arc segment 513 and the second arc segment 514 are circular arc segments with smooth transitions, and / or the third arc segment 523 and the fourth arc segment 524 are circular arc segments with smooth transitions.

[0361] When the scrubbing member 510 is in operation, it can rotate horizontally in contact with the surface being cleaned to perform mopping and cleaning, etc. The first rotating member 511 and the second rotating member 512 are symmetrically arranged and can be set to rotate in opposite directions. This ensures that when a cleaning device such as the automatic cleaning device 10 is in operation, the rotation of the first rotating member 511 and the second rotating member 512 does not affect the normal movement of the cleaning device.

[0362] In an embodiment of the present disclosure, the first rotating member 511 and the second rotating member 512 are configured to move up and down relative to the surface being cleaned. The up and down movement herein refers to movement in a direction perpendicular to the surface being cleaned. This allows the scrubbing member 510 to better contact the surface being cleaned, thereby achieving a better cleaning effect.

[0363] The first rotating member 511 and the second rotating member 512 may be provided with cleaning materials to scrub the surface to be cleaned. The cleaning materials may include, for example, a flexible brush head or a cleaning cloth, etc. The cleaning head or the brush head may scrub the cleaning surface with the cleaning material.

[0364] 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.

[0365] like Figure 33 As shown, a hollow area 525 can be provided on the first rotating member 511 so that when cleaning liquid is provided to the hollow area 525, the cleaning liquid can pass through the hollow 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.

[0366] Although Figure 33 The form of the hollow area is shown in FIG, but those skilled in the art will appreciate that other shapes may also be used.

[0367] In addition, the same method can also be used for the second rotating member 512, which will not be described again here.

[0368] Figure 39 2 is a schematic structural diagram of a cleaning liquid supply device 570 according to one embodiment of the present disclosure.

[0369] In this disclosure, Figure 8 and Figure 39 As shown, the wet cleaning apparatus further includes a cleaning liquid supply device 570 , which stores cleaning liquid and provides the cleaning liquid to the first rotating member 511 and / or the second rotating member 512 , so that the wet cleaning apparatus can wet clean the surface to be cleaned.

[0370] In an optional embodiment of the present disclosure, the cleaning liquid supply device 570 includes:

[0371] The cleaning liquid storage portion 571 is used to store the cleaning liquid;

[0372] a liquid replenishment control unit 572, which is disposed in the cleaning liquid storage unit 571 and has a first position and a second position, wherein when the liquid replenishment control unit 572 is in the first position, the supply of cleaning liquid to the cleaning liquid storage unit 571 is not permitted, and when the liquid replenishment control unit 572 is in the second position, the supply of cleaning liquid to the cleaning liquid storage unit 571 is permitted; and

[0373] The position detection module 610 is used to detect the position of the liquid replenishment control unit 572 and determine whether cleaning liquid can be provided to the cleaning liquid storage unit 571 according to the position of the liquid replenishment control unit 572 .

[0374] Therefore, when the automatic cleaning device is docked at the base station, the refill tube of the base station can drive the refill control unit 572 and obtain the accurate position of the refill control unit through the position detection module, so that the process of replenishing the cleaning liquid can proceed smoothly.

[0375] Of course, the position detection module 610 can also be used as a 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 a detection device, which is not contradictory.

[0376] In the present disclosure, the position detection module 610 includes:

[0377] a magnetic detection unit 611 , the magnetic detection unit 611 being configured to generate a magnetic field; and

[0378] The detection element 612 confirms the distance between the magnetic detection unit 611 and the detection element 612 through the magnetic field strength of the magnetic detection unit 611 detected by the detection element 612 , thereby determining the position of the fluid replenishment control unit 572 .

[0379] As one implementation form, the magnetic detection unit 611 is arranged in the fluid replenishment control unit 572, and the detection element 612 is arranged in the cleaning liquid storage unit 571; or, as another implementation form, the magnetic detection unit 611 is arranged in the cleaning liquid storage unit 571, and the detection element 612 is arranged in the fluid replenishment control unit 572.

[0380] Preferably, the detection element 612 includes a Hall element and / or a reed switch.

[0381] According to at least one embodiment of the present disclosure, the cleaning liquid supply device 570 further includes:

[0382] The guide portion 573 is provided in the cleaning liquid storage portion 571; as an implementation form, the guide portion 573 can be formed to extend from the inner wall of a side wall of the cleaning liquid storage portion 571 toward the interior of the cleaning liquid storage portion 571; as another implementation form, the guide portion 573 can be formed as an independent component, and the cleaning liquid storage portion 571 is formed with a recess, and at least a portion of the guide portion 573 is located in the recess of the cleaning liquid storage portion.

[0383] Moreover, the guide portion 573 can also be formed as a part of the wall portion of the cleaning liquid storage portion, and the guide portion 573 forms a cleaning liquid circulation channel, and the internal space of the cleaning liquid storage portion 571 is connected to the outside of the cleaning liquid storage portion 571 through the cleaning liquid circulation channel.

[0384] A fluid infusion hole is provided on the side wall of the guide portion 573, and the fluid infusion hole forms a part of the cleaning liquid circulation channel, that is, the guide portion 573 is connected with the internal space of the cleaning liquid storage portion 571 through the fluid infusion hole, so that when the liquid in the fluid infusion tube flows to the guide portion 573, it flows into the cleaning liquid storage portion 571 through the fluid infusion hole of the guide portion 573.

[0385] On the one hand, the guide portion 573 can be arranged horizontally, and the fluid infusion hole is located at the lowest position of the guide portion 573.

[0386] On the other hand, the guide portion 573 can be arranged at an angle, for example, arranged downwardly along the direction from the first position to the second position of the fluid replenishment control portion (i.e., along the direction from front to back of the automatic cleaning device), and the fluid replenishment hole is arranged along the length direction of the guide portion 573, and the extension line of the position of the fluid replenishment hole is located at the lowest position of the guide portion 573.

[0387] The fluid replenishment control unit 572 can be slidably disposed on the guide unit 573, and when the fluid replenishment control unit 572 is located at the first position, the fluid replenishment control unit 572 closes the fluid replenishment hole to prevent the cleaning liquid from flowing out of the cleaning liquid storage unit 571, and does not allow cleaning liquid to be added to the cleaning liquid storage unit 571. When the fluid replenishment control unit 572 is located at the second position, the internal space of the cleaning liquid storage unit 571 is connected to the cleaning liquid circulation channel of the guide unit 573.

[0388] In the present disclosure, the cleaning liquid supply device 570 further includes:

[0389] The sealing guide 574 is provided in the cleaning liquid storage portion 571 to seal the cleaning liquid circulation channel and guide the liquid infusion tube.

[0390] Specifically, a conical center hole is formed in the center of the sealing guide 574, and the diameter of the center hole of the sealing guide 574 gradually decreases as it approaches the cleaning liquid storage part 571. Through the setting of the sealing guide 574, on the one hand, it can guide the liquid infusion tube of the base station, and on the other hand, it can improve the sealing effect of the cleaning liquid storage part 571.

[0391] For example, when the fluid replenishment control part 572 is located in the first position, a sealing component 575 is provided between the fluid replenishment control part 572 and the sealing guide 574. The sealing component 575 can be a sealant so that the cleaning liquid storage part 571 forms a sealing structure at the fluid replenishment control part 572.

[0392] Moreover, when the fluid replenishment control part 572 is located at the first position, at least a portion of the fluid replenishment control part 572 is located in the central hole of the sealing guide 574.

[0393] In order to enable the fluid replenishment control unit 572 to move from the second position to the first position after the fluid replenishment tube of the base station leaves the cleaning liquid storage unit 571, the cleaning liquid storage unit 571 also includes an elastic force-applying unit 576, one end of the elastic force-applying unit 576 is arranged on a wall portion of the cleaning liquid storage unit 571, and the other end is arranged on the fluid replenishment control unit 572. When the fluid replenishment control unit 572 is in the first position, the elastic force-applying unit 576 applies an elastic force to the fluid replenishment control unit 572.

[0394] When the fluid replenishment control part 572 moves from the first position to the second position, the fluid replenishment control part 572 further compresses the elastic force applying part 576 so as to move the fluid replenishment control part 572 from the second position to the first position through the potential energy of the elastic force applying part 576 .

[0395] According to at least one embodiment of the present disclosure, the cleaning liquid storage portion 571 includes a container upper portion and a container lower portion, and the cleaning liquid storage portion 571 is formed by connecting the container upper portion and the container lower portion.

[0396] Among them, an opening is formed on the shell side wall portion 112 of the upper shell portion 110, and the sealing guide 574 corresponds to the opening position of the shell side wall portion 112. In this way, the fluid infusion tube of the base station can pass through the opening of the shell side wall portion 112 and the sealing guide 574 to apply a thrust to the fluid infusion control portion 572.

[0397] On the other hand, part of the sealing guide 574 can be located in the opening of the shell side wall portion 112, so that the infusion tube of the base station can be directly inserted into the sealing guide 574 and apply a thrust to the infusion control portion 572.

[0398] More preferably, along the forward direction of the automatic cleaning device 10 , the opening formed on the housing side wall portion 112 is located at the rear side of the automatic cleaning device 10 ; for example, arranged at a position close to the wet cleaning module.

[0399] The cleaning liquid supply device 570 also includes: a liquid supply module, which is arranged in the housing assembly 100, for example, in the lower housing portion 120 of the housing assembly 100, and is connected to the cleaning liquid storage portion 571, for providing cleaning liquid to the first rotating member 511 and / or the second rotating member 512.

[0400] The liquid supply module may include a peristaltic pump to quantitatively send the cleaning liquid stored in the cleaning liquid storage portion 571 to the first rotating member 511 and / or the second rotating member 512 through the peristaltic pump.

[0401] The detection device 600 includes a laser ranging sensor 620 (LDS laser ranging sensor 620), which is rotatably arranged on the housing assembly 100, for example, directly or indirectly arranged on the lower housing portion 120 of the housing assembly 100, and passes through the housing cover 130, so that part of the laser ranging sensor 620 is located on the upper part of the housing cover 130.

[0402] Among them, the laser ranging sensor 620 rotates at a speed of about 300 rpm. Of course, the speed of the laser ranging sensor 620 can also be set to other values, so that the laser ranging sensor 620 can detect the distance between the automatic cleaning device 10 and the surrounding obstacles, thereby constructing a map of the surface to be cleaned.

[0403] On the other hand, the detection device 600 also includes a wall sensor, which can detect the distance between the automatic cleaning device 10 and the surrounding planar obstacles. For example, the wall sensor can detect the distance between the automatic cleaning device 10 and the wall, and enable the automatic cleaning device 10 to move along the wall, thereby effectively cleaning the area near the wall.

[0404] In the present disclosure, the wall sensor may be selected as a line laser sensor, thereby enabling the automatic cleaning device 10 to maintain a distance from the wall at 5 mm or even less.

[0405] Among them, the wall sensor is arranged on the shell component 100, and the signal it transmits can be transmitted to the outside of the automatic cleaning device 10 from the opening formed on the side of the shell component 100, and the reflected signal is received by the wall sensor from the opening on the side of the shell component 100 to accurately detect the distance between the automatic cleaning device 10 and the surrounding planar obstacles.

[0406] In an optional embodiment of the present disclosure, the detection device 600 further includes a collision sensor to detect the collision position between the automatic cleaning device 10 and the surrounding obstacles through the collision sensor, thereby confirming the position of the surrounding obstacles of the automatic cleaning device 10.

[0407] The collision sensor includes a collision plate portion, wherein the collision plate portion is configured to generate relative displacement with the housing assembly 100 , and in particular, the collision plate portion is formed as a part of the outer surface of the automatic cleaning device 10 .

[0408] The collision plate portion can be located at the front of the automatic cleaning device 10 in the direction of travel, so that when the collision plate portion collides with an obstacle, a relative displacement is generated between the collision plate portion and the housing assembly 100, and the detection portion of the collision sensor is stimulated to detect the displacement signal.

[0409] In an optional embodiment of the present disclosure, the detection device 600 also includes a cliff sensor, which is used to detect the distance between the automatic cleaning device 10 and the surface to be cleaned, and when the distance between the automatic cleaning device 10 and the surface to be cleaned is greater than a preset value, or the difference between the current distance between the automatic cleaning device 10 and the surface to be cleaned and the distance between the automatic cleaning device 10 and the surface to be cleaned at the previous moment is greater than a preset value, it is judged that there are steps on the surface to be cleaned, and the automatic cleaning device 10 is controlled to stop at this time to prevent the automatic cleaning device 10 from falling from the steps.

[0410] Moreover, the automatic cleaning device 10 can also form a virtual restricted area according to the user's settings. When the automatic cleaning device 10 moves near the virtual restricted area, the automatic cleaning device 10 is controlled to limit the automatic cleaning device 10 from crossing the virtual restricted area.

[0411] Those skilled in the art will appreciate that the above embodiments are merely intended to clearly illustrate the present disclosure and are not intended to limit the scope of the present disclosure. Other changes or modifications may be made based on the above disclosure, and such changes or modifications are still within the scope of the present disclosure.

Claims

1. A variable speed lifting device, which is used for automatic cleaning equipment, so that when the automatic cleaning equipment is in working state, the variable speed lifting device drives the rotating part of the automatic cleaning equipment to rotate and / or lift, characterized in that: include: a lifting shaft, wherein at least a portion of the outer surface of the lifting shaft is formed with an external thread; A lifting control part, wherein the lifting control part is formed with a center hole, and at least a portion of the center hole of the lifting control part is formed into an internal threaded portion, and the lifting control part is rotatably provided on the lifting shaft, and the external threaded portion of the lifting shaft is matched with the internal threaded portion of the lifting control part; a lifting selection device, the lifting selection device selectively locking the lifting control part so that when the lifting control part is locked and the lifting shaft rotates, the lifting shaft generates a lifting motion; when the lifting control part is unlocked, the lifting shaft and the lifting control part rotate at the same speed; a driving device for providing power to the lifting shaft to enable the lifting shaft to lift and / or rotate; a variable speed lifting box body, the variable speed lifting box body being used to limit the movement of the lifting control part along the axial direction of the lifting shaft; as well as The first rotating member is arranged at the lower end of the lifting shaft and is driven to lift and rotate by the lifting shaft.

2. The variable speed lifting device according to claim 1, characterized in that: The lifting selection device is arranged on the speed-changing lifting box body.

3. The variable speed lifting device according to claim 1, characterized in that: An installation space is formed on the speed-changing lifting box body, a bearing portion is provided in the installation space, and the lifting control portion is rotatably provided in the bearing portion.

4. The variable speed lifting device according to claim 3, characterized in that: An outer flange is formed on the outer peripheral surface of the lifting control part, and the speed-changing lifting box body cooperates with the outer flange of the lifting control part to limit the position of the lifting control part by limiting the position of the outer flange of the lifting control part.

5. The variable speed lifting device according to claim 4, characterized in that: It also includes a box end cover part, which is arranged on the speed-changing lifting box part and allows the outer flange of the lifting control part to be restricted between the speed-changing lifting box part and the box end cover part.

6. The variable speed lifting device according to claim 5, characterized in that: At least one of the upper surface and the lower surface of the outer flange of the lifting control part is provided with a friction reducing component, so as to reduce the friction force when the lifting control part rotates.

7. The variable speed lifting device according to claim 4, characterized in that: The lifting control part is formed with a mounting groove, and when the lifting selection part is actuated, it cooperates with the mounting groove of the lifting control part to lock the lifting control part; otherwise, the lifting control part is allowed to rotate.

8. The variable speed lifting device according to claim 7, characterized in that: The mounting groove is formed on the outer flange of the lifting control part.

9. The variable speed lifting device according to claim 1, wherein: The driving device is connected to a main gear, and the driving device drives the main gear to rotate, and the main gear drives the lifting shaft to rotate through a transmission gear train.

10. The variable speed lifting device according to claim 9, wherein: The transmission gear train comprises: An intermediate gear, the intermediate gear comprising a large gear and a small gear that rotate synchronously, the main gear being drivingly connected to the large gear of the intermediate gear; and A lifting gear is provided on the lifting shaft and is used to drive the lifting shaft to rotate, and the lifting gear is in transmission connection with the pinion of the intermediate gear.

11. The variable speed lifting device according to claim 10, wherein: The rotation axis of the intermediate gear is parallel to the rotation axis of the driving device.

12. The variable speed lifting device according to claim 10, wherein: The height of the pinion of the intermediate gear is set so that when the lifting shaft is located at the uppermost limit position and moves to the lowermost limit position, the lifting gear maintains a transmission connection with the pinion.

13. The variable speed lifting device according to claim 1, wherein: The first rotating member is configured to be movable along the axial direction of the lifting shaft and / or movable along the radial direction of the lifting shaft, and / or the rotation axis of the first rotating member and the rotation axis of the lifting shaft can form an angle that is not 0°.

14. The variable speed lifting device according to claim 13, wherein: The lifting shaft includes a limiting portion, so as to limit the upward movement position of the first rotating member along the axial direction of the lifting shaft through the limiting portion.

15. The variable speed lifting device according to claim 14, wherein: The limiting portion includes a shaft shoulder formed on the lifting shaft.

16. The variable speed lifting device according to claim 14, wherein: A mounting hole is formed in the middle of the first rotating member, and the lower end of the lifting shaft is inserted into the mounting hole, wherein the mounting hole is a non-circular hole, and the lower end of the lifting shaft has the same shape as or matches the mounting hole, so that the lifting shaft drives the first rotating member to rotate.

17. The variable speed lifting device according to claim 1, wherein: There is a gap between the outer surface of the lower end of the lifting shaft and the mounting hole of the first rotating member, so that the first rotating member can move along the radial direction of the lifting shaft, and / or the rotation axis of the first rotating member and the rotation axis of the lifting shaft can form an angle that is not 0°.

18. The variable speed lifting device according to claim 1, wherein: A fastening element is provided at the lower end of the lifting shaft to limit the downward movement position of the first rotating member along the axis direction of the lifting shaft through the fastening element.

19. The variable speed lifting device according to claim 18, wherein: When the first rotating member contacts the limiting portion of the lifting shaft, a preset distance is provided between the fastening element and the first rotating member.

20. The variable speed lifting device according to claim 19, wherein: The fastening element includes a cap screw, which is fixed to the lower end of the lifting shaft. When the first rotating member contacts the limiting portion of the lifting shaft, a preset distance is provided between the screw head of the cap screw and the first rotating member; when the first rotating member contacts the cap screw, at least a portion of the screw head of the cap screw contacts the first rotating member.

21. The variable speed lifting device according to claim 19, wherein: A countersunk hole is formed at the lower end of the first rotating member. The countersunk hole is communicated with the mounting hole of the first rotating member, and a portion of the fastening element is located in the countersunk hole.

22. The variable speed lifting device according to claim 21, wherein: There is a gap between the fastening element and the side wall of the counterbore, so that the first rotating member can move along the radial direction of the lifting shaft, and / or the rotation axis of the first rotating member and the rotation axis of the lifting shaft can form an angle that is not 0°.

23. The variable speed lifting device according to claim 1, wherein: The drive device includes a scrubbing drive device.

24. An automatic cleaning device, characterized in that: The invention comprises the variable speed lifting device according to any one of claims 1 to 23.

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