Transmission device, automatic cleaning apparatus, and cleaning robot system

Abstract

Provided in the present disclosure are a transmission device, an automatic cleaning apparatus and a cleaning robot system. The transmission device is applied to an automatic cleaning apparatus which comprises a main body and a first cleaning element. The transmission device comprises a first driving assembly, a rotating arm and an elastic member, wherein the rotating arm is rotatably connected to the main body, a first end of the elastic member is connected to the rotating arm, a second end of the elastic member is fixed relative to the main body, the first cleaning element is arranged on the rotating arm, and the first driving assembly is configured to cooperate with the elastic member to drive the rotating arm to rotate to switch the first cleaning element between a first operating position and a second operating position.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to Chinese Patent Application No. 202311091088.8 filed on August 25, 2023, the entire contents of which are incorporated herein by reference to serve as a part of the present application.TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of transmission devices, and in particular to a transmission device, an automatic cleaning apparatus and a cleaning robot system.BACKGROUND ART

[0003] A current automatic cleaning apparatus generally has the function of mopping a floor. However, a transmission device in the current automatic cleaning apparatus is simple in design and single in function, and can only drive a mopping cloth to rotate for cleaning, resulting in a relatively fixed position of the mopping cloth and thus a small cleaning range. For example, at present the mopping cloth is located below a shell and blocked by the shell in a horizontal direction. Due to the limitation from the shell, the current automatic cleaning apparatus cannot clean a surface to be cleaned at the corner, which affects the cleaning effect.SUMMARY OF THE INVENTION

[0004] A series of concepts in a simplified form are introduced in SUMMARY OF THE INVENTION, which will be further described in detail in DETAILED DESCRIPTION. This section of the present disclosure is not intended to attempt to define key features and necessary technical features of the technical solutions claimed, let alone to attempt to determine the scope of protection of the technical solutions claimed.

[0005] Embodiments in a first aspect of the present disclosure provide a transmission device applied to an automatic cleaning apparatus. The automatic cleaning apparatus includes an apparatus body and a first cleaning element. The transmission device includes a first driving assembly, a rocker arm and an elastic member, wherein the rocker arm is rotationally connected to the apparatus body; a first end of the elastic member is connected to the rocker arm, and a second end of the elastic member is fixed relative to the apparatus body; the first cleaning element is arranged on the rocker arm; and the first driving assembly is configured to cooperate with the elastic member to drive the rocker arm to rotate, such that the first cleaning element is driven to switch between a first operating position and a second operating position.

[0006] Optionally, during switching of the first cleaning element between the first operating position and the second operating position, the first driving assembly abuts against the rocker arm to cause the rocker arm to rotate.

[0007] Optionally, one end of the rocker arm is connected to a first cam and the other end thereof is connected to the first cleaning element. During switching of the first cleaning element between the first operating position and the second operating position, the first driving assembly abuts against a protrusion of the first cam to cause the rocker arm to rotate.

[0008] Optionally, the first end of the elastic member is connected to the first cam; and / or the first end of the elastic member is connected to the rocker arm.

[0009] Optionally, the elastic member is a tension spring, a first end of the tension spring is connected to the first cam, and a second end of the tension spring is fixed relative to the apparatus body; or, the elastic member is a torsion spring, the torsion spring is arranged at a rotating shaft of the first cam, a first end of the torsion spring is connected to the first cam, and a second end of the torsion spring is fixed relative to the apparatus body; or, the elastic member is an elastic piece, a first end of the elastic piece is connected to the first cam, and a second end of the elastic piece is fixed relative to the apparatus body.

[0010] Optionally, the first cleaning element is in movable connection or transmission connection or fixed connection with the rocker arm.

[0011] Optionally, the first driving assembly is configured to drive the first cam to rotate in a first direction, such that the first cleaning element is switched from the second operating position to the first operating position.

[0012] Optionally, the elastic member is configured to drive the first cam to rotate in a second direction, such that the first cleaning element is switched from the first operating position to the second operating position.

[0013] Optionally, the first driving assembly deforms the elastic member through the first cam so as to accumulate elastic potential energy.

[0014] Optionally, the elastic member releases elastic potential energy for driving the first cam to rotate in a second direction, such that the first cleaning element is switched from the first operating position to the second operating position.

[0015] Optionally, the first driving assembly includes a first driving portion and a second cam, wherein the first driving portion is configured to drive the second cam to rotate, and the second cam abuts against the first cam for causing the first cam to rotate.

[0016] Optionally, the second cam is arranged on an output end of the first driving portion, such that the first driving portion drives the second cam to rotate; or, an output end of the first driving portion is in transmission connection with the second cam.

[0017] Optionally, the second cam includes a sector toothed portion and an abutting portion, the first driving portion engages with the sector toothed portion, the abutting portion abuts against the first cam, and the first cam is coaxial with the rocker arm.

[0018] Optionally, a connecting portion is arranged on a peripheral side of the first cam, and the connecting portion is configured to be connected to the first end of the elastic member.

[0019] Optionally, the first driving portion includes a telescopic driving member and a first gear, the telescopic driving member is connected to the first gear, and the first gear engages with the sector toothed portion, such that the telescopic driving member drives, by means of the first gear and the sector toothed portion, the abutting portion to push the first cam to rotate, and drives, by means of synchronous rotation of the rocker arm, the first cleaning element to move from the second operating position to the first operating position.

[0020] Optionally, the second cam is separated from the first cam in the case that the first cleaning element is in the second operating position.

[0021] Optionally, the automatic cleaning apparatus further includes a first housing, wherein the telescopic driving member and the rocker arm are located outside the first housing; the first gear, the second cam, the first cam and the elastic member are located inside the first housing; the first gear runs through the first housing to be in power connection with the telescopic driving member; and the second end of the elastic member is connected to the first housing.

[0022] Optionally, the transmission device further includes: a position detection device configured to detect a position of rotation of the second cam, wherein the telescopic driving member rotates or stops rotating according to a detection result of the position detection device.

[0023] Optionally, the position detection device includes a first photoelectric switch and a second photoelectric switch distributed at two sides of the second cam, and the second cam further includes a first baffle and a second baffle distributed at two sides of the abutting portion, the first baffle is suitable for being inserted into the first photoelectric switch, so that the first photoelectric switch changes a detection signal, and the second baffle is suitable for being inserted into the second photoelectric switch, so that the second photoelectric switch changes a detection signal.

[0024] Optionally, the transmission device further includes: a rotation angle detection device arranged on the telescopic driving member and configured to detect a rotation angle of an output shaft of the telescopic driving member, wherein the telescopic driving member also rotates or stops rotating according to a detection result of the rotation angle detection device.

[0025] Optionally, a first limiting member and a second limiting member are arranged on peripheral side of the first cam; the first limiting member is located at a side of the protrusion away from the abutting portion and configured to abut against the protrusion to limit rotation of the first cam; and the second limiting member is located at a side of the connecting portion away from the abutting portion, and configured to abut against the connecting portion to limit rotation of the first cam.

[0026] Optionally, an anti-wear structure is provided on the first driving assembly and / or the first cam, and the first driving assembly and the first cam abut against each other by means of the anti-wear structure.

[0027] Optionally, the anti-wear structure includes a roller and / or a protective layer with a smooth outer surface.

[0028] Optionally, an outer wall of the protrusion of the first cam is provided with a protective layer with a smooth outer surface.

[0029] Optionally, the protrusion of the first cam is provided with a roller, and the protrusion abuts against the first driving assembly by means of the roller; or, when the first driving assembly includes a second cam, the second cam is provided with a roller, and the second cam abuts against the first cam by means of the roller.

[0030] Optionally, the first cleaning element is a rotating mopping cloth or a vibrating mopping cloth.

[0031] Optionally, the transmission device further includes a second driving assembly, wherein the second driving assembly is connected to the first cleaning element and configured to drive the first cleaning element to ascend and descend.

[0032] Optionally, the second driving assembly is also configured to drive the first cleaning element to vibrate and / or rotate by taking its own central axis as a center of rotation.

[0033] Optionally, the second driving assembly includes an ascending / descending driving portion and a transmission portion, wherein the transmission portion is at least partially arranged inside the rocker arm and connected to the first cleaning element, and the ascending / descending driving portion drives, by means of the transmission portion, the first cleaning element to ascend, descend and rotate.

[0034] Optionally, the transmission portion includes a worm, a gear set and a sleeve which are in power connection, wherein the worm is in power connection with the ascending / descending driving portion; the gear set is arranged inside the rocker arm; the sleeve is connected to the first cleaning element; and the worm drives, by means of the gear set, the sleeve to ascend, descend and rotate so as to drive the first cleaning element to ascend, descend and rotate.

[0035] Optionally, the gear set includes a worm gear, a first sub-gear, a second sub-gear, a third sub-gear and a connecting cylinder, wherein the worm gear is coaxial with the first sub-gear; the worm gear is located outside the rocker arm and engages with the worm; the first sub-gear, the second sub-gear and the third sub-gear are all located inside the rocker arm; the second sub-gear includes a first toothed disc and a second toothed disc that are coaxial with each other; the first sub-gear engages with the first toothed disc; the second toothed disc engages with the third sub-gear; the connecting cylinder is coaxial with the third sub-gear and located outside the rocker arm; the connecting cylinder is in threaded connection with the sleeve; and the gear set rotates to cause the sleeve and the connecting cylinder to rotate relative to each other so as to drive the sleeve to ascend or descend relative to the connecting cylinder.

[0036] Optionally, a wall of the connecting cylinder is provided with a guiding portion arranged spirally; a wall of the sleeve is provided with a slot for accommodating the connecting cylinder, and a wall of the slot is provided with a spiral guide groove for accommodating the guiding portion; and the guiding portion is a spiral boss or a plurality of bulges distributed at intervals.

[0037] Optionally, a wall of the slot is provided with a retaining rib close to an opening, and the retaining rib is configured to abut against the guiding portion so as to limit ascending and descending movement of the sleeve relative to the connecting cylinder; and the guiding portion abuts against a bottom of the slot to limit ascending and descending movement of the sleeve relative to the connecting cylinder.

[0038] Optionally, an inner wall of the sleeve is provided with a limiting plane that matches the first cleaning element; wherein an axial section of the sleeve is hexagonal.

[0039] Optionally, the second driving assembly further includes a second housing with an open end; when the automatic cleaning apparatus includes a first housing, the second housing is in snap-fit with the first housing; the worm, the worm gear, the rocker arm and the connecting cylinder are located inside a space enclosed by the second housing and the first housing; the opening of the second housing is located on a side away from the first housing; a bottom end of the sleeve is suitable for extending out of the opening of the second housing; the ascending / descending driving portion is located outside the second housing; and the worm runs through the second housing to be connected to the ascending / descending driving portion.

[0040] Optionally, the second housing is divided into a first mounting chamber and a second mounting chamber, the worm gear is located inside the first mounting chamber, the sleeve is located inside the second mounting chamber, the rocker arm extends to the first mounting chamber and the second mounting chamber, and the shape of the second mounting chamber matches a movement space of the rocker arm; and the second housing further includes a bottom plate, and the bottom plate is in detachable connection with a wall of the first mounting chamber to enclose the worm gear inside the first mounting chamber.

[0041] Optionally, the automatic cleaning apparatus further includes a second cleaning element in movable connection with the apparatus body, wherein the second cleaning element and the first cleaning element are distributed at two sides of a longitudinal center line of the apparatus body, and the second cleaning element is capable of ascending, descending and rotating relative to the apparatus body.

[0042] Optionally, the second cleaning element is in a fixed position relative to an edge projection region of the apparatus body.

[0043] Embodiments in a second aspect of the present disclosure provide an automatic cleaning apparatus, including the transmission device as described above. The automatic cleaning apparatus includes an apparatus body, the first cleaning element in the second operating position is at least partially located outside the apparatus body in a horizontal direction, the first cleaning element in the first operating position is at least partially located inside the apparatus body in the horizontal direction, and an area of the first cleaning element in the second operating position outside the apparatus body in the horizontal direction is larger than an area of the first cleaning element in the first operating position outside the apparatus body in the horizontal direction.

[0044] Embodiments in a third aspect of the present disclosure provide a cleaning robot system, including the transmission device as described above; or including a base station and the automatic cleaning apparatus as described above, and the automatic cleaning apparatus is suitable for docking on the base station.

[0045] The above description is only an overview of the technical solution of the present disclosure, in order to understand the technical means of the present disclosure more clearly, the present disclosure can be implemented according to the content of the Description, and in order to make the above and other objectives, features and advantages of the present disclosure more obvious and understandable, specific embodiments of the present disclosure will be specifically described below.BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The following accompanying drawings of the present disclosure, as part of embodiments of the present disclosure, are used herein for understanding the present disclosure. The embodiments of the present disclosure and descriptions thereof are shown in the accompanying drawings to explain the principles of the present disclosure.

[0047] In the drawings: FIG. 1 is a schematic structural diagram of an automatic cleaning apparatus when a first cleaning element is in a first operating position according to an alternative embodiment of the present disclosure; FIG. 2 is a schematic structural diagram of the automatic cleaning apparatus when the first cleaning element is in a second operating position according to an alternative embodiment of the present disclosure; FIG. 3 is a schematic structural diagram of a part of the automatic cleaning apparatus when the first cleaning element is in the second operating position according to an alternative embodiment of the present disclosure; FIG. 4 is a schematic structural diagram of a part of the automatic cleaning apparatus when the first cleaning element is in the second operating position according to another alternative embodiment of the present disclosure; FIG. 5 is a schematic structural diagram of the embodiment shown in FIG. 2 from another perspective; FIG. 6 is a schematic structural diagram when the first cleaning element is in the first operating position according to an alternative embodiment of the present disclosure; FIG. 7 is a schematic structural diagram when the first cleaning element is in the second operating position according to an alternative embodiment of the present disclosure; FIG. 8 is a schematic structural diagram of the embodiment shown in FIG. 7 from another perspective; FIG. 9 is a schematic structural diagram of the embodiment shown in FIG. 7 from yet another perspective; FIG. 10 is a sectional view of the embodiment shown in FIG. 9 in a direction A-A; FIG. 11 is a schematic structural diagram of a second driving assembly according to an alternative embodiment of the present disclosure; FIG. 12 is a schematic structural diagram of the embodiment shown in FIG. 7 from still yet another perspective; FIG. 13 is a schematic structural diagram of a second housing according to an alternative embodiment of the present disclosure; FIG. 14 is a schematic structural diagram of the embodiment shown in FIG. 13 from another perspective; FIG. 15 is a schematic structural diagram when a first cam is provided with a protective layer according to an alternative embodiment of the present disclosure; and FIG. 16 is a schematic structural diagram when an abutting portion is provided with a roller according to an alternative embodiment of the present disclosure.

[0048] Reference numerals in the drawings are described as below: 100-automatic cleaning apparatus; 110-apparatus body; 111-forward portion; 112-rearward portion; 120-perception system; 121-determining device; 122-buffer; 130-first cleaning assembly; 131-first driving assembly; 1311-telescopic driving member; 1313-rocker arm; 1314-first gear; 1315-second cam; 13151-sector toothed portion; 13152-abutting portion; 13153-first baffle; 13154-second baffle; 1316-first cam; 13161-protrusion; 13162-connecting portion; 1317-elastic member; 1318-first housing; 13181-first limiting member; 13182-second limiting member; 13191-protective layer; 13192-roller; 132-second driving assembly; 1321-ascending / descending driving portion; 1322-transmission portion; 1323-worm; 1324-gear set; 13241-worm gear; 13242-first sub-gear; 13243-first toothed disc; 13244-second toothed disc; 13245-third sub-gear; 13246-connecting cylinder; 13247-guiding portion; 1325-sleeve; 13251-slot; 13252-guide groove; 13253-limiting plane; 1326-second housing; 13261-first mounting chamber; 13262-second mounting chamber; 13263-bottom plate; 133-first cleaning element; 134-position detection device; 1341-first photoelectric switch; 1342-second photoelectric switch; 140-second cleaning assembly; 141-second cleaning element; 160-third cleaning assembly; 161-side brush; and 162-rolling brush.DETAILED DESCRIPTION

[0049] In the following descriptions, a large number of specific details are provided to understand the technical solutions of the present disclosure more thoroughly. However, it is apparent to those skilled in the art that the technical solutions of the present disclosure may be implemented without one or more of these details.

[0050] It should be noted that the terms used herein are only intended to describe specific embodiments rather than to limit exemplary embodiments according to the present disclosure. As used herein, the singular form is also intended to include the plural form unless otherwise indicated clearly in the context. In addition, it should further be understood that the terms "including" and / or "comprising", when used in the Description, indicate the presence of the features, integers, steps, operations, elements and / or assemblies, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, assemblies and / or combinations thereof.

[0051] The exemplary embodiments according to the present disclosure will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided in order to make the disclosure of the present disclosure thorough and complete, and adequately convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0052] As shown in FIGS. 1 to 16, the embodiments of the present disclosure provide an automatic cleaning apparatus 100 and a cleaning robot system. The cleaning robot system includes the automatic cleaning apparatus 100 and a base station, i.e., the base station is used in cooperation with the automatic cleaning apparatus 100.

[0053] Further, as shown in FIGS. 1, 2 and 3, the automatic cleaning apparatus 100 may include an apparatus body 110, a perception system 120, a control module, a driving system, a cleaning system, an energy system and a human-computer interaction system. It can be understood that the automatic cleaning apparatus 100 may be a self-moving cleaning apparatus or other automatic cleaning apparatuses 100 that meet the requirements. The automatic cleaning apparatus 100 is an apparatus that automatically performs a cleaning operation in a certain region to be cleaned without operation of the user. When the automatic cleaning apparatus 100 starts to work, the automatic cleaning apparatus 100 performs a cleaning task from the base station. In the case that the automatic cleaning apparatus 100 completes the cleaning task or needs to suspend the cleaning task, the self-moving automatic cleaning apparatus 100 may return to the base station for charging, and / or water replenishment, and / or washing, and / or dust collection and / or other operations.

[0054] As shown in FIGS. 2 and 3, the apparatus body 110 includes a forward portion 111 and a rearward portion 112, takes an approximately circular shape with a circular front part and a circular rear part, and may also take other shapes including, but not limited to, an approximately D shape with a square front part and a circular rear part and a rectangular or square shape with a square front part and a square rear part.

[0055] As shown in FIGS. 1 and 2, the perception system 120 includes a position determining device 121 located on the apparatus body 110, a collision sensor and a proximity sensor both disposed on a buffer 122 of the forward portion 111 of the apparatus body 110, a cliff sensor disposed at a lower portion of the apparatus body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope and an odometer disposed inside the apparatus body 110, for providing various position information and motion status information of the automatic cleaning apparatus to a control module. The position determining device 121 includes, but is not limited to, a camera and a laser distance sensor (LDS).

[0056] As shown in FIGS. 1 and 2, the forward portion 111 of the apparatus body 110 may bear the buffer 122. The buffer 122 detects one or more events in a travel path of the automatic cleaning apparatus 100 via a sensor system (for example, an infrared sensor) disposed on the buffer when a driving wheel module propels the automatic cleaning apparatus 100 to travel on the floor in a cleaning process. The automatic cleaning apparatus 100 may control, based on the events (such as an obstacle and a wall) detected by the buffer 122, the driving wheel module, such that the automatic cleaning apparatus 100 may respond to the events, e.g., moving away from the obstacle.

[0057] The control module is disposed on a main circuit board within the apparatus body 110 and includes a computing processor, such as a central processing unit and an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory and a random access memory. The application processor draws a simultaneous map of an environment where the automatic cleaning apparatus 100 is located, based on obstacle information fed back by the laser distance sensor by use of a positioning algorithm, for example, simultaneous localization and mapping (SLAM). In addition, based on distance and speed information fed back by the sensing devices, such as the sensors disposed on the buffer 122, the cliff sensor, the magnetometer, the accelerometer, the gyroscope and the odometer, a comprehensive determination may be made on a current working status and a current position of the automatic cleaning apparatus 100, as well as a current posture of the automatic cleaning apparatus 100, such as crossing a doorsill, getting on a carpet, being at a cliff, being stuck from above or below, having a full dust box, being picked up, etc. For different cases, specific next action strategies may be provided, such that the automatic cleaning apparatus 100 has better sweeping performance and user experience.

[0058] The driving system may manipulate the apparatus body 110 to travel across the floor based on a driving command with distance and angle information (e.g., x, y, and θ components). The driving system includes the driving wheel module that may control both a left wheel and a right wheel simultaneously. For more precise control of the apparatus's movement, the driving wheel module preferably includes a left driving wheel module and a right driving wheel module, which are arranged along the transverse axis defined by the apparatus body 110. In order to enable the automatic cleaning apparatus 100 to move more stably or have a higher movement ability on the floor, the automatic cleaning apparatus 100 may include one or more driven wheels, which include but are not limited to universal wheels. The driving wheel module includes a traveling wheel, a driving motor, and a control circuit for controlling the driving motor, and the driving wheel module may also be connected to a circuit for measuring a driving current and an odometer. The driving wheel may be provided with an offset drop suspension system, which is fastened movably to (e.g., attached rotatably to) the apparatus body 110, and receives a spring bias biased downward and away from the apparatus body 110. The spring bias allows the driving wheel to maintain contact and traction with the floor with a certain floor attachment force, while cleaning elements of the automatic cleaning apparatus 100 are also in contact with the ground with certain pressure.

[0059] The energy system includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detecting circuit and a battery undervoltage monitoring circuit. The charging control circuit, the battery pack charging temperature detecting circuit and the battery undervoltage monitoring circuit are then connected to a single-chip microcomputer control circuit. A host is connected to a charging pile through a charging electrode disposed on a side of or below a body of the automatic cleaning device for charging.

[0060] The human-computer interaction system includes buttons on a panel of the host for the user to select functions, and may further include a display screen and / or an indicator light and / or a speaker. The display, the indicator light and the speaker show the user the current status or function options of the automatic cleaning apparatus. The human-computer interaction system may further include a mobile phone client program. For a route navigation type automatic cleaning apparatus 100, a mobile phone client may show the user a map of the environment where the apparatus is located, as well as a position of the apparatus, thereby providing the user with richer and more user-friendly function items.

[0061] The cleaning system includes a wet cleaning system, i.e., the automatic cleaning apparatus 100 may be a mopping machine, or the cleaning system includes a wet cleaning system and a dry cleaning system, i.e., the automatic cleaning apparatus 100 is a sweeping and mopping integrated machine.

[0062] As shown in FIG. 5, the dry cleaning system may include a third cleaning assembly 160, a dust box, a fan and an air outlet. The third cleaning assembly 160 may include a rolling brush 162. The rolling brush 162 having certain interference with the floor sweeps up garbage on the floor and rolls the garbage up to the front of a dust suction port between the rolling brush 162 and the dust box, and then the garbage is sucked into the dust box by a gas, which has a sucking force and is generated by the fan and passes through the dust box. The third cleaning assembly 160 may further include a side brush 161 capable of rotating, and the side brush 161 is angled relative to the floor for moving debris into the region of the rolling brush 162 of the cleaning system.

[0063] As shown in FIGS. 2 and 5, the wet cleaning system may include a first cleaning assembly 130, a water delivery mechanism, a liquid storage tank, and the like. A cleaning liquid in the liquid storage tank is transferred to the first cleaning assembly 130 by means of the water delivery mechanism, such that the first cleaning assembly 130 performs wet cleaning on a surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be directly sprayed onto a plane to be cleaned, and the first cleaning assembly 130 cleans the plane by evenly applying the cleaning liquid. Specifically, a driving portion of the water delivery mechanism may be a peristaltic pump or other power mechanisms.

[0064] The first cleaning assembly 130 includes a first cleaning element 133, i.e., the first cleaning element 133 is a part of the first cleaning assembly 130.

[0065] When the automatic cleaning apparatus 100 is a sweeping and mopping integrated machine, the rolling brush 162 and the dust suction port of the third cleaning assembly 160 are located in front of the first cleaning assembly 130 in a direction of movement of the automatic cleaning apparatus 100, and the side brush 161 may also be located in front of the first cleaning assembly 130, to ensure that the apparatus body 110 can realize the cleaning sequence of sweeping first and wiping later in the process of traveling.

[0066] As shown in FIGS. 1, 2, 3 and 4, embodiments of the present disclosure provide a transmission device applied to an automatic cleaning apparatus. The automatic cleaning apparatus includes an apparatus body 110 and a first cleaning element 133. The transmission device includes a first driving assembly 131, a rocker arm 1313 and an elastic member 1317. The rocker arm 1313 is rotationally connected to the apparatus body 110. A first end of the elastic member 1317 is connected to the rocker arm 1313, and a second end of the elastic member 1317 is fixed relative to the apparatus body 110. The first cleaning element 133 is arranged on the rocker arm 1313. The first driving assembly 131 is configured to cooperate with the elastic member 1317 to drive the rocker arm 1313 to rotate, such that the first cleaning element 133 is driven to switch between a first operating position and a second operating position.

[0067] By providing the first driving assembly 131, the rocker arm 1313 and the elastic member 1317, and providing the first cleaning element 133 on the rocker arm 1313, the first cleaning element can be driven, by using the first driving assembly and the elastic member 1317, to switch between the first operating position and the second operating position according to a demand on a cleaning range of the automatic cleaning apparatus, so as to move the first cleaning element to an operating position that meets a corresponding demand on the cleaning range, such that demands on different mopping ranges are satisfied, and the mopping range is enlarged, which is conductive to improving the cleaning effect and improving the user's cleaning experience.

[0068] It should be noted that the fact that the first end of the elastic member 1317 is connected to the rocker arm 1313 includes the first end of the elastic member 1317 and the rocker arm 1313 are in direct connection or in indirect connection by means of other components. Both of the direct connection and the indirect connection between the first end of the elastic member 1317 and the rocker arm 1313 are within the scope of protection of the present disclosure.

[0069] As shown in FIG. 6, the first driving assembly drives, by means of the rocker arm 1313, the first cleaning element 133 to move to the first operating position. At this time, an acting force exerted onto the rocker arm 1313 by the first driving assembly is in a direction opposite to the direction of an acting force exerted onto the rocker arm 1313 by the elastic member 1317, and the rocker arm 1313 is then fixed by the two opposite acting forces, such that the rocker arm is prevented from swinging, which in turn prevents the first cleaning element 133 from moving with the rocker arm 1313 during cleaning.

[0070] As shown in FIG. 7, the elastic member 1317 drives, by means of the rocker arm 1313, the first cleaning element 133 to move to the second operating position. At this time, the elastic member 1317 drives the rocker arm 1313 to move to a limit position and fixes the rocker arm 1313 by its own elastic force.

[0071] When the first cleaning element 133 is in the first operating position or the second operating position, the elastic member may be in a deformed state to maintain the acting force exerted onto the rocker arm 1313.

[0072] The first cleaning element 133 may generally be a flexible substance having water absorbability such as a fabric and sponge. In this solution, the first cleaning element 133 may be a self-rotating cleaning element, a vibrating cleaning element or a fixed cleaning element. Specifically, the first cleaning element 133 may be a mopping disc, and the first cleaning element 133 cleans up dirt on the floor through rotational movement.

[0073] FIG. 1 is a schematic structural diagram of the automatic cleaning apparatus 100 when the first cleaning element 133 is in the first operating position, and FIGS. 2, 3, 4 and 5 are schematic structural diagrams of the automatic cleaning apparatus 100 when the first cleaning element 133 is in the second operating position. Projections of the first cleaning element 133 in the first operating position and the second operating position are at different positions of a projection region of the apparatus body 110. As shown in FIG. 1, the projection of the first cleaning element 133 in the first operating position is within the projection region of the apparatus body 110, and as shown in FIG. 2, the projection of the first cleaning element 133 in the second operating position is at least partially outside the projection region of the apparatus body 110. It can be understood that in other embodiments, the projections of the first cleaning element 133 in the first operating position and the second operating position may both be within the projection region of the apparatus body 110, but at different positions; alternatively, the projections of the first cleaning element 133 in the first operating position and the second operating position may both be at least partially within the projection region of the apparatus body 110, but at different positions, that is, the first cleaning element 133 in the second operating position is at least partially located outside the apparatus body 110 in a horizontal direction, the first cleaning element 133 in the first operating position is at least partially located inside the apparatus body 110 in the horizontal direction, and an area of the first cleaning element in the second operating position, outside the apparatus body 110 in the horizontal direction, is larger than an area of the first cleaning element in the first operating position, outside the apparatus body 110 in the horizontal direction. Therefore, the first cleaning element 133 may be driven, by using the first driving assembly 131, to switch between the first operating position and the second operating position according to the demand on the cleaning range of the automatic cleaning apparatus 100, specifically according to the demand on a wet cleaning range, so as to move the first cleaning element 133 to an operating position that meets the corresponding demand on the cleaning range, that is, the first cleaning element 133 may perform a mopping operation in the first operating position, and the first cleaning element 133 may also perform the mopping operation in the second operating position, to meet the demands on different mopping ranges, thereby expanding the mopping range, i.e., expanding the cleaning range of the automatic cleaning apparatus 100, improving the cleaning effect, and improving the user's cleaning experience.

[0074] It should be noted that when the first cleaning element 133 in the first operating position is wholly located inside the apparatus body 110 in the horizontal direction, the area of the first cleaning element in the first operating position, outside the apparatus body 110 in the horizontal direction, is zero. At this time, the area of the first cleaning element in the second operating position, outside the apparatus body 110 in the horizontal direction, is still larger than the area of the first cleaning element in the first operating position, outside the apparatus body 110 in the horizontal direction.

[0075] As shown in FIGS. 2 to 5, in some possibly implemented embodiments provided by the present disclosure, the first cleaning element 133 in the second operating position is at least partially located outside the apparatus body 110 in the horizontal direction, i.e., the first cleaning element 133 in the second operating position is at least partially located outside an edge projection region of the apparatus body 110.

[0076] The first cleaning element 133 in the second operating position is at least partially located outside the edge projection region of the apparatus body 110, such that the cleaning range of the first cleaning element 133 in the second operating position may exceed an edge of a traveling range of the apparatus body 110. Therefore, corner positions where the apparatus body 110 cannot fit can be comprehensively cleaned to expand the cleaning range of the first cleaning element 133 and improve the cleaning effect of the automatic cleaning apparatus 100.

[0077] The first cleaning element 133 in the second operating position may be wholly located outside the edge projection region of the apparatus body 110, or partially located outside the edge projection region of the apparatus body 110, which may be set according to the specific structure.

[0078] The first cleaning element 133 in the first operating position may be mostly located within the edge projection region of the apparatus body 110, such that the cleaning range of the first cleaning element 133 in the first operating position may be within the traveling range of the apparatus body 110. Therefore, a mopping operation can be performed on a region within the traveling range of the apparatus body 110, which can reduce the possibility that the first cleaning element 133 protrudes out of the apparatus body 110 and collides with an obstacle, thereby being conductive to prolonging the service life and improving the reliability of the first cleaning element 133.

[0079] Further, the first cleaning element 133 may be selectively driven to switch between the first operating position and the second operating position according to a demand that whether the automatic cleaning apparatus 100 needs to mop the corners. For example, the first cleaning element 133 is moved to the first operating position for a conventional wet cleaning operation, and the first cleaning element 133 is moved to the second operating position for a wet cleaning operation of the corners. Thus, different functional demands of the automatic cleaning apparatus 100 are satisfied and the intelligence of the automatic cleaning apparatus 100 is improved.

[0080] In some possibly implemented embodiments provided by the present disclosure, during switching of the first cleaning element 133 between the first operating position and the second operating position, the first driving assembly 131 abuts against the rocker arm 1313 to drive the rocker arm 1313 to rotate. This ensures that the rocker arm 1313 is stably driven to rotate and thus ensures that the first cleaning element 133 can be stably switched between the first operating position and the second operating position.

[0081] The first driving assembly 131 may directly abut against the rocker arm 1313, and thus the rocker arm 1313 is directly driven to rotate by the rotation of the first driving assembly 131.

[0082] Specifically, the first driving assembly 131 may include a cam or other eccentric rotating mechanisms. The cam or other eccentric rotating mechanisms abut against an outer wall of the rocker arm 1313, and the rocker arm 1313 is thus directly pushed to rotate by driving the cam or other eccentric rotating mechanisms to rotate.

[0083] In some possibly implemented embodiments provided by the present disclosure, one end of the rocker arm 1313 is connected to a first cam 1316 and the other end thereof is connected to the first cleaning element 133. During switching of the first cleaning element 133 between the first operating position and the second operating position, the first driving assembly abuts against a protrusion 13161 of the first cam 1316 to cause the rocker arm 1313 to rotate.

[0084] The protrusion of the first cam 1316 is a part of the first cam 1316 which radially protrudes outward.

[0085] The first driving assembly abuts against the protrusion of the first cam 1316, and the first driving assembly may in turn exert an acting force onto the protrusion of the first cam 1316, such that the first driving assembly may drive the first cam 1316 to rotate. One end of the rocker arm 1313 is connected to the first cam 1316, the rocker arm may thus be driven to rotate through the rotation of the first cam, and hence the first cleaning element at the other end of the rocker arm is driven to switch between the first operating position and the second operating position.

[0086] The first end of the elastic member 1317 is connected to the first cam 1316, the first end of the elastic member 1317 may also be connected to the rocker arm 1313, and the first end of the elastic member 1317 may also be connected to both the first cam 1316 and the rocker arm 1313.

[0087] This embodiment is described by taking the elastic member being a tension spring as an example. One end of the elastic member 1317 may be fixedly connected to the apparatus body indirectly or directly, i.e., keep stationary relative to the apparatus body, and the other end thereof may be independently connected to the first cam 1316, or connected to the rocker arm 1313 or connected to both the first cam 1316 and the rocker arm 1313. For example, the elastic member is a Y-shaped structure, which may be connected to the first cam 1316 and the rocker arm 1313 simultaneously. The elastic member may also be connected to the first cam 1316 and the rocker arm 1313 simultaneously by means of connecting components, for example, connecting wires.

[0088] In some possibly implemented embodiments provided by the present disclosure, the elastic member 1317 is a tension spring, a first end of the tension spring is connected to the first cam 1316, and a second end of the tension spring is fixed relative to the apparatus body 110.

[0089] As the elastic member 1317 is the tension spring and the first end of the tension spring is connected to the first cam 1316 and the second end of the tension spring is fixed relative to the apparatus body 110, an elastic force can be stably provided to enable the first cleaning element 133 to switch from the first operating position to the second operating position.

[0090] In some possibly implemented embodiments provided by the present disclosure, the elastic member 1317 is a torsion spring, and the torsion spring is arranged at a rotating shaft of the first cam 1316.

[0091] The torsion spring may be coaxial with the rotating shaft of the first cam 1316, i.e., the torsion spring may be sleeved on the outer peripheral side of the rotating shaft of the first cam 1316. In addition, one end of the torsion spring is connected to the first cam 1316, and a second end of the torsion spring is fixed relative to the apparatus body 110, such that the elastic force can be stably provided to enable the first cleaning element 133 to switch from the first operating position to the second operating position.

[0092] In some possibly implemented embodiments provided by the present disclosure, the elastic member 1317 is an elastic piece, a first end of the elastic piece is connected to the first cam 1316, and a second end of the elastic piece is fixed relative to the apparatus body 110.

[0093] The first end of the elastic piece is connected to the first cam 1316 and the second end thereof is fixed relative to the apparatus body 110, such that the first cleaning element 133 can be stably driven, by an elastic force generated after deformation, to switch from the first operating position to the second operating position.

[0094] It can be understood that the elastic member 1317 may also be an elastic component other than a tension spring, a torsion spring and an elastic piece, as long as it can provide an elastic force to enable the first cleaning element 133 to switch from the first operating position to the second operating position.

[0095] The rocker arm 1313 is rotatably connected to the apparatus body 110, and the first cleaning element 133 is in movable connection or transmission connection or fixed connection with the rocker arm 1313.

[0096] One end of the rocker arm 1313 is rotatably connected to the apparatus body 110, such that the rocker arm 1313 may swing on the apparatus body 110, which in turn drives the first cleaning element to switch between the first operating position and the second operating position.

[0097] The first cleaning element 133 is in movable connection or transmission connection or fixed connection with the rocker arm 1313, so that the first cleaning element 133 is in contact with a surface to be cleaned for a cleaning operation.

[0098] The elastic member 1317 may also be connected to the protrusion 13161 of the first cam 1316. In this embodiment, a connecting portion 13162 is arranged on a peripheral side of the first cam 1316, and the connecting portion 13162 is configured to be connected to the elastic member 1317, such that the distance between the elastic member 1317 and the first driving assembly can be increased to avoid interference.

[0099] The connecting portion 13162 may protrude outward in a radial direction of the first cam, and the elastic member 1317 is connected to an end portion of the connecting portion 13162 to obtain greater torque.

[0100] The connecting portion 13162 may be integrally molded with other parts of the cam.

[0101] Specifically, the first driving assembly is configured to drive the first cam 1316 to rotate in a first direction, such that the first cleaning element 133 is switched from the second operating position to the first operating position. The elastic member 1317 is configured to drive the first cam 1316 to rotate in a second direction, such that the first cleaning element 133 is switched from the first operating position to the second operating position.

[0102] The first direction and the second direction are two opposite directions. For example, the first direction is a counterclockwise direction in FIG. 6, and the second direction is a clockwise direction in FIG. 6.

[0103] When the first cleaning element 133 is in the first operating position, the elastic member 1317 is in a stretched state, and the first cam 1316 may then be driven to rotate in the second direction, such that the first cleaning element 133 is switched from the first operating position to the second operating position. When the first cleaning element 133 is in the second operating position, the elastic member 1317 may also be in the stretched state, and the rocker arm may then be locked by the elastic force.

[0104] Specifically, the first driving assembly drives, by means of the first cam 1316, the elastic member 1317 to deform, so as to accumulate elastic potential energy. The elastic member 1317 releases the elastic potential energy to drive the first cleaning element 133 to switch from the first operating position to the second operating position.

[0105] The first driving assembly includes a first driving portion and a second cam 1315, the first driving portion is configured to drive the second cam 1315 to rotate, and the second cam 1315 abuts against the first cam 1316 for causing the first cam 1316 to rotate.

[0106] The second cam 1315 includes an abutting portion, and the abutting portion is a part of the second cam 1315 radially extending outward. The abutting portion of the second cam 1315 abuts against the protrusion of the first cam 1316, thereby achieving transmission.

[0107] The first driving portion is configured to output power and thus drives the second cam 1315 and the first cam 1316 to rotate.

[0108] The second cam may be directly arranged on an output end of the first driving portion, such that the first driving portion directly drives the second cam to rotate.

[0109] The output end of the first driving portion may also be in transmission connection with the second cam, such that the second cam may also be driven to rotate.

[0110] As shown in FIGS. 6, 7 and 8, the second cam 1315 includes a sector toothed portion 13151 and an abutting portion 13152. A first gear 1314 is in power connection with a telescopic driving member 1311 and engages with the sector toothed portion 13151. The abutting portion 13152 abuts against the first cam 1316. The first cam 1316 is coaxial with the rocker arm 1313.

[0111] The sector toothed portion 13151 and the abutting portion 13152 are distributed at an interval in a circumferential direction of the rotating shaft of the second cam 1315, such that when the second cam 1315 rotates, the sector toothed portion 13151 and the abutting portion13152 may be simultaneously driven to rotate. Thus, as shown in FIG. 6, the telescopic driving member 1311 rotates in a direction, e.g., a clockwise or counterclockwise direction, to drive the first gear 1314 to rotate. Since the sector toothed portion 13151 engages with the first gear 1314, the second cam 1315 may be driven to rotate by the sector toothed portion 13151, and then the abutting portion 13152 is driven to rotate. The abutting portion 13152 abuts against the first cam 1316 and thus may push the first cam 1316 to rotate. Since the first cam 1316 is coaxial with the rocker arm 1313, the rocker arm 1313 and the first cam 1316 may rotate synchronously, which thus drives the first cleaning element 133 mounted inside the rocker arm 1313 to move from the second operating position to the first operating position.

[0112] The first driving portion includes the telescopic driving member 1311 and the first gear 1314, the telescopic driving member 1311 is connected to the first gear 1314, and the first gear 1314 engages with the sector toothed portion 13151, such that the telescopic driving member 1311 drives, by means of the first gear 1314 and the sector toothed portion 13151, the abutting portion 13152 to push the first cam 1316 to rotate, and drives, by means of synchronous rotation of the rocker arm 1313, the first cleaning element 133 to move from the second operating position to the first operating position.

[0113] The telescopic driving member 1311 is configured to output power, and may be a motor. The first gear 1314 is coaxial with an output end of the telescopic driving member 1311 and engages with the sector toothed portion 13151, such that the telescopic driving member 1311 drives the first gear 1314, the second cam 1315 and the first cam 1316 to rotate, and thus drives the rocker arm 1313 to rotate synchronously so as to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0114] When the first cleaning element 133 moves from the first operating position to the second operating position, the direction of rotation of the abutting portion 13152 is opposite to that of the abutting portion 13152 when the first cleaning element 133 retracts into the apparatus body 110, such that the abutting portion 13152 has no pushing force on the first cam 1316. In this way, under the action of the elastic member 1317, the first cam 1316 may rotate in a direction opposite to the direction in which the first cam 1316 rotate when the first cleaning element 133 retracts into the apparatus body 110, and push the abutting portion 13152 to rotate. Since the first cam 1316 is coaxial with the rocker arm 1313, the rocker arm 1313 may rotate synchronously with the first cam 1316, thereby driving the first cleaning element 133 mounted inside the rocker arm 1313 to move from the first operating position to the second operating position.

[0115] The second cam is separated from the first cam in the case that the first cleaning element is located in the second operating position.

[0116] The separation of the second cam 1315 from the first cam 1316 can make the second cam and the first cam no longer interact with each other, and can thus prevent a force from being transferred to the telescopic driving member 1311 by the first cam 1316 and the first gear 1314 when the rocker arm swings and thus drives the first cam 1316 to rotate, such that the telescopic driving member 1311 can be protected.

[0117] The abutting portion of the second cam and the protrusion of the first cam are spaced apart in the circumferential direction when the first cleaning element is in the second operating position, such that the abutting portion of the second cam is separated from the protrusion of the first cam.

[0118] As shown in FIGS. 7 and 8, in some possibly implemented embodiments provided by the present disclosure, the automatic cleaning apparatus 100 further includes a first housing 1318, the telescopic driving member 1311 and the rocker arm 1313 are located outside the first housing 1318, and the first gear 1314, the second cam 1315, the first cam 1316 and the elastic member 1317 are all located inside the first housing 1318, the first gear 1314 runs through the first housing 1318 to be in power connection with the telescopic driving member 1311, and the second end of the elastic member 1317 is connected to the first housing 1318.

[0119] The first gear 1314, the second cam 1315, the first cam 1316, and the elastic member 1317 are all located inside the first housing 1318. Therefore, an excellent protection effect is achieved by using the first housing 1318, which is conducive to prolonging the service life and improving the reliability, and meanwhile ensuring favorable transmission accuracy.

[0120] Specifically, the first housing 1318 may include a first upper housing and a first lower housing in detachable connection, which facilitates assembly and disassembly of the first housing 1318, as well as assembly and disassembly of the first gear 1314, the second cam 1315, the first cam 1316 and the elastic member 1317, so as to facilitate assembly and disassembly of the first driving assembly 131. Specifically, the first upper housing and the first lower housing may be detachably connected by at least one of a screw, a clamping structure, a mortise and tenon structure and a magnetic attraction structure.

[0121] As shown in FIGS. 6 and 7, in some possibly implemented embodiments provided by the present disclosure, the automatic cleaning apparatus 100 further includes: a position detection device 134 arranged inside the housing and configured to detect a position of rotation of the second cam 1315. The telescopic driving member 1311 rotates or stops rotating according to a detection result of the position detection device 134.

[0122] The position detection device 134 is provided to be able to detect the position of rotation of the second cam 1315, and thus to be able to know a position of rotation of the first cam 1316. Therefore, when the first cam 1316 rotates to an appropriate position, for example, when the first cam 1316 rotates to drive, by means of the rocker arm 1313, the first cleaning element 133 to move to the first operating position or the second operating position, the telescopic driving member 1311 stops rotating according to the detection result of the position detection device 134 at this time, such that the first cleaning element 133 can be kept in the first operating position or the second operating position, to achieve accurate switching of the first operating position or the second operating position. It can be understood that when the first cam 1316 rotates and the first cleaning element 133 has not moved to the first operating position or the second operating position under the driving of the rocker arm 1313, the telescopic driving member 1311 may continue to rotate according to the detection result of the position detection device 134 at this time, so as to drive the first cleaning element 133 to continue to move in a direction close to a target operating position, such as the first operating position or the second operating position.

[0123] The position detection device 134 may include a photoelectric switch, a mechanical switch or other detection mechanisms that meet the requirements.

[0124] In the embodiments described above, as shown in FIGS. 6 and 7, the position detection device 134 includes a first photoelectric switch 1341 and a second photoelectric switch 1342 distributed at two sides of the second cam 1315. The second cam 1315 further includes a first baffle 13153 and a second baffle 13154 distributed at two sides of the abutting portion 13152. The first baffle 13153 is suitable for being inserted into the first photoelectric switch 1341, so that the first photoelectric switch 1341 changes a detection signal; and the second baffle 13154 is suitable for being inserted into the second photoelectric switch 1342, so that the second photoelectric switch 1342 changes a detection signal.

[0125] In this embodiment, by providing the first photoelectric switch 1341 and the second photoelectric switch 1342 at the two sides of the second cam 1315 respectively, position detection as to whether the first cleaning element 133 reaches the first operating position or the second operating position can be performed by using the two photoelectric switches, thereby improving the accuracy in detecting whether the first cleaning element 133 reaches the target operating position.

[0126] A photoelectric switch usually includes a light-transmitting portion and a light-receiving portion, and depending on whether the light-receiving portion receives a light signal from the light-transmitting portion, a detection signal of photoelectric switch is changed. By providing the first baffle 13153 and the second baffle 13154 on the second cam 1315, the rotation of the second cam 1315 can drive the first baffle 13153 and the second baffle 13154 to rotate synchronously. The first baffle 13153 and the second baffle 13154 are distributed at the two sides of the abutting portion 13152. When the second cam 1315 rotates to an appropriate position, the first baffle 13153 is inserted into the first photoelectric switch 1341, so that the first photoelectric switch 1341 changes the detection signal. For example, the first baffle 13153 is located between a light-transmitting portion and a light-receiving portion of the first photoelectric switch 1341 to prevent the light-receiving portion from receiving a light signal emitted from the light-transmitting portion, such that the first photoelectric switch 1341 changes the detection signal, indicating that the first cam 1316 rotates to an appropriate position, and the first cleaning element 133 is located in the first operating position. At this time, the telescopic driving member 1311 may stop rotating according to the detection signal of the first photoelectric switch 1341, to keep the first cleaning element 133 in the first operating position.

[0127] When the second cam 1315 rotates to an appropriate position, the second baffle 13154 is inserted into the second photoelectric switch 1342, so that the second photoelectric switch 1342 changes the detection signal. For example, the second baffle 13154 is located between a light-transmitting portion and a light-receiving portion of the second photoelectric switch 1342 to prevent the light-receiving portion from receiving a light signal emitted from the light-transmitting portion, such that the second photoelectric switch 1342 changes the detection signal, indicating that the first cam 1316 rotates to an appropriate position, and the second cleaning element 141 is located in the second operating position. At this time, the telescopic driving member 1311 may stop rotating according to the detection signal of the second photoelectric switch 1342, to keep the second cleaning element 141 in the second operating position.

[0128] In some possibly implemented embodiments provided by the present disclosure, the automatic cleaning apparatus 100 further includes: a rotation angle detection device arranged on the telescopic driving member 1311 and configured to detect a rotation angle of the output shaft of the telescopic driving member 1311. The telescopic driving member 1311 also rotates or stops rotating according to a detection result of the rotation angle detection device.

[0129] The rotation angle detection device can detect the rotation angle of the output shaft of the telescopic driving member 1311, such that a rotation angle of the first gear 1314 and a rotation angle of the second cam 1315 can be known, and thus a rotation angle of the first cam 1316 can be known. Therefore, when the first cam 1316 rotates by an appropriate angle, for example, when the first cam 1316 rotates to drive, by means of the rocker arm 1313, the first cleaning element 133 to move to the first operating position or the second operating position, the telescopic driving member 1311 stops rotating according to a detection result of the rotation angle detection device at this time, such that the first cleaning element 133 may be kept in the first operating position or the second operating position, thereby achieving accurate switching of the first operating position and the second operating position. It can be understood that when the first cam 1316 rotates and the first cleaning element 133 has not moved to the first operating position or the second operating position under the driving of the rocker arm 1313, the telescopic driving member 1311 may continue to rotate according to the detection result of the rotation angle detection device 134 at this time, so as to drive the first cleaning element 133 to continue to move in a direction close to a target operating position, such as the first operating position or the second operating position.

[0130] As shown in FIG. 8, in some possibly implemented embodiments provided by the present disclosure, a first limiting member 13181 and a second limiting member 13182 distributed on the peripheral side of the first cam 1316 are further arranged inside the first housing 1318. The first limiting member 13181 is located at a side of the protrusion 13161 away from the abutting portion 13152, and the first limiting member 13181 is configured to abut against the protrusion 13161 to limit rotation of the first cam 1316. The second limiting member 13182 is located at a side of the connecting portion 13162 away from the abutting portion 13152, and the second limiting member 13182 is configured to abut against the connecting portion 13162 to limit rotation of the first cam 1316.

[0131] In this way, the rotation of the first cam 1316 can be limited. For example, the protrusion 13161 of the first cam 1316 abuts against the first limiting member 13181 after the first cam 1316 rotates to an appropriate position, such that the first cam 1316 may not continue to move in a direction close to the first limiting member 13181, and the first cleaning element 133 may be reliably and accurately kept in the first operating position. Meanwhile, the connecting portion 13162 of the first cam 1316 abuts against the second limiting member 13182 after the first cam 1316 rotates to an appropriate position, such that the first cam 1316 may not continue to move in a direction close to the second limiting member 13182, and the first cleaning element 133 may be reliably and accurately kept in the second operating position.

[0132] It can be understood that in this state, the first cam 1316 will not continue to rotate under the action of the first limiting member 13181 or the second limiting member 13182 even if the telescopic driving member 1311 continues to rotate. Therefore, the first cleaning element 133 may be reliably kept in the first operating position or the second operating position even if the position detection device 134 and the rotation angle detection device fail to work, thereby achieving double confirmation and improving the accuracy and reliability of the first cleaning element 133 in reaching the target operating position.

[0133] In some possibly implemented embodiments provided by the present disclosure, the first driving assembly 131 and / or the first cam 1316 is provided with an anti-wear structure, and the first driving assembly 131 abuts against the first cam 1316 by means of the anti-wear structure.

[0134] By providing the anti-wear structure on the first driving assembly 131 and / or the first cam 1316 and performing force transfer between the first driving assembly 131 and the first cam 1316 by means of the anti-wear structure, the first driving assembly 131 and the first cam 1316 can be protected to reduce wear of the first driving assembly 131 and the first cam 1316, thereby ensuring a long service life.

[0135] The anti-wear structure may be arranged on the first driving assembly 131; or may be arranged on the protrusion of the first cam 1316; or may be arranged on the first driving assembly 131 and the protrusion of the first cam 1316 at the same time. When force transfer is performed between the first driving assembly 131 and the protrusion of the first cam 1316, i.e., when the first driving assembly 131 is pressed against the first cam 1316, the anti-wear structure is located between the first driving assembly 131 and the protrusion of the first cam 1316.

[0136] The anti-wear structure includes a roller 13192 and / or a protective layer 13191 with a smooth outer surface. By providing the roller 13192, a friction force between the first driving assembly 131 and the first cam 1316 may be a rolling friction force, which is smaller than a force of sliding friction between the first driving assembly 131 and the first cam 1316. By providing the protective layer 13191 with the smooth outer surface, the friction force can also be reduced, and meanwhile the first cam 1316 can be protected. After use for a long period of time, in case of serious damage due to friction, it only needs to replace the protective layer 13191, such that the maintenance cost is relatively low.

[0137] As shown in FIG. 16, in some possibly implemented embodiments provided by the present disclosure, the first driving assembly 131 may be provided with a roller 13192, the protrusion of the first cam 1316 is provided with a protective layer 13191 with a smooth outer surface, and the first driving assembly 131 abuts against the protective layer 13191 on the protrusion of the first cam 1316 by means of the roller 13192.

[0138] In some possibly implemented embodiments provided by the present disclosure, the protrusion of the first cam 1316 may be provided with a roller 13192, the first driving assembly 131 is provided with a protective layer 13191 with a smooth outer surface, and the first cam 1316 abuts against the protective layer 13191 on the first driving assembly 131 by means of the roller 13192.

[0139] In some possibly implemented embodiments provided by the present disclosure, the protrusion of the first cam 1316 and the first driving assembly 131 are both provided with the protective layer 13191 with the smooth outer surface, and the first cam 1316 and the first driving assembly 131 abut against each other by means of the protective layer 13191.

[0140] In some possibly implemented embodiments provided by the present disclosure, the protrusion of the first cam 1316 and the first driving assembly 131 may be both provided with the roller 13192. The roller 13192 on the protrusion of the first cam 1316 is staggered with the roller 13192 on the first driving assembly 131, i.e., the two rollers 13192 do not abut against each other. The protrusion of the first cam 1316 abuts against the first driving assembly 131 by means of the roller 13192 on the first cam, and the first driving assembly 131 abuts against the protrusion of the first cam 1316 by means of the roller 13192 on the first driving assembly.

[0141] As shown in FIG. 15, in some possibly implemented embodiments provided by the present disclosure, a protective layer 13191 with a smooth outer surface is arranged on an outer wall of the protrusion 13161 of the first cam 1316.

[0142] By providing the protective layer 13191 with the smooth outer surface on the outer wall of the protrusion 13161 of the first cam 1316, a friction force generated when the protrusion 13161 of the first cam 1316 abuts against the second cam 1315 can be reduced, so that the first cam 1316 and the second cam 1315 can be protected, thereby prolonging the service life of the first cam 1316 and the second cam 1315.

[0143] The protective layer 13191 may be a metal sheet or replaced with other wear-resistant materials, including but not limited to PK and metallurgical powder.

[0144] Specifically, the metal sheet is arranged on a contact surface between the protrusion 13161 and the second cam 1315, i.e., the metal sheet is located between the protrusion 13161 and the second cam 1315 when the protrusion 13161 interacts with the second cam 1315.

[0145] In some possibly implemented embodiments provided by the present disclosure, the protrusion 13161 of the first cam 1316 is provided with a roller 13192, and the protrusion 13161 abuts against the first driving assembly 131 by means of the roller 13192, such that rolling friction can be achieved between the protrusion 13161 and the first driving assembly 131, and a friction force is small, which prevents the protrusion 13161 and the first driving assembly 131 from being worn too fast, and ensures that the first cam 1316 and the first driving assembly 131 have a long service life.

[0146] The protrusion 13161 abuts against the abutting portion 13152 of the second cam 1315 by means of the roller 13192.

[0147] The axis of the roller 13192 is approximately parallel to a contact surface between the protrusion 13161 and the first driving assembly 131, which ensures that the roller 13192 can roll stably on the first driving assembly.

[0148] In some possibly implemented embodiments provided by the present disclosure, when the first driving assembly 131 includes a second cam 1315, the second cam 1315 is provided with a roller 13192, and the second cam 1315 abuts against the first cam 1316 by means of the roller 13192, such that rolling friction can also be achieved between the protrusion 13161 and the first driving assembly 131, and a friction force is small, which prevents the protrusion 13161 and the first driving assembly 131 from being worn too fast, and thus ensures that the first cam 1316 and the second cam 1315 have a long service life.

[0149] The axis of the roller 13192 is approximately parallel to a contact surface between the protrusion 13161 and the second cam 1315, which ensures that the roller 13192 can roll stably on the second cam 1315.

[0150] As shown in FIGS. 4 and 11, in some possibly implemented embodiments provided by the present disclosure, the transmission device further includes a second driving assembly 132, and the second driving assembly 132 is connected to the first cleaning element 133 and configured to drive the first cleaning element 133 to ascend and descend.

[0151] The second driving assembly 132 is also configured to drive the first cleaning element 133 to vibrate and / or rotate by taking its central axis a center of rotation.

[0152] Therefore, the first cleaning element 133 in the first operating position or the second operating position may be driven, by using the second driving assembly 132, to descend to be in contact with a surface to be cleaned and to rotate, so as to implement a mopping operation on the surface to be cleaned. Upon completion of the mopping operation, the first cleaning element 133 is driven to ascend by using the second driving assembly 132, such that the first cleaning element 133 may be separated from the surface to be cleaned. The first cleaning element 133 is stored such that the first cleaning element 133 may not be in contact with the surface to be cleaned during the movement of the automatic cleaning apparatus 100. Therefore, it is possible to prevent the first cleaning element 133 from being in contact with the surface to be cleaned and thus causing secondary pollution to the surface to be cleaned in the cases where mopping is not required, for example, in the cases where the automatic cleaning apparatus 100 travels to and from the base station or cleans a carpet, which is conductive to improving the cleaning performance of the automatic cleaning apparatus 100 and improving the cleaning efficiency and the use experience.

[0153] That is, the second driving assembly 132 may drive the first cleaning element 133 to ascend, descend and rotate according to the demand as to whether the first cleaning element 133 is in contact with the surface to be cleaned, i.e., whether the first cleaning element 133 needs to implement the function of cleaning or storage, so as to meet different functional demands of the first cleaning element 133, i.e., a differentiation strategy of cleaning or storage of the first cleaning element 133 can be realized, which improves the cleaning performance of the automatic cleaning apparatus. It can be understood that both the cleaning function and the storage function can be achieved when the first cleaning element 133 is in the first operating position.

[0154] The second driving assembly 132 is also configured to drive the first cleaning element 133 to vibrate, for example, to vibrate in the horizontal direction, which can further improve the cleaning effect.

[0155] Therefore, in the automatic cleaning apparatus 100 provided by the embodiments of the present disclosure, the first cleaning element 133 is driven, by using the first driving assembly 131, to switch between the first operating position and the second operating position, and the first cleaning element 133 is driven, by using the second driving assembly 132, to ascend, descend, vibrate and rotate. Through cooperation between the first driving assembly 131 and the second driving assembly 132, wet cleaning operations of different wet cleaning ranges can be performed, such that the cleaning range of the automatic cleaning apparatus 100 is expanded, and the cleaning effect is improved. Meanwhile, the demand as to whether the first cleaning element 133 needs to be in contact with the surface to be cleaned can be satisfied, i.e., the demand of different functions, i.e., cleaning and storage, of the first cleaning element 133 can be satisfied, thereby improving the cleaning performance of the automatic cleaning apparatus 100 and improving the user experience.

[0156] In this embodiment, the first cleaning element 133 can be driven to ascend, descend and rotate by using one second driving assembly 132, which, compared with the related art where two second driving assemblies are needed to drive a cleaning element to ascend / descend and rotate respectively, simplifies the setting of the one driving assembly. Therefore, the design demands for a compact structure and a small volume can be satisfied, which is conductive to reducing the occupied space and descending the cost and thus is suitable for popularization and application.

[0157] As shown in FIGS. 10 and 11, in some possibly implemented embodiments provided by the present disclosure, the second driving assembly 132 includes an ascending / descending driving portion 1321 and a transmission portion 1322. The transmission portion 1322 is at least partially arranged inside the rocker arm 1313 and connected to the first cleaning element 133. The ascending / descending driving portion 1321 drives, by means of the transmission portion 1322, the first cleaning element 133 to ascend, descend and rotate.

[0158] In this embodiment, since the transmission portion 1322 is connected to the rocker arm 1313 and the first cleaning element 133, the transmission portion 1322 may drive, under the action of the ascending / descending driving portion 1321, the first cleaning element 133 to ascend, descend and rotate, and can drive, under the action of the rocker arm 1313, the first cleaning element 133 to switch between the first operating position and the second operating position.

[0159] The second driving assembly 132 includes one ascending / descending driving portion 1321, and the first cleaning element 133 can be driven to ascend, descend and rotate by means of one ascending / descending driving portion 1321, which, compared with the related art where two driving portions are needed to drive a cleaning element to ascend / descend and rotate respectively, simplifies the setting of the one driving portion. Therefore, the design demands for a compact structure and a small volume can be satisfied, which is conductive to reducing the occupied space and descending the cost and thus is suitable for popularization and application.

[0160] As shown in FIGS. 10 and 11, in some possibly implemented embodiments provided by the present disclosure, the transmission portion 1322 includes: the ascending / descending driving portion 1321 and the transmission portion 1322, at least a part of the transmission portion 1322 is arranged in the rocker arm 1313 and connected with the first cleaning element 133, the ascending / descending driving portion 1321 drives the first cleaning element 133 to ascend, descend and rotate through the transmission portion 1322.

[0161] Therefore, the power of the ascending / descending driving portion 1321 is transmitted to a gear set 1324 by means of a worm 1323, and a sleeve 1325 is driven to ascend, descend and rotate by means of the gear set 1324, so as to drive the first cleaning element 133 to ascend, descend and rotate. The worm 1323 matches the gear set 1324 and is compact in mechanical structure, small in volume and accurate in transmission. This is conductive to reducing the volume of the transmission portion 1322 and thus reducing the volume of the second driving assembly 132, such that the design demands for a compact structure and a small volume can be satisfied.

[0162] As shown in FIGS. 10, 11 and 12, in the embodiments described above, the gear set 1324 includes: a worm gear 13241, a first sub-gear 13242, a second sub-gear, a third sub-gear 13245 and a connecting cylinder 13246.

[0163] The worm gear 13241 is coaxial with the first sub-gear 13242, the worm gear 13241 is located outside the rocker arm 1313 and engages with the worm 1323, and the first sub-gear 13242, the second sub-gear and the third sub-gear 13245 are all located inside the rocker arm 1313. The second sub-gear includes a first toothed disc 13243 and a second toothed disc 13244 that are coaxial with each other. The first sub-gear 13242 engages with the first toothed disc 13243 and the second toothed disc 13244 engages with the third sub-gear 13245. The connecting cylinder 13246 is coaxial with the third sub-gear 13245 and located outside the rocker arm 1313, the connecting cylinder 13246 is in threaded connection with the sleeve 1325, and the gear set 1324 rotates to make the sleeve 1325 and the connecting cylinder 13246 rotate relative to each other, so as to drive the sleeve 1325 to ascend or descend relative to the connecting cylinder 13246.

[0164] Therefore, the ascending / descending driving portion 1321 rotates to drive the worm 1323 to rotate; thus drive the worm 13241 to rotate since the worm gear 13241 engages with the worm 1323, and then drive the first sub-gear 13242 coaxial with the worm gear 13241 to rotate; then drive the first toothed disc 13243 and the second toothed disc 13244 coaxial with the first toothed disc 13243 to rotate since the first sub-gear 13242 engages with the first toothed disc 13243; and thus drive the third sub-gear 13245 to rotate since the second toothed disc 13244 engages with the third sub-gear 13245, and then drive the connecting cylinder 13246 coaxial with the third sub-gear 13245 to rotate. Since the connecting cylinder 13246 and the sleeve 1325 are in threaded connection, the sleeve 1325 and the connecting cylinder 13246 rotate relative to each other to drive the sleeve 1325 to ascend or descend relative to the connecting portion 13162, and thus drive the first cleaning element 133 mounted inside the sleeve 1325 to ascend, descend and rotate. This arrangement achieves a simple structure and high transmission accuracy.

[0165] The first sub-gear 13242, the second sub-gear and the third sub-gear 13245 are all located inside the rocker arm 1313, such that the rocker arm 1313 provides the first sub-gear 13242, the second sub-gear and the third sub-gear 13245 with a mounting space and certain protective effect, which can prolong the service life of the first sub-gear 13242, the second sub-gear and the third sub-gear 13245 and thus improve the reliability of the second driving assembly 132, and meanwhile satisfies the design demands for a compact structure and a small volume. It can be understood that a rotating shaft connecting the first sub-gear 13242 to the worm gear 13241 runs through the rocker arm 1313, and a rotating shaft connecting the third sub-gear 13245 to the connecting cylinder 13246 runs through the rocker arm 1313, so as to transmit the power of the ascending / descending driving portion 1321 from the outside of the rocker arm 1313 to the inside of the rocker arm 1313 through the worm 1323 and the worm gear 13241, and then to the outside of the rocker arm 1313 again through the connecting cylinder 13246. The first cleaning element 133 is driven by the sleeve 1325 to ascend, descend and rotate.

[0166] As shown in FIGS. 10 and 11, in some possibly implemented embodiments provided by the present disclosure, a wall of the connecting cylinder 13246 is provided with a guiding portion 13247 arranged spirally; and a wall of the sleeve 1325 is provided with a slot 13251 for accommodating the connecting cylinder 13246, and a wall of the slot 13251 is provided with a spiral guide groove13252 for accommodating the guiding portion 13247.

[0167] In this embodiment, the slot 13251 is formed in a top end of the sleeve 1325, the slot 13251 of the sleeve 1325 is inserted into the wall of the connecting cylinder 13246, the guiding portion 13247 on the wall of the connecting cylinder 13246 is accommodated in the guide groove 13252 of the slot 13251. Since the guiding portion 13247 is arranged spirally, and the guide groove 13252 is spiral, the guiding portion 13247 moves spirally along the guide groove 13252, which enables the sleeve 1325 to rotate, ascend and descend relative to the connecting cylinder 13246, i.e., the connection between the sleeve 1325 and the connecting cylinder 13246 may be regarded as a screw nut connection. This arrangement achieves a simple structure and is easy to implement, and the sleeve 1325 can be enabled to ascend, descend and rotate by using a group of structures, which is conductive to reducing the volume of the second driving assembly.

[0168] Further, as shown in FIGS. 10 and 11, the guiding portion 13247 is arranged on an outer wall of the connecting cylinder 13246, and the guide groove 13252 is formed in the wall of the slot 13251 away from the inside of the sleeve 1325; alternatively, the guiding portion 13247 is arranged on an inner wall of the connecting cylinder 13246, and the guide groove 13252 is formed on the wall of the slot 13251 close to the inside of the sleeve 1325.

[0169] The guiding portion 13247 is a spiral boss, for example, the guiding portion 13247 is a thread protruding outward, which is conductive to improving the accuracy and reliability of the guiding portion 13247 and the guide groove 13252 in mutual limiting and guiding, so as to improve the ascending, descending and rotating stability of the sleeve 1325 relative to the connecting cylinder 13246.

[0170] Alternatively, as shown in FIG. 11, the guiding portion 13247 is a plurality of bulges distributed at intervals, i.e., a plurality of bulges are spirally distributed at intervals, so that the structure of the guiding portion 13247 can be simplified, which is conductive to reducing the material consumption of the guiding portion 13247 and reducing the manufacturing cost. Specifically, the number of the bulges may be two, three, four or the like.

[0171] In some possibly implemented embodiments provided by the present disclosure, the wall of the slot 13251 is provided with a retaining rib close to an opening, and the retaining rib is configured to abut against the guiding portion 13247 to limit the ascending and descending movement of the sleeve 1325 relative to the connecting cylinder 13246, i.e., the retaining rib cooperates with the guiding portion 13247 to limit an extreme position to which the sleeve 1325 descends relative to the connecting cylinder 13246. Therefore, the guiding portion 13247 can be prevented from being separated from the guide groove 13252 to separate the sleeve 1325 from the connecting cylinder 13246, so that the sleeve 1325 can be reliably connected to the connecting cylinder 13246. Meanwhile, the first cleaning element 133 connected to the sleeve 1325 may be in reliable and full contact with the surface to be cleaned.

[0172] The guiding portion 13247 abuts against a bottom of the slot 13251 to limit the ascending and descending movement of the sleeve 1325 relative to the connecting cylinder 13246, i.e., the guiding portion 13247 cooperates with the bottom of the slot 13251 to limit the extreme position to which the sleeve 1325 ascends relative to the connecting cylinder 13246, in order to prevent the first cleaning element 133 from continuing to ascend after reaching the extreme position and damaging the second driving component., thereby improving the reliability. Meanwhile, the first cleaning element 133 in the extreme position where the first cleaning element ascends is kept a certain distance from the surface to be cleaned, so as to reduce the influence on climbing and obstacle crossing of the self-moving cleaning apparatus, as well as the influence of secondary pollution on the surface to be cleaned.

[0173] As shown in FIG. 12, in some possibly implemented embodiments provided by the present disclosure, the inner wall of the sleeve 1325 is provided with a limiting plane 13253 that matches the first cleaning element 133. The arrangement of the limiting plane 13253 can ensure that the first cleaning element 133 rotates as the sleeve 1325 rotates, and that the first cleaning element 133 does not rotate relative to the sleeve 1325, to ensure that the first cleaning element 133 has a good cleaning ability.

[0174] An axial section of the sleeve 1325 is hexagonal, i.e., the inner wall of the sleeve 1325 is provided with six planes. It can be understood that all the six planes may be the limiting planes 13253, or part of the six planes may be the limiting planes 13253. Specifically, a part of the first cleaning element 133 connected to the sleeve 1325 may be of a hexagonal prism structure, such that the rotation of the first cleaning element 133 relative to the sleeve 1325 can be limited by the cooperation between the hexagonal prism structure and the six planes of the inner wall of the sleeve 1325, which achieves a simple structure, easy processing and reliable limiting.

[0175] As shown in FIGS. 10, 11 and 12, in some possibly implemented embodiments provided by the present disclosure, the second driving assembly 132 further includes a second housing 1326 with an open end. When the automatic cleaning apparatus includes the first housing 1318, the second housing 1326 is in snap-fit with the first housing 1318. The worm 1323, the worm gear 13241, the rocker arm 1313 and the connecting cylinder 13246 are located inside a space enclosed by the second housing 1326 and the first housing 1318. The opening of the second housing 1326 is located in a side away from the first housing 1318. A bottom end of the sleeve 1325 is suitable for extending out of the opening of the second housing 1326. The ascending / descending driving portion 1321 is located outside the second housing 1326. The worm 1323 runs through the second housing 1326 to be connected to the ascending / descending driving portion 1321.

[0176] The bottom end of the sleeve 1325 is suitable for extending out of the opening of the second housing 1326, to ensure that the first cleaning element 133 connected to the sleeve 1325 may descend to be in contact with the surface to be cleaned. Meanwhile, a bottom end of the second housing 1326 may be kept a certain distance from the surface to be cleaned, so as to avoid influence of the second housing 1326 on climbing and obstacle crossing of the self-moving cleaning apparatus.

[0177] The ascending / descending driving portion 1321 is located outside the second housing 1326, and the worm 1323 runs through the second housing 1326 to be connected to the ascending / descending driving portion 1321, such that the power of the ascending / descending driving portion 1321 can be transmitted from the outside of the second housing 1326 to the inside of the second housing 1326.

[0178] As shown in FIGS. 12, 13 and 14, in the embodiments described above, the second housing 1326 is divided into a first mounting chamber 13261 and a second mounting chamber 13262. The worm gear 13241 is located inside the first mounting chamber 13261. The sleeve 1325 is located inside the second mounting chamber 13262. The rocker arm 1313 extends to the first mounting chamber 13261 and the second mounting chamber 13262. The first sub-gear 13242 in the rocker arm 1313 is coaxial with the worm gear 13241 in the first mounting chamber 13261. The sleeve 1325 in the second mounting chamber 13262 is connected to the connecting cylinder 13246 on the rocker arm 1313. Therefore, the power of the ascending / descending driving portion1321 can be transmitted to the sleeve 1325 through the first mounting chamber 13261 and the second mounting chamber 13262, to drive the first cleaning element 133 to ascend, descend and rotate.

[0179] The shape of the second mounting chamber 13262 matches a movement space of the rocker arm 1313, so that the wall of the second mounting chamber 13262 may not hinder the movement of the rocker arm 1313 and meanwhile well protect the rocker arm 1313, and the volume of the second driving assembly 132 is reduced as much as possible, to meet the design demands for a compact structure and a relatively small volume.

[0180] The second housing 1326 further includes a bottom plate 13263, the bottom plate 13263 is in detachable connection with the wall of the first mounting chamber 13261 to enclose the worm gear 13241 inside the first mounting chamber 13261. By arranging the bottom plate 13263, the worm gear 13241 is well protected, which can reduce the pollution of waste water to the worm gear 13241, thereby prolonging the service life of the worm gear 13241 and improving the reliability of the second drive assembly 132.

[0181] Specifically, the bottom plate 13263 may be detachably connected to the wall of the first mounting chamber 13261 by means of a screw, a clamping structure, a mortise and tenon structure and a magnetic attraction structure.

[0182] As shown in FIG. 5, in some possibly implemented embodiments provided by the present disclosure, the automatic cleaning apparatus further includes a second cleaning assembly 140, and the second cleaning assembly 140 may include a second cleaning element 141, i.e., the second cleaning element 141 is a part of the second cleaning assembly 140.

[0183] The second cleaning element 141 is movably connected to the apparatus body 110. The second cleaning element 141 and the first cleaning element 133 are distributed at two sides of a longitudinal center line of the apparatus body 110. The second cleaning element 141 may ascend, descend and rotate relative to the apparatus body 110.

[0184] The second cleaning assembly 140 is a wet cleaning member, and the second cleaning element 141 may usually be a flexible material having water absorbability, such as a fabric and sponge. In this solution, the second cleaning element 141 may be a self-rotating cleaning element, a vibrating cleaning element or a fixed cleaning element. Specifically, the second cleaning element 141 may be a mopping disc, and the second cleaning element 141 cleans dirt on the floor through rotational movement. Specifically, the second cleaning element 141 and the first cleaning element 133 are of the same structure.

[0185] Since the second cleaning assembly 140 and the first cleaning assembly 130 are distributed at two sides of the longitudinal center line of the apparatus body 110, during movement of the automatic cleaning apparatus 100, the surface to be cleaned can be cleaned by using the first cleaning assembly 130 and the second cleaning assembly 140 at the same time to expand the cleaning range, or the first cleaning assembly 130 and the second cleaning assembly 140 may be selectively used for a cleaning operation to clean a designated surface to be cleaned in a targeted manner, such that the cleaning operation can be flexibly selected, thereby improving the user's cleaning experience.

[0186] In this embodiment, the second cleaning element 141 may ascend, descend and rotate relative to the apparatus body 110. Specifically, the second cleaning assembly 140 further includes a third driving assembly, and the third driving assembly drives the second cleaning element 141 to ascend, descend and rotate. Therefore, the second cleaning element 141 can be driven to ascend, descend and rotate according to the requirement as to whether the second cleaning element 141 needs to be in contact with the surface to be cleaned, so that the second cleaning element 141 descends to be in contact with the surface to be cleaned and rotates to mop the surface to be cleaned. Alternatively, upon completion of the mopping operation, the second cleaning element 141 is driven to ascend by using the third driving assembly, such that the second cleaning element 141 is separated from the surface to be cleaned. The second cleaning element 141 is stored such that the second cleaning element 141 may not be in contact with the surface to be cleaned during the movement of the automatic cleaning apparatus 100. Therefore, it is possible to prevent the second cleaning element 141 from being in contact with the surface to be cleaned and thus causing secondary pollution to the surface to be cleaned in the case where mopping is not required, for example, in the case where the automatic cleaning apparatus 100 travels to and from the base station or cleans a carpet, which is conductive to improving the cleaning performance of the automatic cleaning apparatus 100 and improving the cleaning efficiency and the use experience.

[0187] That is, the third driving assembly may drive the second cleaning element 141 to ascend, descend and rotate according to the requirement as to whether the second cleaning element 141 is in contact with the surface to be cleaned, i.e., whether the second cleaning element 141 needs to implement the function of cleaning or storage, so as to meet different functional demands for the second cleaning element 141, i.e., a differentiation strategy of cleaning or storage of the second cleaning element 141 can be realized, which improves the cleaning performance of the automatic cleaning apparatus. It can be understood that the third driving assembly of the second cleaning assembly 140 may be of the same structure as the second driving assembly 132 of the first cleaning assembly 130 and thus will not be repeated herein. Alternatively, the third driving assembly may be of a different structure from the second driving assembly 132, as long as it can achieve ascending, descending and rotation of the second cleaning element 141.

[0188] It can be understood that in some embodiments, the second cleaning assembly 140 may also include a fourth driving assembly, and the fourth driving assembly and the third driving assembly of the second cleaning assembly 140 correspond to the first driving assembly 131 and the second driving assembly 132 of the first cleaning assembly 130, i.e., the second cleaning assembly 140 and the first cleaning assembly 130 are of the same structure, such that the cleaning function can be further expanded, the demands for different cleaning ranges can be satisfied, and the cleaning effect can be improved.

[0189] As shown in FIG. 5, in the embodiment described above, the second cleaning element 141 is in a fixed position relative to an edge projection region of the apparatus body 110, and the second cleaning element 141 is at least partially within the edge projection region of the apparatus body 110.

[0190] In this embodiment, the second cleaning element 141 is in the fixed position relative to the edge projection region of the apparatus body 110, i.e., the second cleaning element 141 may not extend or retract relative to the apparatus body 110 in the horizontal direction, such that the second cleaning element 141 can clean a designated region within the range of movement of the apparatus body 110. Meanwhile, the second cleaning assembly 140 and the first cleaning assembly 130 may be of different structures, such that the structure of the second cleaning assembly 140 can be simplified to a certain extent, which simplifies the structure of the whole automatic cleaning apparatus 100, reduces the cost, expands the cleaning range is expanded and ensures a favorable cleaning effect.

[0191] The second cleaning element 141 is at least partially within the edge projection region of the apparatus body 110, it may be case that the entire second cleaning element 141 may be within the edge projection region of the apparatus body 110, such that the possibility of the second cleaning element 141 colliding with an obstacle can be reduced, which is conductive to prolonging the service life of the second cleaning element 141. Alternatively, it may be the case that a part of the second cleaning element 141 may be outside the edge projection region of the apparatus body 110, and another part of the second cleaning element 141 may be inside the edge projection region of the apparatus body 110 to achieve cleaning of a part of the region outside the apparatus body 110, thereby expanding the cleaning range.

[0192] In some possibly implemented embodiments provided by the present disclosure, a side brush 161 of the third cleaning assembly 160 and the first cleaning assembly 130 are located on the same side of the apparatus body 110 and arranged front and back. Therefore, it can ensure that when the apparatus body 110 moves along an edge, the side brush 161 can dry-clean a corner position, and the first cleaning member in the second operating position can wet-clean the corner position, so as to ensure the operation of sucking first and then mopping, and ensure a favorable cleaning effect.

[0193] Further, the water delivery mechanism may supply water to the first cleaning element 133, the second cleaning element 141 and a cleaning head simultaneously. The water delivery mechanism includes water delivery driving portions connected to the first cleaning element 133, the second cleaning element 141 and the cleaning head respectively, such that separate control is carried out by different water delivery driving portions. For example, the water delivery driving portions may be peristaltic pumps, water pumps or other structures. One end of one water delivery driving portion is communicated with the liquid storage tank through a pipeline and the other end thereof is communicated with the first cleaning element 133 to deliver the cleaning liquid in the liquid storage tank to the first cleaning element 133, thereby achieving water supply for the first cleaning element 133. One end of another water delivery driving portion is communicated with the liquid storage tank through a pipeline and the other end thereof is communicated with the second cleaning element 141 to deliver the cleaning liquid in the liquid storage tank to the second cleaning element 141, thereby achieving water supply for the second cleaning element 141. One end of yet still another water delivery driving portion is communicated with the liquid storage tank through a pipeline and the other end thereof is communicated with the cleaning head to deliver the cleaning liquid in the liquid storage tank to the cleaning head, thereby achieving water supply for the cleaning head.

[0194] According to the transmission device, the automatic cleaning apparatus and the cleaning robot system provided by the present disclosure, the transmission device is applied to the automatic cleaning apparatus; the automatic cleaning apparatus includes the apparatus body and the first cleaning element; and the transmission device includes the first driving assembly, the rocker arm and the elastic member. The rocker arm is rotationally connected to the apparatus body. The first end of the elastic member is connected to the rocker arm, and the second end of the elastic member is fixed relative to the apparatus body. The first cleaning element is arranged on the rocker arm. The first driving assembly is configured to cooperate with the elastic member to drive the rocker arm to rotate, such that the first cleaning element is switched between the first operating position and the second operating position. By providing the first driving assembly, the rocker arm and the elastic member, and providing the first cleaning element on the rocker arm, the first cleaning element can be driven, by using the first driving assembly and the elastic member, to switch between the first operating position and the second operating position according to the demand on a cleaning range of the automatic cleaning apparatus, so as to move the first cleaning element to an operating position that meets the corresponding demand on the cleaning range, such that the demands of different mopping ranges are satisfied, and the mopping range is enlarged, which is conductive to improving the cleaning effect and improving the user's cleaning experience.

[0195] The present disclosure has been described by the above-described embodiments, but it should be understood that the above-described embodiments are only for the purpose of illustration and description, and are not intended to limit the present disclosure within the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present disclosure is not limited to the above-described embodiments, and various variations and modifications can be made according to the teachings of the present disclosure. These variations and modifications all fall within the scope of protection of the present disclosure. The scope of protection of the present disclosure is defined by the appended claims and its equivalents.

Examples

Embodiment Construction

[0049]In the following descriptions, a large number of specific details are provided to understand the technical solutions of the present disclosure more thoroughly. However, it is apparent to those skilled in the art that the technical solutions of the present disclosure may be implemented without one or more of these details.

[0050]It should be noted that the terms used herein are only intended to describe specific embodiments rather than to limit exemplary embodiments according to the present disclosure. As used herein, the singular form is also intended to include the plural form unless otherwise indicated clearly in the context. In addition, it should further be understood that the terms "including" and / or "comprising", when used in the Description, indicate the presence of the features, integers, steps, operations, elements and / or assemblies, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, assemblies and / or com...

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to Chinese Patent Application No. 202311091088.8 filed on August 25, 2023, the entire contents of which are incorporated herein by reference to serve as a part of the present application.TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of transmission devices, and in particular to a transmission device, an automatic cleaning apparatus and a cleaning robot system.BACKGROUND ART

[0003] A current automatic cleaning apparatus generally has the function of mopping a floor. However, a transmission device in the current automatic cleaning apparatus is simple in design and single in function, and can only drive a mopping cloth to rotate for cleaning, resulting in a relatively fixed position of the mopping cloth and thus a small cleaning range. For example, at present the mopping cloth is located below a shell and blocked by the shell in a horizontal direction. Due to the limitation from the shell, the current automatic cleaning apparatus cannot clean a surface to be cleaned at the corner, which affects the cleaning effect.SUMMARY OF THE INVENTION

[0004] A series of concepts in a simplified form are introduced in SUMMARY OF THE INVENTION, which will be further described in detail in DETAILED DESCRIPTION. This section of the present disclosure is not intended to attempt to define key features and necessary technical features of the technical solutions claimed, let alone to attempt to determine the scope of protection of the technical solutions claimed.

[0005] Embodiments in a first aspect of the present disclosure provide a transmission device applied to an automatic cleaning apparatus. The automatic cleaning apparatus includes an apparatus body and a first cleaning element. The transmission device includes a first driving assembly, a rocker arm and an elastic member, wherein the rocker arm is rotationally connected to the apparatus body; a first end of the elastic member is connected to the rocker arm, and a second end of the elastic member is fixed relative to the apparatus body; the first cleaning element is arranged on the rocker arm; and the first driving assembly is configured to cooperate with the elastic member to drive the rocker arm to rotate, such that the first cleaning element is driven to switch between a first operating position and a second operating position.

[0006] Optionally, during switching of the first cleaning element between the first operating position and the second operating position, the first driving assembly abuts against the rocker arm to cause the rocker arm to rotate.

[0007] Optionally, one end of the rocker arm is connected to a first cam and the other end thereof is connected to the first cleaning element. During switching of the first cleaning element between the first operating position and the second operating position, the first driving assembly abuts against a protrusion of the first cam to cause the rocker arm to rotate.

[0008] Optionally, the first end of the elastic member is connected to the first cam; and / or the first end of the elastic member is connected to the rocker arm.

[0009] Optionally, the elastic member is a tension spring, a first end of the tension spring is connected to the first cam, and a second end of the tension spring is fixed relative to the apparatus body; or, the elastic member is a torsion spring, the torsion spring is arranged at a rotating shaft of the first cam, a first end of the torsion spring is connected to the first cam, and a second end of the torsion spring is fixed relative to the apparatus body; or, the elastic member is an elastic piece, a first end of the elastic piece is connected to the first cam, and a second end of the elastic piece is fixed relative to the apparatus body.

[0010] Optionally, the first cleaning element is in movable connection or transmission connection or fixed connection with the rocker arm.

[0011] Optionally, the first driving assembly is configured to drive the first cam to rotate in a first direction, such that the first cleaning element is switched from the second operating position to the first operating position.

[0012] Optionally, the elastic member is configured to drive the first cam to rotate in a second direction, such that the first cleaning element is switched from the first operating position to the second operating position.

[0013] Optionally, the first driving assembly deforms the elastic member through the first cam so as to accumulate elastic potential energy.

[0014] Optionally, the elastic member releases elastic potential energy for driving the first cam to rotate in a second direction, such that the first cleaning element is switched from the first operating position to the second operating position.

[0015] Optionally, the first driving assembly includes a first driving portion and a second cam, wherein the first driving portion is configured to drive the second cam to rotate, and the second cam abuts against the first cam for causing the first cam to rotate.

[0016] Optionally, the second cam is arranged on an output end of the first driving portion, such that the first driving portion drives the second cam to rotate; or, an output end of the first driving portion is in transmission connection with the second cam.

[0017] Optionally, the second cam includes a sector toothed portion and an abutting portion, the first driving portion engages with the sector toothed portion, the abutting portion abuts against the first cam, and the first cam is coaxial with the rocker arm.

[0018] Optionally, a connecting portion is arranged on a peripheral side of the first cam, and the connecting portion is configured to be connected to the first end of the elastic member.

[0019] Optionally, the first driving portion includes a telescopic driving member and a first gear, the telescopic driving member is connected to the first gear, and the first gear engages with the sector toothed portion, such that the telescopic driving member drives, by means of the first gear and the sector toothed portion, the abutting portion to push the first cam to rotate, and drives, by means of synchronous rotation of the rocker arm, the first cleaning element to move from the second operating position to the first operating position.

[0020] Optionally, the second cam is separated from the first cam in the case that the first cleaning element is in the second operating position.

[0021] Optionally, the automatic cleaning apparatus further includes a first housing, wherein the telescopic driving member and the rocker arm are located outside the first housing; the first gear, the second cam, the first cam and the elastic member are located inside the first housing; the first gear runs through the first housing to be in power connection with the telescopic driving member; and the second end of the elastic member is connected to the first housing.

[0022] Optionally, the transmission device further includes: a position detection device configured to detect a position of rotation of the second cam, wherein the telescopic driving member rotates or stops rotating according to a detection result of the position detection device.

[0023] Optionally, the position detection device includes a first photoelectric switch and a second photoelectric switch distributed at two sides of the second cam, and the second cam further includes a first baffle and a second baffle distributed at two sides of the abutting portion, the first baffle is suitable for being inserted into the first photoelectric switch, so that the first photoelectric switch changes a detection signal, and the second baffle is suitable for being inserted into the second photoelectric switch, so that the second photoelectric switch changes a detection signal.

[0024] Optionally, the transmission device further includes: a rotation angle detection device arranged on the telescopic driving member and configured to detect a rotation angle of an output shaft of the telescopic driving member, wherein the telescopic driving member also rotates or stops rotating according to a detection result of the rotation angle detection device.

[0025] Optionally, a first limiting member and a second limiting member are arranged on peripheral side of the first cam; the first limiting member is located at a side of the protrusion away from the abutting portion and configured to abut against the protrusion to limit rotation of the first cam; and the second limiting member is located at a side of the connecting portion away from the abutting portion, and configured to abut against the connecting portion to limit rotation of the first cam.

[0026] Optionally, an anti-wear structure is provided on the first driving assembly and / or the first cam, and the first driving assembly and the first cam abut against each other by means of the anti-wear structure.

[0027] Optionally, the anti-wear structure includes a roller and / or a protective layer with a smooth outer surface.

[0028] Optionally, an outer wall of the protrusion of the first cam is provided with a protective layer with a smooth outer surface.

[0029] Optionally, the protrusion of the first cam is provided with a roller, and the protrusion abuts against the first driving assembly by means of the roller; or, when the first driving assembly includes a second cam, the second cam is provided with a roller, and the second cam abuts against the first cam by means of the roller.

[0030] Optionally, the first cleaning element is a rotating mopping cloth or a vibrating mopping cloth.

[0031] Optionally, the transmission device further includes a second driving assembly, wherein the second driving assembly is connected to the first cleaning element and configured to drive the first cleaning element to ascend and descend.

[0032] Optionally, the second driving assembly is also configured to drive the first cleaning element to vibrate and / or rotate by taking its own central axis as a center of rotation.

[0033] Optionally, the second driving assembly includes an ascending / descending driving portion and a transmission portion, wherein the transmission portion is at least partially arranged inside the rocker arm and connected to the first cleaning element, and the ascending / descending driving portion drives, by means of the transmission portion, the first cleaning element to ascend, descend and rotate.

[0034] Optionally, the transmission portion includes a worm, a gear set and a sleeve which are in power connection, wherein the worm is in power connection with the ascending / descending driving portion; the gear set is arranged inside the rocker arm; the sleeve is connected to the first cleaning element; and the worm drives, by means of the gear set, the sleeve to ascend, descend and rotate so as to drive the first cleaning element to ascend, descend and rotate.

[0035] Optionally, the gear set includes a worm gear, a first sub-gear, a second sub-gear, a third sub-gear and a connecting cylinder, wherein the worm gear is coaxial with the first sub-gear; the worm gear is located outside the rocker arm and engages with the worm; the first sub-gear, the second sub-gear and the third sub-gear are all located inside the rocker arm; the second sub-gear includes a first toothed disc and a second toothed disc that are coaxial with each other; the first sub-gear engages with the first toothed disc; the second toothed disc engages with the third sub-gear; the connecting cylinder is coaxial with the third sub-gear and located outside the rocker arm; the connecting cylinder is in threaded connection with the sleeve; and the gear set rotates to cause the sleeve and the connecting cylinder to rotate relative to each other so as to drive the sleeve to ascend or descend relative to the connecting cylinder.

[0036] Optionally, a wall of the connecting cylinder is provided with a guiding portion arranged spirally; a wall of the sleeve is provided with a slot for accommodating the connecting cylinder, and a wall of the slot is provided with a spiral guide groove for accommodating the guiding portion; and the guiding portion is a spiral boss or a plurality of bulges distributed at intervals.

[0037] Optionally, a wall of the slot is provided with a retaining rib close to an opening, and the retaining rib is configured to abut against the guiding portion so as to limit ascending and descending movement of the sleeve relative to the connecting cylinder; and the guiding portion abuts against a bottom of the slot to limit ascending and descending movement of the sleeve relative to the connecting cylinder.

[0038] Optionally, an inner wall of the sleeve is provided with a limiting plane that matches the first cleaning element; wherein an axial section of the sleeve is hexagonal.

[0039] Optionally, the second driving assembly further includes a second housing with an open end; when the automatic cleaning apparatus includes a first housing, the second housing is in snap-fit with the first housing; the worm, the worm gear, the rocker arm and the connecting cylinder are located inside a space enclosed by the second housing and the first housing; the opening of the second housing is located on a side away from the first housing; a bottom end of the sleeve is suitable for extending out of the opening of the second housing; the ascending / descending driving portion is located outside the second housing; and the worm runs through the second housing to be connected to the ascending / descending driving portion.

[0040] Optionally, the second housing is divided into a first mounting chamber and a second mounting chamber, the worm gear is located inside the first mounting chamber, the sleeve is located inside the second mounting chamber, the rocker arm extends to the first mounting chamber and the second mounting chamber, and the shape of the second mounting chamber matches a movement space of the rocker arm; and the second housing further includes a bottom plate, and the bottom plate is in detachable connection with a wall of the first mounting chamber to enclose the worm gear inside the first mounting chamber.

[0041] Optionally, the automatic cleaning apparatus further includes a second cleaning element in movable connection with the apparatus body, wherein the second cleaning element and the first cleaning element are distributed at two sides of a longitudinal center line of the apparatus body, and the second cleaning element is capable of ascending, descending and rotating relative to the apparatus body.

[0042] Optionally, the second cleaning element is in a fixed position relative to an edge projection region of the apparatus body.

[0043] Embodiments in a second aspect of the present disclosure provide an automatic cleaning apparatus, including the transmission device as described above. The automatic cleaning apparatus includes an apparatus body, the first cleaning element in the second operating position is at least partially located outside the apparatus body in a horizontal direction, the first cleaning element in the first operating position is at least partially located inside the apparatus body in the horizontal direction, and an area of the first cleaning element in the second operating position outside the apparatus body in the horizontal direction is larger than an area of the first cleaning element in the first operating position outside the apparatus body in the horizontal direction.

[0044] Embodiments in a third aspect of the present disclosure provide a cleaning robot system, including the transmission device as described above; or including a base station and the automatic cleaning apparatus as described above, and the automatic cleaning apparatus is suitable for docking on the base station.

[0045] The above description is only an overview of the technical solution of the present disclosure, in order to understand the technical means of the present disclosure more clearly, the present disclosure can be implemented according to the content of the Description, and in order to make the above and other objectives, features and advantages of the present disclosure more obvious and understandable, specific embodiments of the present disclosure will be specifically described below.BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The following accompanying drawings of the present disclosure, as part of embodiments of the present disclosure, are used herein for understanding the present disclosure. The embodiments of the present disclosure and descriptions thereof are shown in the accompanying drawings to explain the principles of the present disclosure.

[0047] In the drawings: FIG. 1 is a schematic structural diagram of an automatic cleaning apparatus when a first cleaning element is in a first operating position according to an alternative embodiment of the present disclosure; FIG. 2 is a schematic structural diagram of the automatic cleaning apparatus when the first cleaning element is in a second operating position according to an alternative embodiment of the present disclosure; FIG. 3 is a schematic structural diagram of a part of the automatic cleaning apparatus when the first cleaning element is in the second operating position according to an alternative embodiment of the present disclosure; FIG. 4 is a schematic structural diagram of a part of the automatic cleaning apparatus when the first cleaning element is in the second operating position according to another alternative embodiment of the present disclosure; FIG. 5 is a schematic structural diagram of the embodiment shown in FIG. 2 from another perspective; FIG. 6 is a schematic structural diagram when the first cleaning element is in the first operating position according to an alternative embodiment of the present disclosure; FIG. 7 is a schematic structural diagram when the first cleaning element is in the second operating position according to an alternative embodiment of the present disclosure; FIG. 8 is a schematic structural diagram of the embodiment shown in FIG. 7 from another perspective; FIG. 9 is a schematic structural diagram of the embodiment shown in FIG. 7 from yet another perspective; FIG. 10 is a sectional view of the embodiment shown in FIG. 9 in a direction A-A; FIG. 11 is a schematic structural diagram of a second driving assembly according to an alternative embodiment of the present disclosure; FIG. 12 is a schematic structural diagram of the embodiment shown in FIG. 7 from still yet another perspective; FIG. 13 is a schematic structural diagram of a second housing according to an alternative embodiment of the present disclosure; FIG. 14 is a schematic structural diagram of the embodiment shown in FIG. 13 from another perspective; FIG. 15 is a schematic structural diagram when a first cam is provided with a protective layer according to an alternative embodiment of the present disclosure; and FIG. 16 is a schematic structural diagram when an abutting portion is provided with a roller according to an alternative embodiment of the present disclosure.

[0048] Reference numerals in the drawings are described as below: 100-automatic cleaning apparatus; 110-apparatus body; 111-forward portion; 112-rearward portion; 120-perception system; 121-determining device; 122-buffer; 130-first cleaning assembly; 131-first driving assembly; 1311-telescopic driving member; 1313-rocker arm; 1314-first gear; 1315-second cam; 13151-sector toothed portion; 13152-abutting portion; 13153-first baffle; 13154-second baffle; 1316-first cam; 13161-protrusion; 13162-connecting portion; 1317-elastic member; 1318-first housing; 13181-first limiting member; 13182-second limiting member; 13191-protective layer; 13192-roller; 132-second driving assembly; 1321-ascending / descending driving portion; 1322-transmission portion; 1323-worm; 1324-gear set; 13241-worm gear; 13242-first sub-gear; 13243-first toothed disc; 13244-second toothed disc; 13245-third sub-gear; 13246-connecting cylinder; 13247-guiding portion; 1325-sleeve; 13251-slot; 13252-guide groove; 13253-limiting plane; 1326-second housing; 13261-first mounting chamber; 13262-second mounting chamber; 13263-bottom plate; 133-first cleaning element; 134-position detection device; 1341-first photoelectric switch; 1342-second photoelectric switch; 140-second cleaning assembly; 141-second cleaning element; 160-third cleaning assembly; 161-side brush; and 162-rolling brush.DETAILED DESCRIPTION

[0049] In the following descriptions, a large number of specific details are provided to understand the technical solutions of the present disclosure more thoroughly. However, it is apparent to those skilled in the art that the technical solutions of the present disclosure may be implemented without one or more of these details.

[0050] It should be noted that the terms used herein are only intended to describe specific embodiments rather than to limit exemplary embodiments according to the present disclosure. As used herein, the singular form is also intended to include the plural form unless otherwise indicated clearly in the context. In addition, it should further be understood that the terms "including" and / or "comprising", when used in the Description, indicate the presence of the features, integers, steps, operations, elements and / or assemblies, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, assemblies and / or combinations thereof.

[0051] The exemplary embodiments according to the present disclosure will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided in order to make the disclosure of the present disclosure thorough and complete, and adequately convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0052] As shown in FIGS. 1 to 16, the embodiments of the present disclosure provide an automatic cleaning apparatus 100 and a cleaning robot system. The cleaning robot system includes the automatic cleaning apparatus 100 and a base station, i.e., the base station is used in cooperation with the automatic cleaning apparatus 100.

[0053] Further, as shown in FIGS. 1, 2 and 3, the automatic cleaning apparatus 100 may include an apparatus body 110, a perception system 120, a control module, a driving system, a cleaning system, an energy system and a human-computer interaction system. It can be understood that the automatic cleaning apparatus 100 may be a self-moving cleaning apparatus or other automatic cleaning apparatuses 100 that meet the requirements. The automatic cleaning apparatus 100 is an apparatus that automatically performs a cleaning operation in a certain region to be cleaned without operation of the user. When the automatic cleaning apparatus 100 starts to work, the automatic cleaning apparatus 100 performs a cleaning task from the base station. In the case that the automatic cleaning apparatus 100 completes the cleaning task or needs to suspend the cleaning task, the self-moving automatic cleaning apparatus 100 may return to the base station for charging, and / or water replenishment, and / or washing, and / or dust collection and / or other operations.

[0054] As shown in FIGS. 2 and 3, the apparatus body 110 includes a forward portion 111 and a rearward portion 112, takes an approximately circular shape with a circular front part and a circular rear part, and may also take other shapes including, but not limited to, an approximately D shape with a square front part and a circular rear part and a rectangular or square shape with a square front part and a square rear part.

[0055] As shown in FIGS. 1 and 2, the perception system 120 includes a position determining device 121 located on the apparatus body 110, a collision sensor and a proximity sensor both disposed on a buffer 122 of the forward portion 111 of the apparatus body 110, a cliff sensor disposed at a lower portion of the apparatus body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope and an odometer disposed inside the apparatus body 110, for providing various position information and motion status information of the automatic cleaning apparatus to a control module. The position determining device 121 includes, but is not limited to, a camera and a laser distance sensor (LDS).

[0056] As shown in FIGS. 1 and 2, the forward portion 111 of the apparatus body 110 may bear the buffer 122. The buffer 122 detects one or more events in a travel path of the automatic cleaning apparatus 100 via a sensor system (for example, an infrared sensor) disposed on the buffer when a driving wheel module propels the automatic cleaning apparatus 100 to travel on the floor in a cleaning process. The automatic cleaning apparatus 100 may control, based on the events (such as an obstacle and a wall) detected by the buffer 122, the driving wheel module, such that the automatic cleaning apparatus 100 may respond to the events, e.g., moving away from the obstacle.

[0057] The control module is disposed on a main circuit board within the apparatus body 110 and includes a computing processor, such as a central processing unit and an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory and a random access memory. The application processor draws a simultaneous map of an environment where the automatic cleaning apparatus 100 is located, based on obstacle information fed back by the laser distance sensor by use of a positioning algorithm, for example, simultaneous localization and mapping (SLAM). In addition, based on distance and speed information fed back by the sensing devices, such as the sensors disposed on the buffer 122, the cliff sensor, the magnetometer, the accelerometer, the gyroscope and the odometer, a comprehensive determination may be made on a current working status and a current position of the automatic cleaning apparatus 100, as well as a current posture of the automatic cleaning apparatus 100, such as crossing a doorsill, getting on a carpet, being at a cliff, being stuck from above or below, having a full dust box, being picked up, etc. For different cases, specific next action strategies may be provided, such that the automatic cleaning apparatus 100 has better sweeping performance and user experience.

[0058] The driving system may manipulate the apparatus body 110 to travel across the floor based on a driving command with distance and angle information (e.g., x, y, and θ components). The driving system includes the driving wheel module that may control both a left wheel and a right wheel simultaneously. For more precise control of the apparatus's movement, the driving wheel module preferably includes a left driving wheel module and a right driving wheel module, which are arranged along the transverse axis defined by the apparatus body 110. In order to enable the automatic cleaning apparatus 100 to move more stably or have a higher movement ability on the floor, the automatic cleaning apparatus 100 may include one or more driven wheels, which include but are not limited to universal wheels. The driving wheel module includes a traveling wheel, a driving motor, and a control circuit for controlling the driving motor, and the driving wheel module may also be connected to a circuit for measuring a driving current and an odometer. The driving wheel may be provided with an offset drop suspension system, which is fastened movably to (e.g., attached rotatably to) the apparatus body 110, and receives a spring bias biased downward and away from the apparatus body 110. The spring bias allows the driving wheel to maintain contact and traction with the floor with a certain floor attachment force, while cleaning elements of the automatic cleaning apparatus 100 are also in contact with the ground with certain pressure.

[0059] The energy system includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detecting circuit and a battery undervoltage monitoring circuit. The charging control circuit, the battery pack charging temperature detecting circuit and the battery undervoltage monitoring circuit are then connected to a single-chip microcomputer control circuit. A host is connected to a charging pile through a charging electrode disposed on a side of or below a body of the automatic cleaning device for charging.

[0060] The human-computer interaction system includes buttons on a panel of the host for the user to select functions, and may further include a display screen and / or an indicator light and / or a speaker. The display, the indicator light and the speaker show the user the current status or function options of the automatic cleaning apparatus. The human-computer interaction system may further include a mobile phone client program. For a route navigation type automatic cleaning apparatus 100, a mobile phone client may show the user a map of the environment where the apparatus is located, as well as a position of the apparatus, thereby providing the user with richer and more user-friendly function items.

[0061] The cleaning system includes a wet cleaning system, i.e., the automatic cleaning apparatus 100 may be a mopping machine, or the cleaning system includes a wet cleaning system and a dry cleaning system, i.e., the automatic cleaning apparatus 100 is a sweeping and mopping integrated machine.

[0062] As shown in FIG. 5, the dry cleaning system may include a third cleaning assembly 160, a dust box, a fan and an air outlet. The third cleaning assembly 160 may include a rolling brush 162. The rolling brush 162 having certain interference with the floor sweeps up garbage on the floor and rolls the garbage up to the front of a dust suction port between the rolling brush 162 and the dust box, and then the garbage is sucked into the dust box by a gas, which has a sucking force and is generated by the fan and passes through the dust box. The third cleaning assembly 160 may further include a side brush 161 capable of rotating, and the side brush 161 is angled relative to the floor for moving debris into the region of the rolling brush 162 of the cleaning system.

[0063] As shown in FIGS. 2 and 5, the wet cleaning system may include a first cleaning assembly 130, a water delivery mechanism, a liquid storage tank, and the like. A cleaning liquid in the liquid storage tank is transferred to the first cleaning assembly 130 by means of the water delivery mechanism, such that the first cleaning assembly 130 performs wet cleaning on a surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be directly sprayed onto a plane to be cleaned, and the first cleaning assembly 130 cleans the plane by evenly applying the cleaning liquid. Specifically, a driving portion of the water delivery mechanism may be a peristaltic pump or other power mechanisms.

[0064] The first cleaning assembly 130 includes a first cleaning element 133, i.e., the first cleaning element 133 is a part of the first cleaning assembly 130.

[0065] When the automatic cleaning apparatus 100 is a sweeping and mopping integrated machine, the rolling brush 162 and the dust suction port of the third cleaning assembly 160 are located in front of the first cleaning assembly 130 in a direction of movement of the automatic cleaning apparatus 100, and the side brush 161 may also be located in front of the first cleaning assembly 130, to ensure that the apparatus body 110 can realize the cleaning sequence of sweeping first and wiping later in the process of traveling.

[0066] As shown in FIGS. 1, 2, 3 and 4, embodiments of the present disclosure provide a transmission device applied to an automatic cleaning apparatus. The automatic cleaning apparatus includes an apparatus body 110 and a first cleaning element 133. The transmission device includes a first driving assembly 131, a rocker arm 1313 and an elastic member 1317. The rocker arm 1313 is rotationally connected to the apparatus body 110. A first end of the elastic member 1317 is connected to the rocker arm 1313, and a second end of the elastic member 1317 is fixed relative to the apparatus body 110. The first cleaning element 133 is arranged on the rocker arm 1313. The first driving assembly 131 is configured to cooperate with the elastic member 1317 to drive the rocker arm 1313 to rotate, such that the first cleaning element 133 is driven to switch between a first operating position and a second operating position.

[0067] By providing the first driving assembly 131, the rocker arm 1313 and the elastic member 1317, and providing the first cleaning element 133 on the rocker arm 1313, the first cleaning element can be driven, by using the first driving assembly and the elastic member 1317, to switch between the first operating position and the second operating position according to a demand on a cleaning range of the automatic cleaning apparatus, so as to move the first cleaning element to an operating position that meets a corresponding demand on the cleaning range, such that demands on different mopping ranges are satisfied, and the mopping range is enlarged, which is conductive to improving the cleaning effect and improving the user's cleaning experience.

[0068] It should be noted that the fact that the first end of the elastic member 1317 is connected to the rocker arm 1313 includes the first end of the elastic member 1317 and the rocker arm 1313 are in direct connection or in indirect connection by means of other components. Both of the direct connection and the indirect connection between the first end of the elastic member 1317 and the rocker arm 1313 are within the scope of protection of the present disclosure.

[0069] As shown in FIG. 6, the first driving assembly drives, by means of the rocker arm 1313, the first cleaning element 133 to move to the first operating position. At this time, an acting force exerted onto the rocker arm 1313 by the first driving assembly is in a direction opposite to the direction of an acting force exerted onto the rocker arm 1313 by the elastic member 1317, and the rocker arm 1313 is then fixed by the two opposite acting forces, such that the rocker arm is prevented from swinging, which in turn prevents the first cleaning element 133 from moving with the rocker arm 1313 during cleaning.

[0070] As shown in FIG. 7, the elastic member 1317 drives, by means of the rocker arm 1313, the first cleaning element 133 to move to the second operating position. At this time, the elastic member 1317 drives the rocker arm 1313 to move to a limit position and fixes the rocker arm 1313 by its own elastic force.

[0071] When the first cleaning element 133 is in the first operating position or the second operating position, the elastic member may be in a deformed state to maintain the acting force exerted onto the rocker arm 1313.

[0072] The first cleaning element 133 may generally be a flexible substance having water absorbability such as a fabric and sponge. In this solution, the first cleaning element 133 may be a self-rotating cleaning element, a vibrating cleaning element or a fixed cleaning element. Specifically, the first cleaning element 133 may be a mopping disc, and the first cleaning element 133 cleans up dirt on the floor through rotational movement.

[0073] FIG. 1 is a schematic structural diagram of the automatic cleaning apparatus 100 when the first cleaning element 133 is in the first operating position, and FIGS. 2, 3, 4 and 5 are schematic structural diagrams of the automatic cleaning apparatus 100 when the first cleaning element 133 is in the second operating position. Projections of the first cleaning element 133 in the first operating position and the second operating position are at different positions of a projection region of the apparatus body 110. As shown in FIG. 1, the projection of the first cleaning element 133 in the first operating position is within the projection region of the apparatus body 110, and as shown in FIG. 2, the projection of the first cleaning element 133 in the second operating position is at least partially outside the projection region of the apparatus body 110. It can be understood that in other embodiments, the projections of the first cleaning element 133 in the first operating position and the second operating position may both be within the projection region of the apparatus body 110, but at different positions; alternatively, the projections of the first cleaning element 133 in the first operating position and the second operating position may both be at least partially within the projection region of the apparatus body 110, but at different positions, that is, the first cleaning element 133 in the second operating position is at least partially located outside the apparatus body 110 in a horizontal direction, the first cleaning element 133 in the first operating position is at least partially located inside the apparatus body 110 in the horizontal direction, and an area of the first cleaning element in the second operating position, outside the apparatus body 110 in the horizontal direction, is larger than an area of the first cleaning element in the first operating position, outside the apparatus body 110 in the horizontal direction. Therefore, the first cleaning element 133 may be driven, by using the first driving assembly 131, to switch between the first operating position and the second operating position according to the demand on the cleaning range of the automatic cleaning apparatus 100, specifically according to the demand on a wet cleaning range, so as to move the first cleaning element 133 to an operating position that meets the corresponding demand on the cleaning range, that is, the first cleaning element 133 may perform a mopping operation in the first operating position, and the first cleaning element 133 may also perform the mopping operation in the second operating position, to meet the demands on different mopping ranges, thereby expanding the mopping range, i.e., expanding the cleaning range of the automatic cleaning apparatus 100, improving the cleaning effect, and improving the user's cleaning experience.

[0074] It should be noted that when the first cleaning element 133 in the first operating position is wholly located inside the apparatus body 110 in the horizontal direction, the area of the first cleaning element in the first operating position, outside the apparatus body 110 in the horizontal direction, is zero. At this time, the area of the first cleaning element in the second operating position, outside the apparatus body 110 in the horizontal direction, is still larger than the area of the first cleaning element in the first operating position, outside the apparatus body 110 in the horizontal direction.

[0075] As shown in FIGS. 2 to 5, in some possibly implemented embodiments provided by the present disclosure, the first cleaning element 133 in the second operating position is at least partially located outside the apparatus body 110 in the horizontal direction, i.e., the first cleaning element 133 in the second operating position is at least partially located outside an edge projection region of the apparatus body 110.

[0076] The first cleaning element 133 in the second operating position is at least partially located outside the edge projection region of the apparatus body 110, such that the cleaning range of the first cleaning element 133 in the second operating position may exceed an edge of a traveling range of the apparatus body 110. Therefore, corner positions where the apparatus body 110 cannot fit can be comprehensively cleaned to expand the cleaning range of the first cleaning element 133 and improve the cleaning effect of the automatic cleaning apparatus 100.

[0077] The first cleaning element 133 in the second operating position may be wholly located outside the edge projection region of the apparatus body 110, or partially located outside the edge projection region of the apparatus body 110, which may be set according to the specific structure.

[0078] The first cleaning element 133 in the first operating position may be mostly located within the edge projection region of the apparatus body 110, such that the cleaning range of the first cleaning element 133 in the first operating position may be within the traveling range of the apparatus body 110. Therefore, a mopping operation can be performed on a region within the traveling range of the apparatus body 110, which can reduce the possibility that the first cleaning element 133 protrudes out of the apparatus body 110 and collides with an obstacle, thereby being conductive to prolonging the service life and improving the reliability of the first cleaning element 133.

[0079] Further, the first cleaning element 133 may be selectively driven to switch between the first operating position and the second operating position according to a demand that whether the automatic cleaning apparatus 100 needs to mop the corners. For example, the first cleaning element 133 is moved to the first operating position for a conventional wet cleaning operation, and the first cleaning element 133 is moved to the second operating position for a wet cleaning operation of the corners. Thus, different functional demands of the automatic cleaning apparatus 100 are satisfied and the intelligence of the automatic cleaning apparatus 100 is improved.

[0080] In some possibly implemented embodiments provided by the present disclosure, during switching of the first cleaning element 133 between the first operating position and the second operating position, the first driving assembly 131 abuts against the rocker arm 1313 to drive the rocker arm 1313 to rotate. This ensures that the rocker arm 1313 is stably driven to rotate and thus ensures that the first cleaning element 133 can be stably switched between the first operating position and the second operating position.

[0081] The first driving assembly 131 may directly abut against the rocker arm 1313, and thus the rocker arm 1313 is directly driven to rotate by the rotation of the first driving assembly 131.

[0082] Specifically, the first driving assembly 131 may include a cam or other eccentric rotating mechanisms. The cam or other eccentric rotating mechanisms abut against an outer wall of the rocker arm 1313, and the rocker arm 1313 is thus directly pushed to rotate by driving the cam or other eccentric rotating mechanisms to rotate.

[0083] In some possibly implemented embodiments provided by the present disclosure, one end of the rocker arm 1313 is connected to a first cam 1316 and the other end thereof is connected to the first cleaning element 133. During switching of the first cleaning element 133 between the first operating position and the second operating position, the first driving assembly abuts against a protrusion 13161 of the first cam 1316 to cause the rocker arm 1313 to rotate.

[0084] The protrusion of the first cam 1316 is a part of the first cam 1316 which radially protrudes outward.

[0085] The first driving assembly abuts against the protrusion of the first cam 1316, and the first driving assembly may in turn exert an acting force onto the protrusion of the first cam 1316, such that the first driving assembly may drive the first cam 1316 to rotate. One end of the rocker arm 1313 is connected to the first cam 1316, the rocker arm may thus be driven to rotate through the rotation of the first cam, and hence the first cleaning element at the other end of the rocker arm is driven to switch between the first operating position and the second operating position.

[0086] The first end of the elastic member 1317 is connected to the first cam 1316, the first end of the elastic member 1317 may also be connected to the rocker arm 1313, and the first end of the elastic member 1317 may also be connected to both the first cam 1316 and the rocker arm 1313.

[0087] This embodiment is described by taking the elastic member being a tension spring as an example. One end of the elastic member 1317 may be fixedly connected to the apparatus body indirectly or directly, i.e., keep stationary relative to the apparatus body, and the other end thereof may be independently connected to the first cam 1316, or connected to the rocker arm 1313 or connected to both the first cam 1316 and the rocker arm 1313. For example, the elastic member is a Y-shaped structure, which may be connected to the first cam 1316 and the rocker arm 1313 simultaneously. The elastic member may also be connected to the first cam 1316 and the rocker arm 1313 simultaneously by means of connecting components, for example, connecting wires.

[0088] In some possibly implemented embodiments provided by the present disclosure, the elastic member 1317 is a tension spring, a first end of the tension spring is connected to the first cam 1316, and a second end of the tension spring is fixed relative to the apparatus body 110.

[0089] As the elastic member 1317 is the tension spring and the first end of the tension spring is connected to the first cam 1316 and the second end of the tension spring is fixed relative to the apparatus body 110, an elastic force can be stably provided to enable the first cleaning element 133 to switch from the first operating position to the second operating position.

[0090] In some possibly implemented embodiments provided by the present disclosure, the elastic member 1317 is a torsion spring, and the torsion spring is arranged at a rotating shaft of the first cam 1316.

[0091] The torsion spring may be coaxial with the rotating shaft of the first cam 1316, i.e., the torsion spring may be sleeved on the outer peripheral side of the rotating shaft of the first cam 1316. In addition, one end of the torsion spring is connected to the first cam 1316, and a second end of the torsion spring is fixed relative to the apparatus body 110, such that the elastic force can be stably provided to enable the first cleaning element 133 to switch from the first operating position to the second operating position.

[0092] In some possibly implemented embodiments provided by the present disclosure, the elastic member 1317 is an elastic piece, a first end of the elastic piece is connected to the first cam 1316, and a second end of the elastic piece is fixed relative to the apparatus body 110.

[0093] The first end of the elastic piece is connected to the first cam 1316 and the second end thereof is fixed relative to the apparatus body 110, such that the first cleaning element 133 can be stably driven, by an elastic force generated after deformation, to switch from the first operating position to the second operating position.

[0094] It can be understood that the elastic member 1317 may also be an elastic component other than a tension spring, a torsion spring and an elastic piece, as long as it can provide an elastic force to enable the first cleaning element 133 to switch from the first operating position to the second operating position.

[0095] The rocker arm 1313 is rotatably connected to the apparatus body 110, and the first cleaning element 133 is in movable connection or transmission connection or fixed connection with the rocker arm 1313.

[0096] One end of the rocker arm 1313 is rotatably connected to the apparatus body 110, such that the rocker arm 1313 may swing on the apparatus body 110, which in turn drives the first cleaning element to switch between the first operating position and the second operating position.

[0097] The first cleaning element 133 is in movable connection or transmission connection or fixed connection with the rocker arm 1313, so that the first cleaning element 133 is in contact with a surface to be cleaned for a cleaning operation.

[0098] The elastic member 1317 may also be connected to the protrusion 13161 of the first cam 1316. In this embodiment, a connecting portion 13162 is arranged on a peripheral side of the first cam 1316, and the connecting portion 13162 is configured to be connected to the elastic member 1317, such that the distance between the elastic member 1317 and the first driving assembly can be increased to avoid interference.

[0099] The connecting portion 13162 may protrude outward in a radial direction of the first cam, and the elastic member 1317 is connected to an end portion of the connecting portion 13162 to obtain greater torque.

[0100] The connecting portion 13162 may be integrally molded with other parts of the cam.

[0101] Specifically, the first driving assembly is configured to drive the first cam 1316 to rotate in a first direction, such that the first cleaning element 133 is switched from the second operating position to the first operating position. The elastic member 1317 is configured to drive the first cam 1316 to rotate in a second direction, such that the first cleaning element 133 is switched from the first operating position to the second operating position.

[0102] The first direction and the second direction are two opposite directions. For example, the first direction is a counterclockwise direction in FIG. 6, and the second direction is a clockwise direction in FIG. 6.

[0103] When the first cleaning element 133 is in the first operating position, the elastic member 1317 is in a stretched state, and the first cam 1316 may then be driven to rotate in the second direction, such that the first cleaning element 133 is switched from the first operating position to the second operating position. When the first cleaning element 133 is in the second operating position, the elastic member 1317 may also be in the stretched state, and the rocker arm may then be locked by the elastic force.

[0104] Specifically, the first driving assembly drives, by means of the first cam 1316, the elastic member 1317 to deform, so as to accumulate elastic potential energy. The elastic member 1317 releases the elastic potential energy to drive the first cleaning element 133 to switch from the first operating position to the second operating position.

[0105] The first driving assembly includes a first driving portion and a second cam 1315, the first driving portion is configured to drive the second cam 1315 to rotate, and the second cam 1315 abuts against the first cam 1316 for causing the first cam 1316 to rotate.

[0106] The second cam 1315 includes an abutting portion, and the abutting portion is a part of the second cam 1315 radially extending outward. The abutting portion of the second cam 1315 abuts against the protrusion of the first cam 1316, thereby achieving transmission.

[0107] The first driving portion is configured to output power and thus drives the second cam 1315 and the first cam 1316 to rotate.

[0108] The second cam may be directly arranged on an output end of the first driving portion, such that the first driving portion directly drives the second cam to rotate.

[0109] The output end of the first driving portion may also be in transmission connection with the second cam, such that the second cam may also be driven to rotate.

[0110] As shown in FIGS. 6, 7 and 8, the second cam 1315 includes a sector toothed portion 13151 and an abutting portion 13152. A first gear 1314 is in power connection with a telescopic driving member 1311 and engages with the sector toothed portion 13151. The abutting portion 13152 abuts against the first cam 1316. The first cam 1316 is coaxial with the rocker arm 1313.

[0111] The sector toothed portion 13151 and the abutting portion 13152 are distributed at an interval in a circumferential direction of the rotating shaft of the second cam 1315, such that when the second cam 1315 rotates, the sector toothed portion 13151 and the abutting portion13152 may be simultaneously driven to rotate. Thus, as shown in FIG. 6, the telescopic driving member 1311 rotates in a direction, e.g., a clockwise or counterclockwise direction, to drive the first gear 1314 to rotate. Since the sector toothed portion 13151 engages with the first gear 1314, the second cam 1315 may be driven to rotate by the sector toothed portion 13151, and then the abutting portion 13152 is driven to rotate. The abutting portion 13152 abuts against the first cam 1316 and thus may push the first cam 1316 to rotate. Since the first cam 1316 is coaxial with the rocker arm 1313, the rocker arm 1313 and the first cam 1316 may rotate synchronously, which thus drives the first cleaning element 133 mounted inside the rocker arm 1313 to move from the second operating position to the first operating position.

[0112] The first driving portion includes the telescopic driving member 1311 and the first gear 1314, the telescopic driving member 1311 is connected to the first gear 1314, and the first gear 1314 engages with the sector toothed portion 13151, such that the telescopic driving member 1311 drives, by means of the first gear 1314 and the sector toothed portion 13151, the abutting portion 13152 to push the first cam 1316 to rotate, and drives, by means of synchronous rotation of the rocker arm 1313, the first cleaning element 133 to move from the second operating position to the first operating position.

[0113] The telescopic driving member 1311 is configured to output power, and may be a motor. The first gear 1314 is coaxial with an output end of the telescopic driving member 1311 and engages with the sector toothed portion 13151, such that the telescopic driving member 1311 drives the first gear 1314, the second cam 1315 and the first cam 1316 to rotate, and thus drives the rocker arm 1313 to rotate synchronously so as to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0114] When the first cleaning element 133 moves from the first operating position to the second operating position, the direction of rotation of the abutting portion 13152 is opposite to that of the abutting portion 13152 when the first cleaning element 133 retracts into the apparatus body 110, such that the abutting portion 13152 has no pushing force on the first cam 1316. In this way, under the action of the elastic member 1317, the first cam 1316 may rotate in a direction opposite to the direction in which the first cam 1316 rotate when the first cleaning element 133 retracts into the apparatus body 110, and push the abutting portion 13152 to rotate. Since the first cam 1316 is coaxial with the rocker arm 1313, the rocker arm 1313 may rotate synchronously with the first cam 1316, thereby driving the first cleaning element 133 mounted inside the rocker arm 1313 to move from the first operating position to the second operating position.

[0115] The second cam is separated from the first cam in the case that the first cleaning element is located in the second operating position.

[0116] The separation of the second cam 1315 from the first cam 1316 can make the second cam and the first cam no longer interact with each other, and can thus prevent a force from being transferred to the telescopic driving member 1311 by the first cam 1316 and the first gear 1314 when the rocker arm swings and thus drives the first cam 1316 to rotate, such that the telescopic driving member 1311 can be protected.

[0117] The abutting portion of the second cam and the protrusion of the first cam are spaced apart in the circumferential direction when the first cleaning element is in the second operating position, such that the abutting portion of the second cam is separated from the protrusion of the first cam.

[0118] As shown in FIGS. 7 and 8, in some possibly implemented embodiments provided by the present disclosure, the automatic cleaning apparatus 100 further includes a first housing 1318, the telescopic driving member 1311 and the rocker arm 1313 are located outside the first housing 1318, and the first gear 1314, the second cam 1315, the first cam 1316 and the elastic member 1317 are all located inside the first housing 1318, the first gear 1314 runs through the first housing 1318 to be in power connection with the telescopic driving member 1311, and the second end of the elastic member 1317 is connected to the first housing 1318.

[0119] The first gear 1314, the second cam 1315, the first cam 1316, and the elastic member 1317 are all located inside the first housing 1318. Therefore, an excellent protection effect is achieved by using the first housing 1318, which is conducive to prolonging the service life and improving the reliability, and meanwhile ensuring favorable transmission accuracy.

[0120] Specifically, the first housing 1318 may include a first upper housing and a first lower housing in detachable connection, which facilitates assembly and disassembly of the first housing 1318, as well as assembly and disassembly of the first gear 1314, the second cam 1315, the first cam 1316 and the elastic member 1317, so as to facilitate assembly and disassembly of the first driving assembly 131. Specifically, the first upper housing and the first lower housing may be detachably connected by at least one of a screw, a clamping structure, a mortise and tenon structure and a magnetic attraction structure.

[0121] As shown in FIGS. 6 and 7, in some possibly implemented embodiments provided by the present disclosure, the automatic cleaning apparatus 100 further includes: a position detection device 134 arranged inside the housing and configured to detect a position of rotation of the second cam 1315. The telescopic driving member 1311 rotates or stops rotating according to a detection result of the position detection device 134.

[0122] The position detection device 134 is provided to be able to detect the position of rotation of the second cam 1315, and thus to be able to know a position of rotation of the first cam 1316. Therefore, when the first cam 1316 rotates to an appropriate position, for example, when the first cam 1316 rotates to drive, by means of the rocker arm 1313, the first cleaning element 133 to move to the first operating position or the second operating position, the telescopic driving member 1311 stops rotating according to the detection result of the position detection device 134 at this time, such that the first cleaning element 133 can be kept in the first operating position or the second operating position, to achieve accurate switching of the first operating position or the second operating position. It can be understood that when the first cam 1316 rotates and the first cleaning element 133 has not moved to the first operating position or the second operating position under the driving of the rocker arm 1313, the telescopic driving member 1311 may continue to rotate according to the detection result of the position detection device 134 at this time, so as to drive the first cleaning element 133 to continue to move in a direction close to a target operating position, such as the first operating position or the second operating position.

[0123] The position detection device 134 may include a photoelectric switch, a mechanical switch or other detection mechanisms that meet the requirements.

[0124] In the embodiments described above, as shown in FIGS. 6 and 7, the position detection device 134 includes a first photoelectric switch 1341 and a second photoelectric switch 1342 distributed at two sides of the second cam 1315. The second cam 1315 further includes a first baffle 13153 and a second baffle 13154 distributed at two sides of the abutting portion 13152. The first baffle 13153 is suitable for being inserted into the first photoelectric switch 1341, so that the first photoelectric switch 1341 changes a detection signal; and the second baffle 13154 is suitable for being inserted into the second photoelectric switch 1342, so that the second photoelectric switch 1342 changes a detection signal.

[0125] In this embodiment, by providing the first photoelectric switch 1341 and the second photoelectric switch 1342 at the two sides of the second cam 1315 respectively, position detection as to whether the first cleaning element 133 reaches the first operating position or the second operating position can be performed by using the two photoelectric switches, thereby improving the accuracy in detecting whether the first cleaning element 133 reaches the target operating position.

[0126] A photoelectric switch usually includes a light-transmitting portion and a light-receiving portion, and depending on whether the light-receiving portion receives a light signal from the light-transmitting portion, a detection signal of photoelectric switch is changed. By providing the first baffle 13153 and the second baffle 13154 on the second cam 1315, the rotation of the second cam 1315 can drive the first baffle 13153 and the second baffle 13154 to rotate synchronously. The first baffle 13153 and the second baffle 13154 are distributed at the two sides of the abutting portion 13152. When the second cam 1315 rotates to an appropriate position, the first baffle 13153 is inserted into the first photoelectric switch 1341, so that the first photoelectric switch 1341 changes the detection signal. For example, the first baffle 13153 is located between a light-transmitting portion and a light-receiving portion of the first photoelectric switch 1341 to prevent the light-receiving portion from receiving a light signal emitted from the light-transmitting portion, such that the first photoelectric switch 1341 changes the detection signal, indicating that the first cam 1316 rotates to an appropriate position, and the first cleaning element 133 is located in the first operating position. At this time, the telescopic driving member 1311 may stop rotating according to the detection signal of the first photoelectric switch 1341, to keep the first cleaning element 133 in the first operating position.

[0127] When the second cam 1315 rotates to an appropriate position, the second baffle 13154 is inserted into the second photoelectric switch 1342, so that the second photoelectric switch 1342 changes the detection signal. For example, the second baffle 13154 is located between a light-transmitting portion and a light-receiving portion of the second photoelectric switch 1342 to prevent the light-receiving portion from receiving a light signal emitted from the light-transmitting portion, such that the second photoelectric switch 1342 changes the detection signal, indicating that the first cam 1316 rotates to an appropriate position, and the second cleaning element 141 is located in the second operating position. At this time, the telescopic driving member 1311 may stop rotating according to the detection signal of the second photoelectric switch 1342, to keep the second cleaning element 141 in the second operating position.

[0128] In some possibly implemented embodiments provided by the present disclosure, the automatic cleaning apparatus 100 further includes: a rotation angle detection device arranged on the telescopic driving member 1311 and configured to detect a rotation angle of the output shaft of the telescopic driving member 1311. The telescopic driving member 1311 also rotates or stops rotating according to a detection result of the rotation angle detection device.

[0129] The rotation angle detection device can detect the rotation angle of the output shaft of the telescopic driving member 1311, such that a rotation angle of the first gear 1314 and a rotation angle of the second cam 1315 can be known, and thus a rotation angle of the first cam 1316 can be known. Therefore, when the first cam 1316 rotates by an appropriate angle, for example, when the first cam 1316 rotates to drive, by means of the rocker arm 1313, the first cleaning element 133 to move to the first operating position or the second operating position, the telescopic driving member 1311 stops rotating according to a detection result of the rotation angle detection device at this time, such that the first cleaning element 133 may be kept in the first operating position or the second operating position, thereby achieving accurate switching of the first operating position and the second operating position. It can be understood that when the first cam 1316 rotates and the first cleaning element 133 has not moved to the first operating position or the second operating position under the driving of the rocker arm 1313, the telescopic driving member 1311 may continue to rotate according to the detection result of the rotation angle detection device 134 at this time, so as to drive the first cleaning element 133 to continue to move in a direction close to a target operating position, such as the first operating position or the second operating position.

[0130] As shown in FIG. 8, in some possibly implemented embodiments provided by the present disclosure, a first limiting member 13181 and a second limiting member 13182 distributed on the peripheral side of the first cam 1316 are further arranged inside the first housing 1318. The first limiting member 13181 is located at a side of the protrusion 13161 away from the abutting portion 13152, and the first limiting member 13181 is configured to abut against the protrusion 13161 to limit rotation of the first cam 1316. The second limiting member 13182 is located at a side of the connecting portion 13162 away from the abutting portion 13152, and the second limiting member 13182 is configured to abut against the connecting portion 13162 to limit rotation of the first cam 1316.

[0131] In this way, the rotation of the first cam 1316 can be limited. For example, the protrusion 13161 of the first cam 1316 abuts against the first limiting member 13181 after the first cam 1316 rotates to an appropriate position, such that the first cam 1316 may not continue to move in a direction close to the first limiting member 13181, and the first cleaning element 133 may be reliably and accurately kept in the first operating position. Meanwhile, the connecting portion 13162 of the first cam 1316 abuts against the second limiting member 13182 after the first cam 1316 rotates to an appropriate position, such that the first cam 1316 may not continue to move in a direction close to the second limiting member 13182, and the first cleaning element 133 may be reliably and accurately kept in the second operating position.

[0132] It can be understood that in this state, the first cam 1316 will not continue to rotate under the action of the first limiting member 13181 or the second limiting member 13182 even if the telescopic driving member 1311 continues to rotate. Therefore, the first cleaning element 133 may be reliably kept in the first operating position or the second operating position even if the position detection device 134 and the rotation angle detection device fail to work, thereby achieving double confirmation and improving the accuracy and reliability of the first cleaning element 133 in reaching the target operating position.

[0133] In some possibly implemented embodiments provided by the present disclosure, the first driving assembly 131 and / or the first cam 1316 is provided with an anti-wear structure, and the first driving assembly 131 abuts against the first cam 1316 by means of the anti-wear structure.

[0134] By providing the anti-wear structure on the first driving assembly 131 and / or the first cam 1316 and performing force transfer between the first driving assembly 131 and the first cam 1316 by means of the anti-wear structure, the first driving assembly 131 and the first cam 1316 can be protected to reduce wear of the first driving assembly 131 and the first cam 1316, thereby ensuring a long service life.

[0135] The anti-wear structure may be arranged on the first driving assembly 131; or may be arranged on the protrusion of the first cam 1316; or may be arranged on the first driving assembly 131 and the protrusion of the first cam 1316 at the same time. When force transfer is performed between the first driving assembly 131 and the protrusion of the first cam 1316, i.e., when the first driving assembly 131 is pressed against the first cam 1316, the anti-wear structure is located between the first driving assembly 131 and the protrusion of the first cam 1316.

[0136] The anti-wear structure includes a roller 13192 and / or a protective layer 13191 with a smooth outer surface. By providing the roller 13192, a friction force between the first driving assembly 131 and the first cam 1316 may be a rolling friction force, which is smaller than a force of sliding friction between the first driving assembly 131 and the first cam 1316. By providing the protective layer 13191 with the smooth outer surface, the friction force can also be reduced, and meanwhile the first cam 1316 can be protected. After use for a long period of time, in case of serious damage due to friction, it only needs to replace the protective layer 13191, such that the maintenance cost is relatively low.

[0137] As shown in FIG. 16, in some possibly implemented embodiments provided by the present disclosure, the first driving assembly 131 may be provided with a roller 13192, the protrusion of the first cam 1316 is provided with a protective layer 13191 with a smooth outer surface, and the first driving assembly 131 abuts against the protective layer 13191 on the protrusion of the first cam 1316 by means of the roller 13192.

[0138] In some possibly implemented embodiments provided by the present disclosure, the protrusion of the first cam 1316 may be provided with a roller 13192, the first driving assembly 131 is provided with a protective layer 13191 with a smooth outer surface, and the first cam 1316 abuts against the protective layer 13191 on the first driving assembly 131 by means of the roller 13192.

[0139] In some possibly implemented embodiments provided by the present disclosure, the protrusion of the first cam 1316 and the first driving assembly 131 are both provided with the protective layer 13191 with the smooth outer surface, and the first cam 1316 and the first driving assembly 131 abut against each other by means of the protective layer 13191.

[0140] In some possibly implemented embodiments provided by the present disclosure, the protrusion of the first cam 1316 and the first driving assembly 131 may be both provided with the roller 13192. The roller 13192 on the protrusion of the first cam 1316 is staggered with the roller 13192 on the first driving assembly 131, i.e., the two rollers 13192 do not abut against each other. The protrusion of the first cam 1316 abuts against the first driving assembly 131 by means of the roller 13192 on the first cam, and the first driving assembly 131 abuts against the protrusion of the first cam 1316 by means of the roller 13192 on the first driving assembly.

[0141] As shown in FIG. 15, in some possibly implemented embodiments provided by the present disclosure, a protective layer 13191 with a smooth outer surface is arranged on an outer wall of the protrusion 13161 of the first cam 1316.

[0142] By providing the protective layer 13191 with the smooth outer surface on the outer wall of the protrusion 13161 of the first cam 1316, a friction force generated when the protrusion 13161 of the first cam 1316 abuts against the second cam 1315 can be reduced, so that the first cam 1316 and the second cam 1315 can be protected, thereby prolonging the service life of the first cam 1316 and the second cam 1315.

[0143] The protective layer 13191 may be a metal sheet or replaced with other wear-resistant materials, including but not limited to PK and metallurgical powder.

[0144] Specifically, the metal sheet is arranged on a contact surface between the protrusion 13161 and the second cam 1315, i.e., the metal sheet is located between the protrusion 13161 and the second cam 1315 when the protrusion 13161 interacts with the second cam 1315.

[0145] In some possibly implemented embodiments provided by the present disclosure, the protrusion 13161 of the first cam 1316 is provided with a roller 13192, and the protrusion 13161 abuts against the first driving assembly 131 by means of the roller 13192, such that rolling friction can be achieved between the protrusion 13161 and the first driving assembly 131, and a friction force is small, which prevents the protrusion 13161 and the first driving assembly 131 from being worn too fast, and ensures that the first cam 1316 and the first driving assembly 131 have a long service life.

[0146] The protrusion 13161 abuts against the abutting portion 13152 of the second cam 1315 by means of the roller 13192.

[0147] The axis of the roller 13192 is approximately parallel to a contact surface between the protrusion 13161 and the first driving assembly 131, which ensures that the roller 13192 can roll stably on the first driving assembly.

[0148] In some possibly implemented embodiments provided by the present disclosure, when the first driving assembly 131 includes a second cam 1315, the second cam 1315 is provided with a roller 13192, and the second cam 1315 abuts against the first cam 1316 by means of the roller 13192, such that rolling friction can also be achieved between the protrusion 13161 and the first driving assembly 131, and a friction force is small, which prevents the protrusion 13161 and the first driving assembly 131 from being worn too fast, and thus ensures that the first cam 1316 and the second cam 1315 have a long service life.

[0149] The axis of the roller 13192 is approximately parallel to a contact surface between the protrusion 13161 and the second cam 1315, which ensures that the roller 13192 can roll stably on the second cam 1315.

[0150] As shown in FIGS. 4 and 11, in some possibly implemented embodiments provided by the present disclosure, the transmission device further includes a second driving assembly 132, and the second driving assembly 132 is connected to the first cleaning element 133 and configured to drive the first cleaning element 133 to ascend and descend.

[0151] The second driving assembly 132 is also configured to drive the first cleaning element 133 to vibrate and / or rotate by taking its central axis a center of rotation.

[0152] Therefore, the first cleaning element 133 in the first operating position or the second operating position may be driven, by using the second driving assembly 132, to descend to be in contact with a surface to be cleaned and to rotate, so as to implement a mopping operation on the surface to be cleaned. Upon completion of the mopping operation, the first cleaning element 133 is driven to ascend by using the second driving assembly 132, such that the first cleaning element 133 may be separated from the surface to be cleaned. The first cleaning element 133 is stored such that the first cleaning element 133 may not be in contact with the surface to be cleaned during the movement of the automatic cleaning apparatus 100. Therefore, it is possible to prevent the first cleaning element 133 from being in contact with the surface to be cleaned and thus causing secondary pollution to the surface to be cleaned in the cases where mopping is not required, for example, in the cases where the automatic cleaning apparatus 100 travels to and from the base station or cleans a carpet, which is conductive to improving the cleaning performance of the automatic cleaning apparatus 100 and improving the cleaning efficiency and the use experience.

[0153] That is, the second driving assembly 132 may drive the first cleaning element 133 to ascend, descend and rotate according to the demand as to whether the first cleaning element 133 is in contact with the surface to be cleaned, i.e., whether the first cleaning element 133 needs to implement the function of cleaning or storage, so as to meet different functional demands of the first cleaning element 133, i.e., a differentiation strategy of cleaning or storage of the first cleaning element 133 can be realized, which improves the cleaning performance of the automatic cleaning apparatus. It can be understood that both the cleaning function and the storage function can be achieved when the first cleaning element 133 is in the first operating position.

[0154] The second driving assembly 132 is also configured to drive the first cleaning element 133 to vibrate, for example, to vibrate in the horizontal direction, which can further improve the cleaning effect.

[0155] Therefore, in the automatic cleaning apparatus 100 provided by the embodiments of the present disclosure, the first cleaning element 133 is driven, by using the first driving assembly 131, to switch between the first operating position and the second operating position, and the first cleaning element 133 is driven, by using the second driving assembly 132, to ascend, descend, vibrate and rotate. Through cooperation between the first driving assembly 131 and the second driving assembly 132, wet cleaning operations of different wet cleaning ranges can be performed, such that the cleaning range of the automatic cleaning apparatus 100 is expanded, and the cleaning effect is improved. Meanwhile, the demand as to whether the first cleaning element 133 needs to be in contact with the surface to be cleaned can be satisfied, i.e., the demand of different functions, i.e., cleaning and storage, of the first cleaning element 133 can be satisfied, thereby improving the cleaning performance of the automatic cleaning apparatus 100 and improving the user experience.

[0156] In this embodiment, the first cleaning element 133 can be driven to ascend, descend and rotate by using one second driving assembly 132, which, compared with the related art where two second driving assemblies are needed to drive a cleaning element to ascend / descend and rotate respectively, simplifies the setting of the one driving assembly. Therefore, the design demands for a compact structure and a small volume can be satisfied, which is conductive to reducing the occupied space and descending the cost and thus is suitable for popularization and application.

[0157] As shown in FIGS. 10 and 11, in some possibly implemented embodiments provided by the present disclosure, the second driving assembly 132 includes an ascending / descending driving portion 1321 and a transmission portion 1322. The transmission portion 1322 is at least partially arranged inside the rocker arm 1313 and connected to the first cleaning element 133. The ascending / descending driving portion 1321 drives, by means of the transmission portion 1322, the first cleaning element 133 to ascend, descend and rotate.

[0158] In this embodiment, since the transmission portion 1322 is connected to the rocker arm 1313 and the first cleaning element 133, the transmission portion 1322 may drive, under the action of the ascending / descending driving portion 1321, the first cleaning element 133 to ascend, descend and rotate, and can drive, under the action of the rocker arm 1313, the first cleaning element 133 to switch between the first operating position and the second operating position.

[0159] The second driving assembly 132 includes one ascending / descending driving portion 1321, and the first cleaning element 133 can be driven to ascend, descend and rotate by means of one ascending / descending driving portion 1321, which, compared with the related art where two driving portions are needed to drive a cleaning element to ascend / descend and rotate respectively, simplifies the setting of the one driving portion. Therefore, the design demands for a compact structure and a small volume can be satisfied, which is conductive to reducing the occupied space and descending the cost and thus is suitable for popularization and application.

[0160] As shown in FIGS. 10 and 11, in some possibly implemented embodiments provided by the present disclosure, the transmission portion 1322 includes: the ascending / descending driving portion 1321 and the transmission portion 1322, at least a part of the transmission portion 1322 is arranged in the rocker arm 1313 and connected with the first cleaning element 133, the ascending / descending driving portion 1321 drives the first cleaning element 133 to ascend, descend and rotate through the transmission portion 1322.

[0161] Therefore, the power of the ascending / descending driving portion 1321 is transmitted to a gear set 1324 by means of a worm 1323, and a sleeve 1325 is driven to ascend, descend and rotate by means of the gear set 1324, so as to drive the first cleaning element 133 to ascend, descend and rotate. The worm 1323 matches the gear set 1324 and is compact in mechanical structure, small in volume and accurate in transmission. This is conductive to reducing the volume of the transmission portion 1322 and thus reducing the volume of the second driving assembly 132, such that the design demands for a compact structure and a small volume can be satisfied.

[0162] As shown in FIGS. 10, 11 and 12, in the embodiments described above, the gear set 1324 includes: a worm gear 13241, a first sub-gear 13242, a second sub-gear, a third sub-gear 13245 and a connecting cylinder 13246.

[0163] The worm gear 13241 is coaxial with the first sub-gear 13242, the worm gear 13241 is located outside the rocker arm 1313 and engages with the worm 1323, and the first sub-gear 13242, the second sub-gear and the third sub-gear 13245 are all located inside the rocker arm 1313. The second sub-gear includes a first toothed disc 13243 and a second toothed disc 13244 that are coaxial with each other. The first sub-gear 13242 engages with the first toothed disc 13243 and the second toothed disc 13244 engages with the third sub-gear 13245. The connecting cylinder 13246 is coaxial with the third sub-gear 13245 and located outside the rocker arm 1313, the connecting cylinder 13246 is in threaded connection with the sleeve 1325, and the gear set 1324 rotates to make the sleeve 1325 and the connecting cylinder 13246 rotate relative to each other, so as to drive the sleeve 1325 to ascend or descend relative to the connecting cylinder 13246.

[0164] Therefore, the ascending / descending driving portion 1321 rotates to drive the worm 1323 to rotate; thus drive the worm 13241 to rotate since the worm gear 13241 engages with the worm 1323, and then drive the first sub-gear 13242 coaxial with the worm gear 13241 to rotate; then drive the first toothed disc 13243 and the second toothed disc 13244 coaxial with the first toothed disc 13243 to rotate since the first sub-gear 13242 engages with the first toothed disc 13243; and thus drive the third sub-gear 13245 to rotate since the second toothed disc 13244 engages with the third sub-gear 13245, and then drive the connecting cylinder 13246 coaxial with the third sub-gear 13245 to rotate. Since the connecting cylinder 13246 and the sleeve 1325 are in threaded connection, the sleeve 1325 and the connecting cylinder 13246 rotate relative to each other to drive the sleeve 1325 to ascend or descend relative to the connecting portion 13162, and thus drive the first cleaning element 133 mounted inside the sleeve 1325 to ascend, descend and rotate. This arrangement achieves a simple structure and high transmission accuracy.

[0165] The first sub-gear 13242, the second sub-gear and the third sub-gear 13245 are all located inside the rocker arm 1313, such that the rocker arm 1313 provides the first sub-gear 13242, the second sub-gear and the third sub-gear 13245 with a mounting space and certain protective effect, which can prolong the service life of the first sub-gear 13242, the second sub-gear and the third sub-gear 13245 and thus improve the reliability of the second driving assembly 132, and meanwhile satisfies the design demands for a compact structure and a small volume. It can be understood that a rotating shaft connecting the first sub-gear 13242 to the worm gear 13241 runs through the rocker arm 1313, and a rotating shaft connecting the third sub-gear 13245 to the connecting cylinder 13246 runs through the rocker arm 1313, so as to transmit the power of the ascending / descending driving portion 1321 from the outside of the rocker arm 1313 to the inside of the rocker arm 1313 through the worm 1323 and the worm gear 13241, and then to the outside of the rocker arm 1313 again through the connecting cylinder 13246. The first cleaning element 133 is driven by the sleeve 1325 to ascend, descend and rotate.

[0166] As shown in FIGS. 10 and 11, in some possibly implemented embodiments provided by the present disclosure, a wall of the connecting cylinder 13246 is provided with a guiding portion 13247 arranged spirally; and a wall of the sleeve 1325 is provided with a slot 13251 for accommodating the connecting cylinder 13246, and a wall of the slot 13251 is provided with a spiral guide groove13252 for accommodating the guiding portion 13247.

[0167] In this embodiment, the slot 13251 is formed in a top end of the sleeve 1325, the slot 13251 of the sleeve 1325 is inserted into the wall of the connecting cylinder 13246, the guiding portion 13247 on the wall of the connecting cylinder 13246 is accommodated in the guide groove 13252 of the slot 13251. Since the guiding portion 13247 is arranged spirally, and the guide groove 13252 is spiral, the guiding portion 13247 moves spirally along the guide groove 13252, which enables the sleeve 1325 to rotate, ascend and descend relative to the connecting cylinder 13246, i.e., the connection between the sleeve 1325 and the connecting cylinder 13246 may be regarded as a screw nut connection. This arrangement achieves a simple structure and is easy to implement, and the sleeve 1325 can be enabled to ascend, descend and rotate by using a group of structures, which is conductive to reducing the volume of the second driving assembly.

[0168] Further, as shown in FIGS. 10 and 11, the guiding portion 13247 is arranged on an outer wall of the connecting cylinder 13246, and the guide groove 13252 is formed in the wall of the slot 13251 away from the inside of the sleeve 1325; alternatively, the guiding portion 13247 is arranged on an inner wall of the connecting cylinder 13246, and the guide groove 13252 is formed on the wall of the slot 13251 close to the inside of the sleeve 1325.

[0169] The guiding portion 13247 is a spiral boss, for example, the guiding portion 13247 is a thread protruding outward, which is conductive to improving the accuracy and reliability of the guiding portion 13247 and the guide groove 13252 in mutual limiting and guiding, so as to improve the ascending, descending and rotating stability of the sleeve 1325 relative to the connecting cylinder 13246.

[0170] Alternatively, as shown in FIG. 11, the guiding portion 13247 is a plurality of bulges distributed at intervals, i.e., a plurality of bulges are spirally distributed at intervals, so that the structure of the guiding portion 13247 can be simplified, which is conductive to reducing the material consumption of the guiding portion 13247 and reducing the manufacturing cost. Specifically, the number of the bulges may be two, three, four or the like.

[0171] In some possibly implemented embodiments provided by the present disclosure, the wall of the slot 13251 is provided with a retaining rib close to an opening, and the retaining rib is configured to abut against the guiding portion 13247 to limit the ascending and descending movement of the sleeve 1325 relative to the connecting cylinder 13246, i.e., the retaining rib cooperates with the guiding portion 13247 to limit an extreme position to which the sleeve 1325 descends relative to the connecting cylinder 13246. Therefore, the guiding portion 13247 can be prevented from being separated from the guide groove 13252 to separate the sleeve 1325 from the connecting cylinder 13246, so that the sleeve 1325 can be reliably connected to the connecting cylinder 13246. Meanwhile, the first cleaning element 133 connected to the sleeve 1325 may be in reliable and full contact with the surface to be cleaned.

[0172] The guiding portion 13247 abuts against a bottom of the slot 13251 to limit the ascending and descending movement of the sleeve 1325 relative to the connecting cylinder 13246, i.e., the guiding portion 13247 cooperates with the bottom of the slot 13251 to limit the extreme position to which the sleeve 1325 ascends relative to the connecting cylinder 13246, in order to prevent the first cleaning element 133 from continuing to ascend after reaching the extreme position and damaging the second driving component., thereby improving the reliability. Meanwhile, the first cleaning element 133 in the extreme position where the first cleaning element ascends is kept a certain distance from the surface to be cleaned, so as to reduce the influence on climbing and obstacle crossing of the self-moving cleaning apparatus, as well as the influence of secondary pollution on the surface to be cleaned.

[0173] As shown in FIG. 12, in some possibly implemented embodiments provided by the present disclosure, the inner wall of the sleeve 1325 is provided with a limiting plane 13253 that matches the first cleaning element 133. The arrangement of the limiting plane 13253 can ensure that the first cleaning element 133 rotates as the sleeve 1325 rotates, and that the first cleaning element 133 does not rotate relative to the sleeve 1325, to ensure that the first cleaning element 133 has a good cleaning ability.

[0174] An axial section of the sleeve 1325 is hexagonal, i.e., the inner wall of the sleeve 1325 is provided with six planes. It can be understood that all the six planes may be the limiting planes 13253, or part of the six planes may be the limiting planes 13253. Specifically, a part of the first cleaning element 133 connected to the sleeve 1325 may be of a hexagonal prism structure, such that the rotation of the first cleaning element 133 relative to the sleeve 1325 can be limited by the cooperation between the hexagonal prism structure and the six planes of the inner wall of the sleeve 1325, which achieves a simple structure, easy processing and reliable limiting.

[0175] As shown in FIGS. 10, 11 and 12, in some possibly implemented embodiments provided by the present disclosure, the second driving assembly 132 further includes a second housing 1326 with an open end. When the automatic cleaning apparatus includes the first housing 1318, the second housing 1326 is in snap-fit with the first housing 1318. The worm 1323, the worm gear 13241, the rocker arm 1313 and the connecting cylinder 13246 are located inside a space enclosed by the second housing 1326 and the first housing 1318. The opening of the second housing 1326 is located in a side away from the first housing 1318. A bottom end of the sleeve 1325 is suitable for extending out of the opening of the second housing 1326. The ascending / descending driving portion 1321 is located outside the second housing 1326. The worm 1323 runs through the second housing 1326 to be connected to the ascending / descending driving portion 1321.

[0176] The bottom end of the sleeve 1325 is suitable for extending out of the opening of the second housing 1326, to ensure that the first cleaning element 133 connected to the sleeve 1325 may descend to be in contact with the surface to be cleaned. Meanwhile, a bottom end of the second housing 1326 may be kept a certain distance from the surface to be cleaned, so as to avoid influence of the second housing 1326 on climbing and obstacle crossing of the self-moving cleaning apparatus.

[0177] The ascending / descending driving portion 1321 is located outside the second housing 1326, and the worm 1323 runs through the second housing 1326 to be connected to the ascending / descending driving portion 1321, such that the power of the ascending / descending driving portion 1321 can be transmitted from the outside of the second housing 1326 to the inside of the second housing 1326.

[0178] As shown in FIGS. 12, 13 and 14, in the embodiments described above, the second housing 1326 is divided into a first mounting chamber 13261 and a second mounting chamber 13262. The worm gear 13241 is located inside the first mounting chamber 13261. The sleeve 1325 is located inside the second mounting chamber 13262. The rocker arm 1313 extends to the first mounting chamber 13261 and the second mounting chamber 13262. The first sub-gear 13242 in the rocker arm 1313 is coaxial with the worm gear 13241 in the first mounting chamber 13261. The sleeve 1325 in the second mounting chamber 13262 is connected to the connecting cylinder 13246 on the rocker arm 1313. Therefore, the power of the ascending / descending driving portion1321 can be transmitted to the sleeve 1325 through the first mounting chamber 13261 and the second mounting chamber 13262, to drive the first cleaning element 133 to ascend, descend and rotate.

[0179] The shape of the second mounting chamber 13262 matches a movement space of the rocker arm 1313, so that the wall of the second mounting chamber 13262 may not hinder the movement of the rocker arm 1313 and meanwhile well protect the rocker arm 1313, and the volume of the second driving assembly 132 is reduced as much as possible, to meet the design demands for a compact structure and a relatively small volume.

[0180] The second housing 1326 further includes a bottom plate 13263, the bottom plate 13263 is in detachable connection with the wall of the first mounting chamber 13261 to enclose the worm gear 13241 inside the first mounting chamber 13261. By arranging the bottom plate 13263, the worm gear 13241 is well protected, which can reduce the pollution of waste water to the worm gear 13241, thereby prolonging the service life of the worm gear 13241 and improving the reliability of the second drive assembly 132.

[0181] Specifically, the bottom plate 13263 may be detachably connected to the wall of the first mounting chamber 13261 by means of a screw, a clamping structure, a mortise and tenon structure and a magnetic attraction structure.

[0182] As shown in FIG. 5, in some possibly implemented embodiments provided by the present disclosure, the automatic cleaning apparatus further includes a second cleaning assembly 140, and the second cleaning assembly 140 may include a second cleaning element 141, i.e., the second cleaning element 141 is a part of the second cleaning assembly 140.

[0183] The second cleaning element 141 is movably connected to the apparatus body 110. The second cleaning element 141 and the first cleaning element 133 are distributed at two sides of a longitudinal center line of the apparatus body 110. The second cleaning element 141 may ascend, descend and rotate relative to the apparatus body 110.

[0184] The second cleaning assembly 140 is a wet cleaning member, and the second cleaning element 141 may usually be a flexible material having water absorbability, such as a fabric and sponge. In this solution, the second cleaning element 141 may be a self-rotating cleaning element, a vibrating cleaning element or a fixed cleaning element. Specifically, the second cleaning element 141 may be a mopping disc, and the second cleaning element 141 cleans dirt on the floor through rotational movement. Specifically, the second cleaning element 141 and the first cleaning element 133 are of the same structure.

[0185] Since the second cleaning assembly 140 and the first cleaning assembly 130 are distributed at two sides of the longitudinal center line of the apparatus body 110, during movement of the automatic cleaning apparatus 100, the surface to be cleaned can be cleaned by using the first cleaning assembly 130 and the second cleaning assembly 140 at the same time to expand the cleaning range, or the first cleaning assembly 130 and the second cleaning assembly 140 may be selectively used for a cleaning operation to clean a designated surface to be cleaned in a targeted manner, such that the cleaning operation can be flexibly selected, thereby improving the user's cleaning experience.

[0186] In this embodiment, the second cleaning element 141 may ascend, descend and rotate relative to the apparatus body 110. Specifically, the second cleaning assembly 140 further includes a third driving assembly, and the third driving assembly drives the second cleaning element 141 to ascend, descend and rotate. Therefore, the second cleaning element 141 can be driven to ascend, descend and rotate according to the requirement as to whether the second cleaning element 141 needs to be in contact with the surface to be cleaned, so that the second cleaning element 141 descends to be in contact with the surface to be cleaned and rotates to mop the surface to be cleaned. Alternatively, upon completion of the mopping operation, the second cleaning element 141 is driven to ascend by using the third driving assembly, such that the second cleaning element 141 is separated from the surface to be cleaned. The second cleaning element 141 is stored such that the second cleaning element 141 may not be in contact with the surface to be cleaned during the movement of the automatic cleaning apparatus 100. Therefore, it is possible to prevent the second cleaning element 141 from being in contact with the surface to be cleaned and thus causing secondary pollution to the surface to be cleaned in the case where mopping is not required, for example, in the case where the automatic cleaning apparatus 100 travels to and from the base station or cleans a carpet, which is conductive to improving the cleaning performance of the automatic cleaning apparatus 100 and improving the cleaning efficiency and the use experience.

[0187] That is, the third driving assembly may drive the second cleaning element 141 to ascend, descend and rotate according to the requirement as to whether the second cleaning element 141 is in contact with the surface to be cleaned, i.e., whether the second cleaning element 141 needs to implement the function of cleaning or storage, so as to meet different functional demands for the second cleaning element 141, i.e., a differentiation strategy of cleaning or storage of the second cleaning element 141 can be realized, which improves the cleaning performance of the automatic cleaning apparatus. It can be understood that the third driving assembly of the second cleaning assembly 140 may be of the same structure as the second driving assembly 132 of the first cleaning assembly 130 and thus will not be repeated herein. Alternatively, the third driving assembly may be of a different structure from the second driving assembly 132, as long as it can achieve ascending, descending and rotation of the second cleaning element 141.

[0188] It can be understood that in some embodiments, the second cleaning assembly 140 may also include a fourth driving assembly, and the fourth driving assembly and the third driving assembly of the second cleaning assembly 140 correspond to the first driving assembly 131 and the second driving assembly 132 of the first cleaning assembly 130, i.e., the second cleaning assembly 140 and the first cleaning assembly 130 are of the same structure, such that the cleaning function can be further expanded, the demands for different cleaning ranges can be satisfied, and the cleaning effect can be improved.

[0189] As shown in FIG. 5, in the embodiment described above, the second cleaning element 141 is in a fixed position relative to an edge projection region of the apparatus body 110, and the second cleaning element 141 is at least partially within the edge projection region of the apparatus body 110.

[0190] In this embodiment, the second cleaning element 141 is in the fixed position relative to the edge projection region of the apparatus body 110, i.e., the second cleaning element 141 may not extend or retract relative to the apparatus body 110 in the horizontal direction, such that the second cleaning element 141 can clean a designated region within the range of movement of the apparatus body 110. Meanwhile, the second cleaning assembly 140 and the first cleaning assembly 130 may be of different structures, such that the structure of the second cleaning assembly 140 can be simplified to a certain extent, which simplifies the structure of the whole automatic cleaning apparatus 100, reduces the cost, expands the cleaning range is expanded and ensures a favorable cleaning effect.

[0191] The second cleaning element 141 is at least partially within the edge projection region of the apparatus body 110, it may be case that the entire second cleaning element 141 may be within the edge projection region of the apparatus body 110, such that the possibility of the second cleaning element 141 colliding with an obstacle can be reduced, which is conductive to prolonging the service life of the second cleaning element 141. Alternatively, it may be the case that a part of the second cleaning element 141 may be outside the edge projection region of the apparatus body 110, and another part of the second cleaning element 141 may be inside the edge projection region of the apparatus body 110 to achieve cleaning of a part of the region outside the apparatus body 110, thereby expanding the cleaning range.

[0192] In some possibly implemented embodiments provided by the present disclosure, a side brush 161 of the third cleaning assembly 160 and the first cleaning assembly 130 are located on the same side of the apparatus body 110 and arranged front and back. Therefore, it can ensure that when the apparatus body 110 moves along an edge, the side brush 161 can dry-clean a corner position, and the first cleaning member in the second operating position can wet-clean the corner position, so as to ensure the operation of sucking first and then mopping, and ensure a favorable cleaning effect.

[0193] Further, the water delivery mechanism may supply water to the first cleaning element 133, the second cleaning element 141 and a cleaning head simultaneously. The water delivery mechanism includes water delivery driving portions connected to the first cleaning element 133, the second cleaning element 141 and the cleaning head respectively, such that separate control is carried out by different water delivery driving portions. For example, the water delivery driving portions may be peristaltic pumps, water pumps or other structures. One end of one water delivery driving portion is communicated with the liquid storage tank through a pipeline and the other end thereof is communicated with the first cleaning element 133 to deliver the cleaning liquid in the liquid storage tank to the first cleaning element 133, thereby achieving water supply for the first cleaning element 133. One end of another water delivery driving portion is communicated with the liquid storage tank through a pipeline and the other end thereof is communicated with the second cleaning element 141 to deliver the cleaning liquid in the liquid storage tank to the second cleaning element 141, thereby achieving water supply for the second cleaning element 141. One end of yet still another water delivery driving portion is communicated with the liquid storage tank through a pipeline and the other end thereof is communicated with the cleaning head to deliver the cleaning liquid in the liquid storage tank to the cleaning head, thereby achieving water supply for the cleaning head.

[0194] According to the transmission device, the automatic cleaning apparatus and the cleaning robot system provided by the present disclosure, the transmission device is applied to the automatic cleaning apparatus; the automatic cleaning apparatus includes the apparatus body and the first cleaning element; and the transmission device includes the first driving assembly, the rocker arm and the elastic member. The rocker arm is rotationally connected to the apparatus body. The first end of the elastic member is connected to the rocker arm, and the second end of the elastic member is fixed relative to the apparatus body. The first cleaning element is arranged on the rocker arm. The first driving assembly is configured to cooperate with the elastic member to drive the rocker arm to rotate, such that the first cleaning element is switched between the first operating position and the second operating position. By providing the first driving assembly, the rocker arm and the elastic member, and providing the first cleaning element on the rocker arm, the first cleaning element can be driven, by using the first driving assembly and the elastic member, to switch between the first operating position and the second operating position according to the demand on a cleaning range of the automatic cleaning apparatus, so as to move the first cleaning element to an operating position that meets the corresponding demand on the cleaning range, such that the demands of different mopping ranges are satisfied, and the mopping range is enlarged, which is conductive to improving the cleaning effect and improving the user's cleaning experience.

[0195] The present disclosure has been described by the above-described embodiments, but it should be understood that the above-described embodiments are only for the purpose of illustration and description, and are not intended to limit the present disclosure within the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present disclosure is not limited to the above-described embodiments, and various variations and modifications can be made according to the teachings of the present disclosure. These variations and modifications all fall within the scope of protection of the present disclosure. The scope of protection of the present disclosure is defined by the appended claims and its equivalents.

Examples

Embodiment Construction

[0049]In the following descriptions, a large number of specific details are provided to understand the technical solutions of the present disclosure more thoroughly. However, it is apparent to those skilled in the art that the technical solutions of the present disclosure may be implemented without one or more of these details.

[0050]It should be noted that the terms used herein are only intended to describe specific embodiments rather than to limit exemplary embodiments according to the present disclosure. As used herein, the singular form is also intended to include the plural form unless otherwise indicated clearly in the context. In addition, it should further be understood that the terms "including" and / or "comprising", when used in the Description, indicate the presence of the features, integers, steps, operations, elements and / or assemblies, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, assemblies and / or com...

Claims

1. A transmission device, applied to an automatic cleaning apparatus, wherein the automatic cleaning apparatus comprises an apparatus body (110) and a first cleaning element (133), the transmission device comprises a first driving assembly (131), a rocker arm (1313) and an elastic member (1317), wherein the rocker arm (1313) is rotationally connected to the apparatus body (110), a first end of the elastic member (1317) is connected to the rocker arm (1313), and a second end of the elastic member (1317) is fixed relative to the apparatus body (110), the first cleaning element (133) is arranged on the rocker arm (1313), and the first driving assembly (131) is configured to cooperate with the elastic member (1317) to cause the rocker arm (1313) to rotate, such that the first cleaning element (133) is driven to switch between a first operating position and a second operating position.

2. The transmission device according to claim 1, wherein during switching of the first cleaning element (133) between the first operating position and the second operating position, the first driving assembly (131) abuts against the rocker arm (1313), to cause the rocker arm (1313) to rotate.

3. The transmission device according to claim 1, wherein one end of the rocker arm (1313) is connected to a first cam (1316) and the other end thereof is connected to the first cleaning element (133), during switching of the first cleaning element (133) between the first operating position and the second operating position, the first driving assembly (131) abuts against a protrusion (13166) of the first cam (1316) to cause the rocker arm (1313) to rotate.

4. The transmission device according to claim 3, wherein the first end of the elastic member (1317) is connected to the first cam (1316); and / or the first end of the elastic member (1317) is connected to the rocker arm (1313).

5. The transmission device according to claim 4, wherein the elastic member (1317) is a tension spring, a first end of the tension spring is connected to the first cam (1316), and a second end of the tension spring is fixed relative to the apparatus body (110); or, the elastic member (1317) is a torsion spring, the torsion spring is arranged at a rotating shaft of the first cam (1316), a first end of the torsion spring is connected to the first cam (1316), and a second end of the torsion spring is fixed relative to the apparatus body (110); or, the elastic member (1317) is an elastic piece, a first end of the elastic piece is connected to the first cam (1316), and a second end of the elastic piece is fixed relative to the apparatus body (110).

6. The transmission device according to claim 1, wherein the first cleaning element (133) is in movable connection or transmission connection or fixed connection with the rocker arm (1313).

7. The transmission device according to claim 3, wherein the first driving assembly (131) is configured to drive the first cam (1316) to rotate in a first direction, such that the first cleaning element (133) is switched from the second operating position to the first operating position.

8. The transmission device according to claim 3, wherein the elastic member (1317) is configured to drive the first cam (1316) to rotate in a second direction, such that the first cleaning element (133) is switched from the first operating position to the second operating position.

9. The transmission device according to claim 3, wherein the first driving assembly (131) deforms the elastic member (1317) through the first cam (1316), so as to accumulate elastic potential energy.

10. The transmission device according to claim 3, wherein the elastic member (1317) releases elastic potential energy for driving the first cam (1316) to rotate in a second direction, such that the first cleaning element (133) is switched from the first operating position to the second operating position.

11. The transmission device according to claim 3, wherein the first driving assembly (131) comprises a first driving portion and a second cam (1315), the first driving portion is configured to drive the second cam (1315) to rotate, and the second cam (1315) abuts against the first cam (1316) to cause the first cam (1316) to rotate.

12. The transmission device according to claim 11, wherein the second cam (1315) is arranged on an output end of the first driving portion, such that the first driving portion drives the second cam (1315) to rotate; or, an output end of the first driving portion is in transmission connection with the second cam (1315).

13. The transmission device according to claim 11, wherein the second cam (1315) comprises a sector toothed portion (13151) and an abutting portion (13152), the first driving portion engages with the sector toothed portion (13151), the abutting portion (13152) abuts against the first cam (1316), and the first cam (1316) is coaxial with the rocker arm (1313).

14. The transmission device according to claim 13, wherein a connecting portion (13162) is arranged on a peripheral side of the first cam (1316), and the connecting portion (13162) is configured to be connected to the first end of the elastic member (1317).

15. The transmission device according to claim 13, wherein the first driving portion comprises a telescopic driving member (1311) and a first gear (1314), wherein the telescopic driving member (1311) is connected to the first gear (1314), and the first gear (1314) engages with the sector toothed portion (13151), such that the telescopic driving member (1311) drives the abutting portion (13152) to push the first cam (1316) to rotate through the first gear (1314) and the sector toothed portion (13151), and drives the first cleaning element (133) to move from the second operating position to the first operating position through synchronous rotation of the rocker arm (1313).

16. The transmission device according to claim 11, wherein the second cam (1315) is separated from the first cam (1316) in a case that the first cleaning element (133) is in the second operating position.

17. The transmission device according to claim 15, wherein the automatic cleaning apparatus (100) further comprises a first housing (1318), the telescopic driving member (1311) and the rocker arm (1313) are located outside the first housing (1318), the first gear (1314), the second cam (1315), the first cam (1316) and the elastic member (1317) are located inside the first housing (1318), the first gear (1314) passes through the first housing (1318) to be in power connection with the telescopic driving member (1311), and the second end of the elastic member (1317) is connected to the first housing (1318).

18. The transmission device according to claim 15, further comprising: a position detection device (134) configured to detect a position of rotation of the second cam (1315), wherein the telescopic driving member (1311) rotates or stops rotating according to a detection result of the position detection device (134).

19. The transmission device according to claim 18, wherein the position detection device (134) comprises a first photoelectric switch (1341) and a second photoelectric switch (1342) distributed at two sides of the second cam (1315), the second cam (1315) further comprises a first baffle (13153) and a second baffle (13154) distributed at two sides of the abutting portion (13152), the first baffle (13153) is suitable for being inserted into the first photoelectric switch (1341), so that the first photoelectric switch (1341) changes a detection signal, and the second baffle (13154) is suitable for being inserted into the second photoelectric switch (1342), so that the second photoelectric switch (1342) changes a detection signal.

20. The transmission device according to claim 15, further comprising: a rotation angle detection device arranged on the telescopic driving member (1311) and configured to detect a rotation angle of an output shaft of the telescopic driving member (1311), wherein the telescopic driving member (1311) further rotates or stops rotating according to a detection result of the rotation angle detection device.

21. The transmission device according to claim 14, wherein a first limiting member (13181) and a second limiting member (13182) are arranged on the peripheral side of the first cam (1316), the first limiting member (13181) is located at a side of the protrusion (13161) away from the abutting portion (13152), and the first limiting member (13181) is configured to abut against the protrusion (13161) to limit rotation of the first cam (1316), the second limiting member (13182) is located at a side of the connecting portion (13162) away from the abutting portion (13152), and the second limiting member (13182) is configured to abut against the connecting portion (13162) to limit rotation of the first cam (1316).

22. The transmission device according to claim 3, wherein an anti-wear structure is provided on the first driving assembly (131) and / or the first cam (1316), and the first driving assembly (131) and the first cam (1316) abut against each other through the anti-wear structure.

23. The transmission device according to claim 22, wherein the anti-wear structure comprises a roller (13192) and / or a protective layer (13191) with a smooth outer surface.

24. The transmission device according to claim 3, wherein an outer wall of the protrusion (13161) of the first cam (1316) is provided with a protective layer (13191) with a smooth outer surface.

25. The transmission device according to claim 3 or 11, wherein the protrusion (13161) of the first cam (1316) is provided with a roller (13192), and the protrusion (13161) abuts against the first driving assembly (131) through the roller (13192); or, when the first driving assembly (131) comprises a second cam (1315), the second cam (1315) is provided with a roller (13192), and the second cam (1315) abuts against the first cam (1316) through the roller (13192).

26. The transmission device according to claim 1, wherein the first cleaning element (133) is rotating mopping cloth or vibrating mopping cloth.

27. The transmission device according to any one of claims 1-24 or claim 26, further comprising a second driving assembly (132), wherein the second driving assembly (132) is connected to the first cleaning element (133) and configured to drive the first cleaning element (133) to ascend and descend.

28. The transmission device according to claim 27, wherein the second driving assembly (132) is also configured to drive the first cleaning element (133) to vibrate and / or rotate by taking its own central axis as a center of rotation.

29. The transmission device according to claim 27, wherein the second driving assembly (132) comprises: an ascending / descending driving portion (1321) and a transmission portion (1322), wherein the transmission portion (1322) is at least partially arranged inside the rocker arm (1313) and connected to the first cleaning element (133), and the ascending / descending driving portion (1321) drives the first cleaning element (133) to ascend, descend and rotate through the transmission portion (1322).

30. The transmission device according to claim 29, wherein the transmission portion (1322) comprises: a worm (1323), a gear set (1324) and a sleeve (1325) in power connection, wherein the worm (1323) is in power connection with the ascending / descending driving portion (1321), the gear set (1324) is arranged inside the rocker arm (1313), the sleeve (1325) is connected to the first cleaning element (133), and the worm (1323) drives the sleeve (1325) to ascend, descend and rotate through the gear set (1324), so as to drive the first cleaning element (133) to ascend, descend and rotate.

31. The transmission device according to claim 30, wherein the gear set (1324) comprises: a worm gear (13241), a first sub-gear (13242), a second sub-gear, a third sub-gear (13245) and a connecting cylinder (13246), wherein the worm gear (13241) is coaxial with the first sub-gear (13242), the worm gear (13241) is located outside the rocker arm (1313) and engages with the worm (1323), the first sub-gear (13242), the second sub-gear and the third sub-gear (13245) are all located inside the rocker arm (1313), the second sub-gear comprises a first toothed disc (13243) and a second toothed disc (13244) coaxial with each other, the first sub-gear (13242) engages with the first toothed disc (13243), the second toothed disc (13244) engages with the third sub-gear (13245), the connecting cylinder (13246) is coaxial with the third sub-gear (13245) and located outside the rocker arm (1313), the connecting cylinder (13246) is in threaded connection with the sleeve (1325), and the gear set (1324) rotates to cause the sleeve (1325) and the connecting cylinder (13246) to rotate relative to each other, so as to drive the sleeve (1325) to ascend or descend relative to the connecting cylinder (13246).

32. The transmission device according to claim 31, wherein a wall of the connecting cylinder (13246) is provided with a guiding portion (13247) arranged spirally; a wall of the sleeve (1325) is provided with a slot (13251) for accommodating the connecting cylinder (13246), and a wall of the slot (13251) is provided with a spiral guide groove (13252) for accommodating the guiding portion (13247); and the guiding portion (13247) is a spiral boss or a plurality of bulges distributed at intervals.

33. The transmission device according to claim 32, wherein the wall of the slot (13251) is provided with a retaining rib close to an opening, and the retaining rib is configured to abut against the guiding portion (13247) so as to limit ascending and descending movement of the sleeve (1325) relative to the connecting cylinder (13246); and the guiding portion (13247) abuts against a bottom of the slot (13251) to limit ascending and descending movement of the sleeve (1325) relative to the connecting cylinder (13246).

34. The transmission device according to claim 33, wherein an inner wall of the sleeve (1325) is provided with a limiting plane (13253) matching with the first cleaning element (133); and an axial section of the sleeve (1325) is hexagonal.

35. The transmission device according to claim 33, wherein the second driving assembly (132) further comprises a second housing (1326) with an open end, when the automatic cleaning apparatus (100) comprises a first housing (1318), the second housing (1326) is in snap-fit with the first housing (1318), the worm (1323), the worm gear (13241), the rocker arm (1313) and the connecting cylinder (13246) are located inside a space enclosed by the second housing (1326) and the first housing (1318), the opening of the second housing (1326) is located on a side away from the first housing (1318), a bottom end of the sleeve (1325) is suitable for extending out of the opening of the second housing (1326), the ascending / descending driving portion (1321) is located outside the second housing (1326), and the worm (1323) passes through the second housing (1326) to be connected to the ascending / descending driving portion (1321).

36. The transmission device according to claim 35, wherein the second housing (1326) is divided into a first mounting chamber (13261) and a second mounting chamber (13262), the worm gear (13241) is located inside the first mounting chamber (13261), the sleeve (1325) is located inside the second mounting chamber (13262), the rocker arm (1313) extends to the first mounting chamber (13261) and the second mounting chamber (13262), and a shape of the second mounting chamber (13262) matches movement space of the rocker arm (1313); and the second housing (1326) further comprises a bottom plate (13263), and the bottom plate (13263) is in detachable connection with a wall of the first mounting chamber (13261) to enclose the worm gear (13241) inside the first mounting chamber (13261).

37. The transmission device according to claim 1, wherein the automatic cleaning apparatus further comprises: a second cleaning element (141) in movable connection with the apparatus body (110), the second cleaning element (141) and the first cleaning element (133) are distributed at two sides of a longitudinal center line of the apparatus body (110), and the second cleaning element (141) is capable of ascending, descending and rotating relative to the apparatus body (110).

38. The transmission device according to claim 37, wherein the second cleaning element (141) is in a fixed position relative to an edge projection region of the apparatus body (110).

39. The transmission device according to claim 1, wherein the first end of the elastic member (1317) is connected to the rocker arm (1313).

40. The transmission device according to claim 39, wherein the elastic member (1317) is a tension spring, a first end of the tension spring is connected to the rocker arm, and a second end of the tension spring is fixed relative to the apparatus body (110); or, the elastic member (1317) is a torsion spring, the torsion spring is arranged at a rotating shaft of the rocker arm, a first end of the torsion spring is connected to the rocker arm, and a second end of the torsion spring is fixed relative to the apparatus body (110); or, the elastic member (1317) is an elastic piece, a first end of the elastic piece is connected to the rocker arm, and a second end of the elastic piece is fixed relative to the apparatus body (110).

41. The transmission device according to claim 2, wherein the first driving assembly comprises a first driving portion and a second cam, wherein the first driving portion is configured to drive the second cam to rotate, and the second cam abuts against an outer wall of the rocker arm and in turn pushes the rocker arm to rotate.

42. The transmission device according to claim 41, wherein the second cam (1315) is arranged on an output end of the first driving portion, such that the first driving portion drives the second cam (1315) to rotate; or, an output end of the first driving portion is in transmission connection with the second cam (1315).

43. The transmission device according to claim 41, further comprising: a position detection device (134) configured to detect a position of rotation of the second cam (1315), wherein the telescopic driving member (1311) rotates or stops rotating according to a detection result of the position detection device (134).

44. The transmission device according to claim 43, wherein the position detection device (134) comprises a first photoelectric switch (1341) and a second photoelectric switch (1342) distributed at two sides of the second cam (1315), the second cam (1315) further comprises a first baffle (13153) and a second baffle (13154) distributed at two sides of the abutting portion (13152), the first baffle (13153) is suitable for being inserted into the first photoelectric switch (1341), so that the first photoelectric switch (1341) changes a detection signal, and the second baffle (13154) is suitable for being inserted into the second photoelectric switch (1342), so that the second photoelectric switch (1342) changes a detection signal.

45. An automatic cleaning apparatus, comprising a transmission device according to any one of claims 1 to 44, wherein the automatic cleaning apparatus comprises an apparatus body (110), the first cleaning element (133) in the second operating position is at least partially located outside the apparatus body (110) in a horizontal direction, the first cleaning element (133) in the first operating position is at least partially located inside the apparatus body (110) in the horizontal direction, and an area of the first cleaning element in the second operating position outside the apparatus body (110) in the horizontal direction is larger than an area of the first cleaning element in the first operating position outside the apparatus body (110) in the horizontal direction.

46. A cleaning robot system, comprising a transmission device according to any one of claims 1 to 44; or, comprising a base station and an automatic cleaning apparatus according to claim 45, wherein the automatic cleaning apparatus (100) is suitable for docking on the base station.

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