A transmission mechanism, automatic cleaning equipment and a cleaning robot system

Abstract

The present invention provides a transmission mechanism, automatic cleaning equipment, and a cleaning robot system. By configuring the transmission component to move the cleaning element under the drive of the first motor, the transmission component plays a power transmission role, allowing the cleaning element to achieve a more flexible movement form.The technical solution of the present invention is as follows: a transmission mechanism for automatic cleaning equipment, the transmission mechanism comprising: a transmission component, the transmission component comprising a connecting end, the connecting end being used for connecting the cleaning element, the position of the connecting end comprising an extended position and a standard position; a first motor, the first motor being connected to the transmission component, used for driving the movement of at least a part of the area of ​​the transmission component, to enable the connecting end to switch between the extended position and the standard position. The present invention is mainly used for power transmission.

Description

Title of the invention: A transmission mechanism, automatic cleaning equipment and a cleaning robot system Technical field

[0001] The present disclosure relates to the technical field of intelligent transmission devices, and in particular to a transmission mechanism. Prior art

[0002] With the increasing popularity of smart cleaning equipment, especially the gradual development of smart cleaning robot technology, many households are getting great help with housework, which has led to their increasing popularity. In addition to the conventional sweeping function, cleaning robots usually have a mopping function, allowing wet and dry cleaning of the floor with a mop, thus making cleaning more thorough.

[0003] The actual movement of the mop is generally realized by the overall movement of the cleaning robot, which makes it possible to clean the floor by moving the mop. In some cleaning robots, a power mechanism is installed, which is directly connected to the mop, only allowing the mop to rotate according to the output axis of the power mechanism. A transmission mechanism capable of converting the rotational movement into other forms of movement is missing, which limits the range and forms of movement of the mop. Description of the invention

[0004] Accordingly, the present invention provides a transmission mechanism, which, by configuring a transmission component, drives the movement of the cleaning member under the action of the first driving component. The transmission component plays a power transmission role, allowing the cleaning member to obtain more flexible movement shapes.

[0005] On the one hand, the present invention provides a transmission mechanism for automatic cleaning equipment, the transmission mechanism comprising: - a transmission component, the transmission component comprising a connecting end, the connecting end being used for connecting a cleaning element, the position of the connecting end comprising an extended position and a standard position; and - a first drive component, the first drive component being connected to the transmission component, used to drive at least a portion of the area of ​​the transmission component, to enable the connection end to switch between the extended position and the standard position.

[0006] In one embodiment, the first drive component comprises a first motor, a thrust plate and a resilient member, the first motor being connected to the thrust plate, the first end of the resilient member being connected to the transmission component, the second end of the resilient member being connected to the thrust plate.

[0007] The first motor drives the movement of the thrust plate, so that different positions of the thrust plate come into contact with the transmission component, in cooperation with the elastic member to drive the movement of the transmission component, allowing the connection end to switch between the extended position and the standard position.

[0008] In one embodiment, the transmission component moves under the action of the thrust plate or an external force, when the connecting end swings from the extended position to the standard position, the elastic element stores energy.

[0009] When the elastic element releases the stored energy, the transmission component moves, and the connecting end swings from the standard position to the extended position.

[0010] In one embodiment, the transmission component comprises a swing arm assembly and a force receiving disc, the force receiving disc being connected to the first end of the swing arm assembly opposite the connecting end.

[0011] The thrust plate is used to contact different areas of the force receiving disc, to drive the movement of the swing arm assembly, allowing the connecting end to switch between the extended position and the standard position.

[0012] In one embodiment, the first end of the elastic member is directly connected to the swing arm assembly, or the first end of the elastic member is connected to the force receiving disc.

[0013] In one embodiment, the transmission mechanism also comprises: - a housing, the swing arm assembly being rotatably connected to the housing, the thrust plate being used to contact different areas of the force receiving disc, in order to drive the rotation of the swing arm assembly.

[0014] In one embodiment, when the force receiving disc rotates under the action of the thrust plate in the first direction, the connecting end swings from the extended position to the standard position.

[0015] In one embodiment, when the force receiving disc rotates under the action of the thrust plate in the second direction, the connecting end swings from the standard position to the extended position.

[0016] In one embodiment, the first motor is used to drive rotation of the thrust plate, such that the thrust plate rolls relative to the force receiving disc, allowing different areas of the thrust plate to contact different areas of the force receiving disc.

[0017] In one embodiment, when the thrust plate rotates under the action of the first motor in the first direction, the energy stored in the elastic member is released, the elastic member pulling the connecting end of the swing arm assembly from the standard position to the extended position.

[0018] When the thrust plate rotates under the action of the first motor in the second direction, the thrust plate pushes the connecting end of the swing arm assembly from the extended position to the standard position, the elastic member storing energy.

[0019] In one embodiment, the first end of the force receiving disc is connected to the swing arm assembly, the second end of the force receiving disc including an outwardly extending force receiving projection.

[0020] The first end of the thrust plate is connected to the first motor, the second end of the thrust plate comprising an outwardly extending force applying projection.

[0021] The two ends of the elastic element are respectively connected to the second end of the force receiving disc and the second end of the thrust plate.

[0022] When the thrust plate rotates in the first direction, the force applying projection rolls from the second face to the first face of the receiving projection.

[0023] When the thrust plate rotates in the second direction, the force applying projection rolls from the first face to the second face of the receiving projection.

[0024] In one embodiment, the transmission component comprises a swing arm assembly, the swing arm assembly comprising a connecting end, the first drive component being connected to the swing arm assembly, used to drive movement of the swing arm assembly, allowing the connecting end to switch between the extended position and the standard position.

[0025] The transmission mechanism also comprises a second drive component.

[0026] The second drive component is connected to the cleaning element, used to drive the cleaning element to move up and down, rotate or vibrate relative to the swing arm assembly.

[0027] In one embodiment, the cleaning element is a rotating mop or a vibrating mop.

[0028] In one embodiment, the swing arm assembly includes a swing arm and a lifting piece, the lifting piece being movably connected to the swing arm, the cleaning element being connected to the lifting piece, the first drive component being connected to the swing arm, used to drive movement of the swing arm.

[0029] The second drive component is connected to the lifting part, used to drive the lifting part to move up and down or rotate relative to the swing arm, allowing the cleaning element to move up and down or rotate.

[0030] In one embodiment, the swing arm assembly also comprises a rotating part, the lifting part comprising a lifting cylinder area, the inner wall of the lifting cylinder area being provided with a thread, the rotating part being provided with a locking head, the swing arm comprising a lifting groove, the axis of the lifting groove extending in the lifting direction of the cleaning element.

[0031] The lifting cylinder area extends from the first end into the lifting groove, the second end of the lifting cylinder area being used for connecting the cleaning member, the outer wall of the lifting cylinder area being in frictional contact with the inner wall of the lifting groove or being mutually limited in the circumferential direction of the lifting groove.

[0032] The rotating part extends into the lifting cylinder area, and the locking head is slidably inserted between the threads.

[0033] The second drive component is connected to the rotating part, the second drive component being used to drive the rotation of the rotating part, so as to drive the lifting part to move up and down under the action of the locking head and the threads.

[0034] In one embodiment, the lifting part also comprises a connecting cylinder area, the connecting cylinder area being located inside the lifting cylinder area, and there is a gap between the connecting cylinder area and the lifting cylinder area, the connecting cylinder area being connected to the second end of the lifting cylinder area, the connecting cylinder area being used for connecting the cleaning element.

[0035] The rotating part includes a clearance opening, when the lifting part rises relative to the rotating part, the rotating part fits between the cylinder area connecting cylinder area and the lifting cylinder area through the clearance opening, and the connection position between the connecting cylinder area and the lifting cylinder area limits the highest point of the lifting part.

[0036] In one embodiment, the inner wall of the lifting cylinder area is also provided with a locking block, the locking block being located at the end of the thread near the first end of the lifting cylinder area.

[0037] The second drive component is used to drive the rotation of the rotating part, allowing the lifting part to descend, so that the locking head and the locking block interact, then driving the lifting part to drive the rotation of the cleaning element.

[0038] In one embodiment, the swing arm assembly also includes a rotary transmission component.

[0039] The second motor is connected to the rotating transmission component, the rotating transmission component being connected to the rotating part.

[0040] The second drive component is used to drive the rotation of the rotating part via the rotary transmission component, then driving the cleaning element to move up and down or rotate.

[0041] In one embodiment, the swing arm includes an internal cavity.

[0042] The second drive component comprises a second motor and a screw, the second motor being connected to the screw.

[0043] The rotary transmission component comprises a rotational axis, a worm wheel and a gear set, the worm wheel and the gear set being respectively connected to the rotational axis, the worm wheel being located outside the inner cavity, the gear set being located inside the inner cavity, the worm wheel meshed with the worm, the rotational axis being at least rotatably connected to the swing arm, the gear set being connected to the rotating part.

[0044] The second motor is used to drive the rotation of the screw, driving the rotation of the rotation axis through the interaction between the screw and the worm wheel, then driving the rotation of the rotating part through the gear assembly.

[0045] In one embodiment, the swing arm assembly also includes a first bearing, the axis of rotation being rotatably connected to the swing arm via the first bearing.

[0046] In one embodiment, the transmission mechanism also includes a housing, the second motor and the first motor both being located outside the housing, and attached to the housing.

[0047] The rotation axis is also rotatably connected to the housing.

[0048] In one embodiment, the housing comprises a first cavity and a second adjacent and communicating cavity, the swing arm being arranged inside the second cavity, the contour of the second cavity being adapted to the movement zone of the swing arm, the axis of rotation passing through the partition between the first cavity and the second cavity, the worm wheel being located in the first cavity.

[0049] In one embodiment, the swing arm assembly also includes a second bearing, the rotational axis being rotatably connected to the housing via the second bearing.

[0050] In one embodiment, the swing arm assembly also includes a third bearing, the swing arm being rotatably connected to the axis of rotation via the third bearing.

[0051] In one embodiment, the gear assembly comprises a first gear, a second gear component, a third gear component, a fourth gear component, and a fifth gear component.

[0052] The first gear, the second gear component, the third gear component, the fourth gear component and the fifth gear component are all arranged inside the inner cavity, and are successively meshed, the second gear component, the third gear component, the fourth gear component and the fifth gear component being rotatably connected to the swing arm, the first gear being connected to the rotation axis, the fifth gear component being connected to the rotating part.

[0053] In one embodiment, the swing arm assembly also includes a first disassembly member, the first disassembly member being connected to the lifting part, the cleaning member including a mop deck and a second disassembly member connected to the mop deck.

[0054] The second disassembly member is used to be removably connected to the first disassembly member, and detaches from the first disassembly member when the mop tray is subjected to an external force in a predefined direction.

[0055] In one embodiment, one of the disassembly elements, the first disassembly element or the second disassembly element, is a magnetic element, the other being a magnetic attraction element.

[0056] In one embodiment, the cleaning element also comprises a connecting rod, the mop tray being connected to the first end of the connecting rod, the second end of the connecting rod being connected to the second disassembly element.

[0057] The lifting part comprises an inner hole, the first disassembly element being disposed inside the inner hole, the connecting rod being inserted by the second end into the inner hole.

[0058] In one embodiment, the inner wall of the inner hole is in contact with the outer wall of the connecting rod, and is mutually limited in the circumferential direction of the connecting rod.

[0059] Furthermore, the present invention provides automatic cleaning equipment, comprising: - a body of cleaning equipment; and - the aforementioned transmission mechanism.

[0060] Furthermore, the present invention provides an automatic cleaning system, comprising: - a base station; and - the aforementioned automatic cleaning equipment, the automatic cleaning equipment being used to selectively stop at the base station.

[0061] The transmission mechanism provided by the present invention, by configuring a transmission component, drives the movement of the cleaning member under the action of the first driving component. The transmission component plays a role of power transmission, allowing the cleaning member to obtain more flexible movement forms. In existing technology, the movement of the existing mop is generally realized by the overall movement of the cleaning robot, thereby cleaning the floor by moving the mop relative to the floor. In some cleaning robots, a power mechanism is configured, the power mechanism being directly connected to the mop, only allowing the rotation of the mop to be driven according to the output axis of the power mechanism, lacking a transmission mechanism capable of converting the rotational movement into other movement forms.The overall movement of the mop can generally only be in the direction near or far from the ground, or in rotation, but cannot move in the direction parallel to the ground, thus limiting the range and movement forms of the mop. Compared with the existing technology, the transmission mechanism of the present application comprises a transmission component, the transmission component playing a role of transmitting power between the first drive component and the cleaning member. The transmission component can swing between the extended position and the standard position under the action of the first drive component, allowing the movement of the cleaning member not to be limited by the driving mode and the position of the first drive component. Through the transmission action. of the transmission component, it is possible to realize movement of the cleaning element over a greater range and in a more flexible manner. The overall movement is no longer limited by the position of the automatic cleaning equipment, for example, depending on the installation position of the transmission mechanism on the automatic cleaning equipment, when the transmission component is in the extended position, the cleaning element is located outside the body of the automatic cleaning equipment, making it possible to clean areas that the body of the automatic cleaning equipment cannot reach due to restrictions such as walls or furniture, making the movement of the cleaning element flexible and the cleaning range wide. Description of figures

[0062] [Fig.l] is a schematic view of the overall structure of a transmission mechanism provided by an exemplary embodiment of the present invention;

[0063] [Fig.2] is a schematic view of the structure of the transmission component, the first drive component and the second drive component at the connection end of the transmission component in the extended position, provided by an exemplary embodiment of the present invention;

[0064] [Fig.3] is a schematic view of the structure of the transmission component, the first drive component and the second drive component at the connection end of the transmission component in the standard position, provided by an exemplary embodiment of the present invention;

[0065] [Fig.4] is a schematic view of the structure of the transmission component and the first drive component provided by an exemplary embodiment of the present invention;

[0066] [Fig.5] is a schematic view of the structure of the rotating part provided by an exemplary embodiment of the present invention;

[0067] [Fig. 6] is a schematic view of the structure of the lifting part according to a first viewing angle, provided by an exemplary embodiment of the present invention;

[0068] [Fig.7] is a schematic view of the structure of the lifting part according to a second viewing angle, provided by an exemplary embodiment of the present invention;

[0069] [Fig.8] is a schematic view of the partial structure of a swing arm assembly provided by an exemplary embodiment of the present invention;

[0070] [Fig.9] is a schematic view of the partial structure of another swing arm assembly from a first viewing angle, provided by an exemplary embodiment of the present invention;

[0071] [Fig. 10] is a schematic view of the partial structure of another swing arm assembly from a second viewing angle, provided by an exemplary embodiment of the present invention;

[0072] [Fig. 11] is a schematic view of the structure of the lifting part according to a third viewing angle, provided by an exemplary embodiment of the present invention;

[0073] [Fig. 12] is a schematic view of the partial structure of the transmission mechanism according to a first viewing angle, provided by an exemplary embodiment of the present invention;

[0074] [Fig. 13] is a schematic view of the partial structure of the transmission mechanism from a second viewing angle, provided by an exemplary embodiment of the present invention;

[0075] [Fig. 14] is a schematic view of the structure of the automatic cleaning equipment from a first viewing angle, provided by an exemplary embodiment of the present invention;

[0076] [Fig. 15] is a schematic view of the structure of the automatic cleaning equipment from a second viewing angle, provided by an exemplary embodiment of the present invention. Description of figure references

[0077] Transmission mechanism-10, transmission component-100, swing arm assembly-110, swing arm-111, lifting groove-1111, compression block-1112, lifting piece-112, thread-1121, locking block-1122, lifting cylinder area-1123, connecting cylinder area-1124, inner hole-1125, rotating piece-113, locking head-1131, clearance opening-1132, rotating transmission component-114, rotating axis-1141, worm wheel-1142, first gear-1143, second gear component-1144, third gear component-1145, fourth gear component-1146, fifth gear component-1147, first bearing-115, second bearing-116, first element of disassembly-118, force receiving disc-120, force receiving projection-121, first drive component-200, first motor-210, thrust plate-220, force applying projection-221, elastic member-230, housing-300, first cavity-310,second cavity-320, second drive component-400, second motor-410, screw-420, cleaning element-500. , Specific embodiment

[0078] In the following description, numerous specific details are given in order to provide a more complete understanding of the technical solution offered by the present disclosure. However, it will be obvious to those skilled in the art that the technical solution offered by this disclosure can be implemented without one or more of these details.

[0079] It should be noted that the terms used herein are intended only to describe specific examples and not to limit the exemplary implementation examples of the present disclosure. As used herein, unless the context explicitly indicates otherwise, the singular is also intended to include the plural. Furthermore, it should be understood that when the terms "comprises" and / or "includes" are used in this description, they indicate the presence of the features, assemblies, steps, operations, elements and / or components mentioned, but do not exclude the presence or addition of one or more other features, assemblies, steps, operations, elements, components and / or combinations thereof.

[0080] Now, the exemplary implementation examples of the present disclosure will be described in more detail with reference to the drawings. However, these exemplary implementation examples may be implemented in many different forms and should not be construed as being limited to the examples described herein. It should be understood that these examples are provided to make the disclosure complete and comprehensive, and to fully convey the concepts of these exemplary implementation examples to those skilled in the art.

[0081] On the one hand, as illustrated in [Fig.l], the present invention provides a transmission mechanism 10, for automatic cleaning equipment, for moving a cleaning element 500. The automatic cleaning equipment may also be called a cleaning machine, self-cleaning robot, vacuum robot, automatic cleaner, etc., having functions of moving, sweeping, vacuuming, washing, etc. Some high-performance automatic cleaning equipment may also perform more complex functions such as infrared scanning terrain detection, automatic mop replacement, etc. The external shape of the automatic cleaning equipment may vary, to balance stability and adaptation to various scenarios, such as cleaning under beds and other areas, as well as the ability to avoid obstacles. The external shape of the cleaning robot is generally a flattened cylindrical structure.The housing of the automatic cleaning equipment mainly comprises a frame and a housing connected to the frame and forming a receiving cavity. The frame is generally of approximate circular shape, and the housing comprises a circular upper surface adapted to the contour of the frame and side walls extending towards the frame. The housing and the frame may be connected by bolts, or by fastening means such as clips or screws. The housing and the frame define an internal cavity to accommodate various components of the automatic cleaning equipment, such as the controller of the cleaning components and the movement mechanism, . power supply, position sensors such as cameras, scanners, gyroscopes, as well as cleaning and movement mechanisms. The mop is the primary cleaning component of the automatic cleaning equipment, it can be used for dry or wet cleaning, and generally includes a cleaning plate with a cleaning end facing the floor. The replacement mop is removably attached to the cleaning plate and covers at least the cleaning end. In more specific embodiments, the cleaning end of the mop is circular, with some extension surface. Two mops can operate together, in contact with the floor, to provide continuous cleaning while the automatic cleaning equipment is moving. The mop can generally be raised or lowered relative to the automatic cleaning equipment to switch from washing mode to vacuuming or sweeping mode.The mop can also rotate and vibrate to increase the relative movement with respect to the surface to be cleaned, thus ensuring a more thorough cleaning. However, due to the lack of a transmission mechanism, the overall position of the mop relative to the ground is limited by the position of the automatic cleaning equipment, and the rotation mode of the mop is dictated by the drive mode of the motor, only allowing rotation under the action of the motor. The movement of the mop relative to the ground depends solely on the overall movement of the automatic cleaning equipment, and the cleaning range of the mop is determined by the movement range of the automatic cleaning equipment.In some cases, automatic cleaning equipment may be limited by the peripheral surface of the equipment and the vertical surfaces of the environment, preventing access to the corners between the vertical surfaces and the ground, and the mop cannot reach these corners for cleaning, creating inaccessible cleaning areas. If a mop with a larger cleaning area is used, the automatic cleaning equipment will always occupy a large area when cleaning non-angular areas, and its appearance will be less aesthetic, also increasing the travel load of the automatic cleaning equipment. It is obvious that the lack of a transmission mechanism for converting power limits the position of the mop, preventing flexible position adjustments and seriously limiting the diversity of travel modes.Therefore, the present application provides a transmission mechanism 10 for moving a cleaning element 500 to accommodate different cleaning scenarios, aiming to transmit power to allow more variations in mop position.

[0082] As illustrated in Figures 1 to 6, the transmission mechanism 10 comprises a transmission component 100, which comprises a connecting end for connecting the cleaning element 500, the connecting end having an extended position and a standard position; a first drive component 200, the first drive component 200 being connected to the transmission component 100 to cause movement of at least a portion of the transmission component 100, thereby allowing the connecting end to move between the extended position and the standard position.

[0083] The transmission component 100 may be directly connected to the automatic cleaning equipment and may move relative thereto; or it may be indirectly connected to the automatic cleaning equipment via the first drive component 200, i.e., the first drive component 200 is connected to the automatic cleaning equipment, and the transmission component 100 is connected to the first drive component 200; or, the transmission mechanism 10 may also comprise a housing 300, the housing being intended to be connected to the automatic cleaning equipment, while the transmission component 100 is movably connected to the housing 300, and the first drive component 200 is fixed to the housing 300. More detailed embodiments of the housing 300 will be described below.The connection end of the transmission component 100 is intended to connect the cleaning element 500, the connection being able to be carried out by clipping, magnetic connection, screwing, gluing, etc.

[0084] In normal washing mode, the connection end of the transmission component 100 is in the standard position, placing the cleaning element 500 in the position shown in the lower right of [Fig. 15], the cleaning element 500 being almost entirely under the chassis of the automatic cleaning equipment, protruding only a little from the side wall of the automatic cleaning equipment, so that the cleaning element 500 does not add an additional obstacle avoidance burden when the automatic cleaning equipment moves. When cleaning corners, for example, cleaning corners where two walls meet the floor, the automatic cleaning equipment being cylindrical in shape, when it moves toward the corner, the walls restrict the automatic cleaning equipment, so that when the transmission component 100 is in the standard position, the cleaning element 500, located under the chassis, cannot reach the corner.At this time, the transmission component 100 moves to bring the connecting end into the extended position, causing the cleaning element 500 to come out from under the chassis, as shown in the lower left of [Fig. 15], with a portion of the cleaning element 500 protruding outside the automatic cleaning equipment. By moving the automatic cleaning equipment to align the extended cleaning element 500 with the corner, cleaning from the floor to the corner can be performed. After cleaning of the corner is completed, the transmission component 100 can be moved to . return the connecting end to the standard position, thereby retracting the cleaning element 500 under the chassis. The transmission component 100 converts the drive form of the first driving component 200, such as on-site rotational drive, into a large-amplitude displacement of the connecting end of the transmission component 100, i.e., the transmission component 100 plays a transmission role, allowing the cleaning element 500 to move more flexibly, regardless of the drive form of the first driving component 200.

[0085] The first drive component 200 is used to apply an external force to the transmission component 100, allowing the connection end of the transmission component 100 to move between the standard position and the extended position. The manner in which the first drive component 200 is connected to the transmission component 100 and the manner in which the external force is applied may vary, for example, by contact, rolling connection, elastic connection, rotating connection, or simply by fixed connection, depending on the specific transmission mode of the transmission component 100. The movement mode of the transmission component 100 may be rotation or overall movement, aimed at allowing a change of position by movement, allowing the cleaning element 500 to extend or retract under the chassis of the automatic cleaning equipment, thereby performing a transmission function.

[0086] The transmission mechanism, automatic cleaning equipment and automatic cleaning system provided by the implementation examples of the present invention, by configuring a transmission component, drive the cleaning member to move under the action of the first drive component, the transmission component playing a power transmission role, enabling the cleaning member to move more flexibly. In the existing art, the movement of the mop is generally realized by the overall movement of the cleaning robot, enabling the cleaning of the mop relative to the floor.In some cleaning robots, a power mechanism is configured, the power mechanism being directly connected to the mop, only allowing the rotation of the mop under the action of the output shaft of the power mechanism, lacking a transmission mechanism capable of converting the rotational motion into other forms of movement. The overall movement of the mop can generally only be in the direction near or far from the ground, and not in the direction parallel to the ground, thus limiting the movement range and form of the mop. Compared with the existing technique, the transmission mechanism of the present application comprises a transmission component, playing a role of transmitting power between the first drive component and the . cleaning. The transmission component can swing between the extended position and the standard position under the action of the first drive component, allowing the cleaning element to move independently of the drive form and position of the first drive component. Through the transmission action of the transmission component, the cleaning element can move over a greater range and more flexibly, with the overall movement no longer being limited by the position of the automatic cleaning equipment.For example, depending on the installation position of the transmission mechanism on the automatic cleaning equipment, when the transmission component is in the extended position, the cleaning element is located outside the main body of the automatic cleaning equipment, allowing cleaning of areas inaccessible to the main body of the automatic cleaning equipment due to limitations such as walls or furniture. This allows the cleaning element to move flexibly and increase the cleaning range.

[0087] In one embodiment, the first drive component 200 comprises a first motor 210, a thrust plate 220, and a resilient member 230, the first motor 210 being connected to the thrust plate 220, the first end of the resilient member 230 being connected to the transmission component 100, and the second end of the resilient member 230 being connected to the thrust plate 220. The first motor 210 drives the thrust plate 220 to move such that different positions of the thrust plate 220 contact the transmission component 100, cooperating with the resilient member 230 to drive the transmission component 100 to move, allowing the connecting end to move between the extended position and the standard position.

[0088] The first motor 210 may be a first electric motor, the motor being fixed in position relative to the automatic cleaning device. It may be directly fixed to the automatic cleaning device or indirectly fixed via the housing 300. The thrust plate 220 may be considered an irregular cam. The thrust plate 220 is used to contact the transmission component 100 at different positions to exert an external force on the transmission component 100, thereby causing it to move.The form of force application may be the rolling of the thrust plate 220 along the edge of the transmission component 100, causing the movement of the transmission component 100 by static friction, or the sliding of the thrust plate 220 along the edge of the transmission component 100, due to the different lengths of the positions of the thrust plate 220 relative to the axis of the first motor 210, which pushes the transmission component 100 to move. The elastic member 230 is used to exert an elastic force on the transmission component 100, so that the . transmission component 100 tends to move the connecting end to an extended position or a standard position. The elastic element may be a tension spring, a torsion spring, or an elastic band, an elastic blade, etc.

[0089] In a more specific embodiment, the transmission component 100 moves under the action of the thrust plate 220 or an external force, so that when the connection end moves from the extended position to the standard position, the elastic member 230 stores energy. When the elastic member 230 releases the stored energy, the transmission component 100 moves, and the connection end moves from the standard position to the extended position.

[0090] The transition of the connection end of the transmission component 100 from the extended position to the standard position may be achieved by the pushing of the pushing plate 220, or due to an external force or collision with an obstacle that causes the cleaning element 500 to move back. When the connection end of the transmission component 100 is in the extended position, the cleaning element 500 is outside the automatic cleaning device. In the event of an obstacle, the obstacle will exert an external force on the cleaning element 500, causing it to retract under the frame of the automatic cleaning device. At this time, the connection end of the transmission component 100 will move to the standard position, and the elastic element 230 will store energy.When the external force is removed, the transmission component 100 will automatically move under the action of the elastic member 230, returning the connection end to the extended position, thereby enabling the transmission component 100 in the extended position to move the cleaning member 500 to avoid obstacles, thereby preventing the transmission component 100 and the push plate 220 from being damaged by external pressure. By pushing the transmission component 100 with the push plate 220 to move from the extended position to the standard position, the connection end of the transmission component 100 will not move to the extended position when the push plate 220 is stationary, thereby avoiding an unstable position of the transmission component 100 when the connection end is in the standard position.During the transition of the connection end of the transmission component 100 from the standard position to the extended position, the limitation of the thrust plate 220 on the transmission component 100 is gradually lifted, and the elastic member 230 drives the transmission component 100 to follow the thrust plate 220, the elastic member 230 releasing the stored energy to move the connection end of the transmission component 100 to the extended position. The connection end of the transmission component 100 in the extended position is held in place by the elastic member 230, thereby avoiding obstacles in the extended position.

[0091] In one embodiment, the transmission component 100 comprises a swing arm assembly 110 and a force receiving disc 120. The swing arm assembly 110 comprises a connecting end, and the force receiving disc 120 is connected to the first end of the swing arm assembly 110, opposite the connecting end. The thrust plate 220 is used to contact different areas of the force receiving disc 120 to move the swing arm assembly 110, thereby allowing the connecting end to switch between the extended position and the standard position.

[0092] More specifically, the force receiving disc 120 is attached to the swing arm assembly 110, the force receiving disc 120 and the cleaning member 500 being located at the two opposite ends of the swing arm assembly 110. The force receiving disc 120 extends outward from the swing arm assembly 110, and the extension direction includes a direction away from the connecting end, so that the force receiving disc 120 and the first motor 210 are away from the cleaning member 500, thereby facilitating installation and allowing the force receiving disc 120 to have sufficient space to extend, providing sufficient torque to drive the swing arm assembly 110 to rotate. The first end of the elastic member 230 is directly connected to the swing arm assembly 110, or the first end of the elastic member 230 is connected to the force receiving disc 120.Concretely, connecting columns can be respectively arranged on the force receiving disc 120 and the thrust plate 220, and the two ends of the elastic member 230 are connected to the connecting columns in the form of hooks, thus facilitating the replacement of the elastic member 230.

[0093] In one embodiment, the transmission mechanism also includes a housing 300, the swing arm assembly 110 being rotatably connected to the housing 300, and the thrust plate 220 being used to contact different areas of the force receiving disc 120 to rotate the swing arm assembly 110.

[0094] The housing 300 is a hollow structure, covering the entire outer perimeter of the transmission component 100. The first motor 210 is located outside the housing 300 and is fixed to the housing 300. The shaft of the first motor 210 extends into the housing 300, and the thrust plate 220 and the elastic member 230 are both located inside the housing 300. The swing arm assembly 110 is rotatably connected to the housing 300, and the rotatable connection position may be the connection position between the force receiving disc 120 and the swing arm assembly 110. More specifically, a swing arm assembly 110 with a rotary transmission component 114 will be described below. The swing arm assembly 110 is rotatably connected to the housing 300 via its rotary transmission component 114, and the rotary transmission component 114 passes through the force receiving disc 120. The thrust plate 220 rotates the force receiving disc 120, thereby driving the swing arm assembly 110 to rotate. For example, when the force receiving disc 120 rotates in the first direction under the action of the thrust plate 220, the connecting end moves from the extended position to the standard position. When the force receiving disc 120 rotates in the second direction under the action of the thrust plate 220, the connecting end moves from the standard position to the extended position.By using rotation to swing the connecting end of the swing arm assembly 110 between the extended position and the standard position, compared with an overall displacement, the range of motion of the first end of the swing arm assembly 110 and the force receiving disc 120 is smaller, with only the connecting end moving over a large amplitude, thereby reducing the overall volume of the transmission mechanism and the space occupied inside the automatic cleaning device.

[0095] The thrust plate 220 may act on the force receiving disc 120 in various ways. In one embodiment, the first motor 210 is used to drive the rotation of the thrust plate 220, such that the thrust plate 220 rolls relative to the force receiving disc 120, thereby allowing different areas of the thrust plate 220 to contact different areas of the force receiving disc 120.

[0096] The thrust plate 220 is used to roll relative to the force receiving disc 120, driving the force receiving disc 120 to rotate by static friction, which then rotates the swing arm assembly 110. This avoids wear due to dynamic friction between the thrust plate 220 and the force receiving disc 120, providing high durability and avoiding noise during travel, while having a simple and easy-to-manufacture drive structure.

[0097] In a more specific embodiment, as illustrated in [Fig. 2], the first end of the force receiving disc 120 is connected to the swing arm assembly 110, and the second end of the force receiving disc 120 comprises a force receiving projection 121 extending outward. The first end of the thrust plate 220 is connected to the first motor 210, and the second end of the thrust plate 220 comprises a force applying projection 221 extending outward. The two ends of the elastic member 230 are respectively connected to the second end of the force receiving disc 120 and the second end of the thrust plate 220. Due to the relative rolling between the thrust plate 220 and the force receiving disc 120, when the thrust plate 220 rotates in the first direction under the action of the first motor 210, the force-applying projection 221 rolls from the second face to the first face of the force-receiving projection 121, and the force-receiving disc 120 rotates in the second direction under the combined action of the thrust plate 220 and the elastic member 230. The first end of the elastic member 230 approaches the second end, thereby releasing the stored energy, and driving the connecting end of the swing arm assembly 110 to move from the standard position to the extended position. As shown in [Fig. 3], when the thrust plate 220 rotates in the second direction under the action of the first motor 210, the force-applying projection 221 rolls from the first face to the second face of the force-receiving projection 121, and the force-receiving disc 120 rotates in the first direction under the action of the thrust plate 220.The first end of the elastic member 230 moves away from the second end, thereby storing energy, and urging the connecting end of the swing arm assembly 110 to move from the extended position to the standard position. The rotation in the first direction mentioned above is a clockwise rotation, and the rotation in the second direction is a counterclockwise rotation.

[0098] In the above-mentioned embodiment, by means of the transmission component 100, the rotary drive of the first motor 210 is converted into oscillation of the connecting end of the swing arm assembly 110 by the interaction between the thrust plate 220 and the force receiving disc 120, enabling the transmission component 100 to transmit power to change the movement form of the cleaning element 500.

[0099] In other embodiments of the transmission mechanism of the present application, in addition to allowing the cleaning member 500 to extend or retract into the automatic cleaning device to perform cleaning in different scenarios, it may also have functions of automatically lifting, rotating, and replacing the cleaning member 500. The specific embodiments will be described in detail below. It should be noted that the transmission mechanism of the present application may include the cleaning member 500 to adapt to the special structure used to connect the cleaning member 500 in the present application, or it may not include the cleaning member 500 and use a universal cleaning member 500, as needed.

[0100] In one embodiment, the transmission component 100 comprises the swing arm assembly 110 mentioned above, and the transmission mechanism also comprises a second drive component 400. The second drive component 400 is connected to the cleaning element 500 and is used for causing the cleaning element 500 to lift, rotate, or vibrate relative to the swing arm assembly 110.

[0101] The transmission component 100, in addition to transmitting power between the first drive component 200 and the cleaning element 500, also transmits power between the second drive component 400 and the cleaning element 500. More specifically, for the first drive component 200, the transmission component 100 converts the drive form of the first drive component 200, transforming rotation into a large amplitude movement of the connecting end, allowing the cleaning element 500 to move relative to the automatic cleaning device, thereby realizing movement of the cleaning element independent of the position of the automatic cleaning device.For the second drive component 400, the transmission component 100 transmits the power of the second drive component 400, allowing the second drive component 400 to indirectly drive the cleaning element 500 to lift, rotate, or vibrate via the transmission component 100, making the driving of the cleaning element 500 independent of the position of the second drive component 400. The specific transmission modes of the transmission component 100 will be described in detail below.

[0102] The second drive component 400 may be connected to the swing arm assembly 110, moving simultaneously with the swing arm assembly 110 when driven by the first drive component 200. Alternatively, the second drive component 400 may be connected to the housing 300, remaining fixed relative to the first drive component 200, and indirectly driving the cleaning element 500 via the rotary transmission component 114 described below. The cleaning element 500 may be a rotating mop or a vibrating mop. The second drive component 400 drives the rotating mop to rotate or applies vibrational excitation to the vibrating mop, thereby increasing relative motion relative to the floor.The second drive component 400 drives the cleaning element 500 to lift or move toward or away from the automatic cleaning device, enabling switching from cleaning mode to non-cleaning mode, or crossing obstacles in scenarios such as carpet cleaning.

[0103] As illustrated in [Fig.4], the swing arm assembly 110 comprises a swing arm 111 and a lifting piece 112, the lifting piece 112 being movably connected to the swing arm 111, the cleaning member 500 being connected to the lifting piece 112, the first drive component 200 being connected to the swing arm 111 to drive the movement of the swing arm 111. The second drive component 400 is connected to the lifting piece 112 to drive the lifting piece 112 to rise or fall or rotate relative to the swing arm 111, so that the cleaning member 500 rises or falls or rotates. As shown in Figures 5-8, the swing arm assembly 110 also comprises a rotating piece 113, the lifting piece 112 comprises a lifting cylinder area 1123, the inner wall of the lifting cylinder area 1123 being provided with a thread 1121, the rotating piece 113 being provided with a locking head 1131, the swing arm 111 comprising a lifting groove 1111, the axis of the lifting groove 1111 extending in the lifting direction of the cleaning member 500.The lifting cylinder area 1123 extends from its first end into the lifting groove 1111, the second end of the lifting cylinder area 1123 being for connecting to the cleaning member 500, the outer wall of the lifting cylinder area 1123 being in frictional contact with the inner wall of the lifting groove 1111 or being mutually limited in the circumferential direction of the lifting groove 1111. The rotating piece 113 extends into the lifting cylinder area 1123, and the locking head 1131 is slidably inserted between the threads 1121. The second drive component 400 is connected to the rotating piece 113, the second drive assembly 400 being for driving the rotating piece 113 to rotate, so as to drive the lifting piece 112 to move the cleaning member 500 upwards or downwards. the bottom under the effect of the locking head 1131 and the thread 1121. .

[0104] The second drive component 400 is for indirectly driving the rotating part 113 to rotate. The lifting groove 1111 is an inner groove located at the lower end of the swing arm 111, the outer wall of the lifting cylinder area 1123 only moving in the lifting direction of the cleaning member 500 relative to the inner wall of the lifting groove 1111, without rotating in the circumferential direction, thereby allowing, when the rotating part 113 rotates, the lifting cylinder area 1123 not to rotate, thereby allowing the locking head 1131 to move relative to the thread 1121.There are several ways to limit the circumferential direction, for example, by arranging a compression block 1112 on the side wall of the lifting groove 1111, the compression block 1112 can move elastically relative to the lifting groove 1111 and, in the absence of external force, slightly protrudes from the inner wall of the lifting groove 1111, thereby increasing the friction between the lifting cylinder area 1123 and the lifting groove 1111. The locking head 1131 may be four, evenly distributed around the circumference of the rotating part 113, the thread 1121 is a four-headed thread, the locking head 1131 corresponds one to one to the thread 1121, thereby making the lifting cylinder area 1123 rise and fall more stable. The cooperation between the . locking head 1131 and thread 1121 allows lifting part 112 to drive cleaning element 500 to move up and down.

[0105] In addition, the lifting part 112 also comprises a connecting cylinder area 1124, the connecting cylinder area 1124 being located inside the lifting cylinder area 1123, and there is a gap between the connecting cylinder area 1124 and the lifting cylinder area 1123, the connecting cylinder area 1124 being connected to the second end of the lifting cylinder area 1123, the connecting cylinder area 1124 being intended to be connected to the cleaning member 500. The rotating part 113 comprises a clearance opening 1132, when the lifting part 112 rises relative to the rotating part 113, the rotating part 113 fits between the connecting cylinder area 1124 and the lifting cylinder area 1123 through the clearance opening 1132, and limits the highest position of the lifting part 112 abutting against the connection position between the connection cylinder area 1124 and the lifting cylinder area 1123.

[0106] To limit the highest position that the lifting part 112 can reach and prevent control deviations from leading to excessive lifting of the lifting part 112 which could damage the swing arm 111, the lifting cylinder area 1123 and the connecting cylinder area 1124 are connected at the lower position. The rotating part 113 can, by relying on the connection position between the connecting cylinder area 1124 and the lifting cylinder area 1123, limit the highest position of the lifting part 112. In addition, the cylindrical structure of the connecting cylinder area 1124 allows for a more stable connection of the cleaning element 500, which will be explained in more detail later.

[0107] To allow the lifting piece 112 to descend, the second drive assembly 400 may also allow the cleaning element 500 to rotate. In one implementation, as illustrated in [Fig. 6], the inner wall of the lifting cylinder area 1123 is also equipped with a locking block 1122, located at the end of the thread 1121 close to the first end of the lifting cylinder area 1123. The second drive assembly 400 is used to drive the rotating piece 113, so that the lifting piece 112 descends, thereby allowing the locking head 1131 to interact with the locking block 1122, thereby driving the lifting piece 112 to rotate the cleaning element 500.

[0108] In an implementation where there are four locking heads 1131 and a four-headed thread 1121, there are also four locking blocks 1122, each corresponding to the end of each thread near the top of the lifting piece 112. As the rotating piece 113 rotates, the interaction between the locking head 1131 and the thread 1121 causes the lifting piece 112 to descend. As the locking head 1131 slides to the end of the thread 1121, continued rotation of the rotating part 113 in the same direction causes the locking head 1131 to bear against the locking block 1122, thereby causing the lifting part 112 and the rotating part 113 to rotate in sync, which causes the cleaning element 500 to rotate.

[0109] The second drive assembly 400 may be connected to the swing arm assembly 110 to directly drive the rotating part 113 and thereby enable the cleaning element 500 to move up and down, or, as described in more detail below, the second drive assembly 400 may not be connected to the swing arm assembly 110. The second drive assembly 400 is attached to the outside of the housing 300 and indirectly drives the rotating part 113 via the rotary transmission component 114 within the swing arm assembly 110.

[0110] As shown in Figures 9-10, the swing arm assembly 110 also includes a rotary transmission component 114, the second motor 410 is connected to the rotary transmission component 114, and the rotary transmission component 114 is connected to the rotary part 113. The second drive assembly 400 is used to drive the rotary part 113 via the rotary transmission component 114, thereby driving the cleaning element 500 to rise, fall, or rotate.

[0111] The swing arm 111 comprises an inner cavity, which is in communication with the lifting groove 1111. The second drive assembly 400 comprises a second motor 410 and a screw 420, the second motor 410 being connected to the screw 420. The rotary transmission component 114 comprises a rotation axis 1141, a worm wheel 1142 and a gear set, the worm wheel 1142 and the gear set being respectively connected to the rotation axis 1141. The worm wheel 1142 is located outside the inner cavity, while the gear set is located inside the inner cavity. The worm wheel 1142 is engaged with the screw 420, and the rotation axis 1141 is at least rotatably connected to the swing arm 111, the gear assembly being connected to the rotating part 113.The second motor 410 is used to drive the screw 420 to rotate, which drives the rotation axis 1141 to rotate via the interaction between the screw 420 and the worm wheel 1142, and then drives the rotating part 113 to rotate via the gear set.

[0112] The second motor 410 is located outside the housing 300 and is fixed thereto, the output shaft of the second motor extending inside the housing 300 and being connected to the screw 420. The second motor drives the screw 420 to rotate, thereby rotating the worm wheel 1142. The worm wheel 1142 is in close engagement with the rotation axis 1141, thereby rotating the rotation axis 1141, and then rotating the rotating part 113 via the gear set. The rotation axis 1141 is also rotatably connected to the housing 300, and the rotation axis 1141 passes through the swing arm 111, allowing the swing arm 111 to rotate about the rotation axis 1141 under the drive of the first motor 210, which allows the cleaning element 500 to move between the extended position and the standard position. Since the rotation axis 1141 is rotatably connected to the swing arm 111, the swing arm 111 is connected to the aforementioned force-receiving disc 120.The first motor 210 drives the thrust plate 220 to rotate, causing the force receiving disc 120 to drive the swing arm 111 to rotate relative to the rotation axis 1141, i.e., the swing arm 111 rotates, or when the connecting end of the swing arm assembly 110 switches between the extended position and the standard position, the rotation axis 1141 and the position of the worm wheel 1142 on the rotation axis 1141 remain fixed.

[0113] The first motor 210 and the second motor 410 are fixed and connected to the housing 300, providing the following three main advantages: first, the first motor 210 does not need to move the second motor 410 in synchronization with the swing arm assembly 110, which reduces the operating load of the first motor 210, decreases the torque requirements for the first motor 210, and therefore reduces costs; second, the electric cables of the first motor 210 and the second motor 410 remain fixed, which reduces the risk of fatigue tearing of the electric cables and improves durability; third, this prevents the first motor 210 and the second motor 410 from receiving shocks when the cleaning element 500 is struck, thereby improving the reliability of the first motor 210 and the second motor 410.

[0114] It should be noted that when the second motor 410 drives the cleaning element 500 to rotate, the first motor 210 can simultaneously drive the swing arm 111 to swing, thereby enabling the cleaning element 500 to move while rotating, making floor cleaning more efficient.

[0115] In one embodiment, to make the rotation of the swing arm 111 smoother, the swing arm assembly 110 also includes a first bearing 115, the number of which is two. The lower end of the rotation axis 1141 is rotatably connected to the lower surface of the swing arm 111 by a first bearing 115, and the upper surface of the swing arm 111 is rotatably connected to the rotation axis 1141 by another first bearing 115. The swing arm assembly 110 also includes a second bearing 116, the upper end of the rotation axis 1141 being rotatably connected to the housing 300 by the second bearing 116, which allows for smoother rotation of the rotation axis 1141 when driving the cleaning element 500 in lifting or rotation.

[0116] The specific structure of the gear assembly can be arranged according to actual needs, simply aiming to ensure the transmission between the rotation axis 1141 and the rotating part 113. In one embodiment, as illustrated in Figures 8-9, the gear assembly comprises a first gear 1143, a second gear component 1144, a third gear component 1145, a fourth gear component 1146 and a fifth gear component 1147. The first gear 1143, the second gear component 1144, the third gear component 1145, the fourth gear component 1146 and the fifth gear component 1147 are all arranged inside the cavity and are successively meshed.The second gear component 1144, the third gear component 1145, the fourth gear component 1146 and the fifth gear component 1147 are rotatably connected to the swing arm 111, the first gear being connected to the rotation axis 1141 and the fifth gear component being connected to the rotating part 113. The second, third, fourth and fifth gear components are all gears, having a similar structure, each comprising a rotation axis rotatably connected to the swing arm 111 and a gear disc for meshing with the adjacent gear, which will not be detailed here.

[0117] The present application also provides an embodiment enabling automatic disassembly of the cleaning element 500. As illustrated in [Fig. 10], the swing arm assembly 110 also comprises a first disassembly element 118, the first disassembly element 118 being connected to the lifting part 112. The cleaning element 500 comprises a mop deck and a second disassembly element connected to the mop deck. The second disassembly element is configured to be detachable from the first disassembly element 118 and disengages from the first disassembly element 118 when the mop deck is subjected to an external force in a predefined direction.

[0118] The first disassembly element 118 may be a magnetic component, the second disassemblable component being a magnetically attractive component. The lifting positions of the lifting part 112 include a first lifting position, a second lifting position, and a third lifting position. The first lifting position corresponds to the lowest position of the cleaning element 500. In this first lifting position, the second disassemblable component is removably connected to the first disassembly element 118, and the mop deck is separated from the swing arm 111 by a first distance. When the second drive component 400 drives the rotation of the rotating part 113, under the effect of the locking head 1131 and the thread 1121, the lifting part 112 drives the cleaning element 500 upwards, gradually bringing the mop tray closer to the chassis of the automatic cleaning equipment. When the lifting part reaches the second lifting position, the second detachable component is removably connected to the first detachable element 118, and the mop tray is separated from the swing arm 111 by a second distance, this second distance being just a slot allowing the rotation of the mop tray. In some configurations, a sensor, such as an infrared beam switch, is installed on the chassis of the automatic cleaning equipment.When the lifting piece 112 is in the second lifting position, the mop tray triggers the sensor to output a detection signal, allowing the automatic cleaning equipment to be controlled to return to the base station. Then, when the lifting piece 112 moves to the third lifting position, the mop tray contacts the frame of the automatic cleaning equipment, experiencing a preset downward external force, which detaches the second detachable component from the first detachable member 118. When the lifting piece 112 reaches the third lifting position, the magnetic attraction force between the second detachable component and the first detachable member 118 becomes less than the total weight of the mop, and the mop tray falls into the designated area of ​​the base station.

[0119] As illustrated in [Fig.l 1], in a configuration of the cylindrical structure of the connecting tube area 1124 of the lifting part 112, the connecting tube area 1124 forms an inner hole 1125, the first disassembly member 118 being placed inside the inner hole 1125, and located at the bottom of the hole relative to the opening of the hole. The cleaning member 500 also includes a connecting rod, the mop tray being connected to the first end of the connecting rod, and the second end of the connecting rod being connected to the second disassemblable component. The first disassembly member 118 is placed at the second end of the connecting rod, the connecting rod being inserted by its second end into the inner hole 1125. The inner wall of the inner hole 1125 is in contact with the outer wall of the connecting rod, and they mutually limit rotation.If the inner hole 1125 is a hexagonal hole, and the connecting rod is a hexagonal prism, this can further stabilize the position of the cleaning element 500, reducing oscillations.

[0120] In one configuration, as illustrated in Figures 12-13, the housing 300 comprises a first cavity 310 and a second cavity 320 adjacent and communicating, the swing arm 111 being placed in the second cavity 320, the contour of which is adapted to the area of ​​movement of the swing arm 111. The axis of rotation 1141 passes through and connects the first cavity 310 and the second cavity 320 through a partition, thereby stabilizing the position of the rotation axis 1141. The worm wheel 1142 is located in the first cavity 310. In addition, the thrust plate 220, the force receiving disc 120, the elastic member 230 and the screw 420 are all located in the first cavity 310.

[0121] On the other hand, an exemplary embodiment of the present invention also provides automatic cleaning equipment comprising: a cleaning equipment body 20 and the aforementioned transmission mechanism 10.

[0122] In this configuration, as illustrated in Figures 14-15, the transmission mechanism 10 is connected to the cleaning equipment body 20, which can be used to drive any cleaning element 500 into motion. The cleaning element 500 may be a mop, a brush, or in some configurations, a detection device such as an infrared camera. In spaces inaccessible to the automatic cleaning equipment, a mobile infrared camera may be used for area detection and mapping. To simplify the explanation, the cleaning element 500 is taken as an example of a mop. The transmission mechanism 10 may be connected to the automatic cleaning equipment in various ways, aiming to enable the automatic cleaning equipment to drive the transmission mechanism 10 into synchronous motion.To ensure the simplicity of the appearance of the automatic cleaning equipment and protect the transmission mechanism 10 from impact, a movable opening 21 is provided on the frame of the automatic cleaning equipment. Except for the cleaning member 500 used for cleaning the floor, which extends through the movable opening 21 into the inner cavity, the other parts of the transmission mechanism 10 are located in the inner cavity. The movable opening 21 allows the movement of the cleaning member 500 when the transmission component 100 moves. The movable opening 21 may be an arc-shaped cutout, aiming not to hinder the movement of the cleaning member 500. The cleaning equipment body 20 may be connected to a single transmission mechanism 10, or as shown in [Fig. 15], to two transmission mechanisms 10. .

[0123] Furthermore, the automatic cleaning equipment includes all the advantages of the aforementioned transmission mechanism 10, which will not be repeated here.

[0124] On the other hand, an exemplary embodiment of the present invention also provides an automatic cleaning system comprising: a base station; and the aforementioned automatic cleaning equipment, the automatic cleaning equipment being configured to selectively stop at the base station.

[0125] The base station may include a mechanism for receiving the cleaning element 500. In a configuration where the cleaning element 500 is removably connected to the lifting piece 112, the cleaning element 500 triggers the sensor to emit a detection signal, controlling the return of the automatic cleaning equipment to the base station. Then, when the lifting piece 112 moves to the third lifting position, the mop tray interacts with the frame of the automatic cleaning equipment, detaching from the lifting piece 112 and falling onto the cleaning element receiving mechanism 500.

[0126] Furthermore, the automatic cleaning system includes all the advantages of the aforementioned automatic cleaning equipment, which will not be repeated here.

[0127] The above is only a specific configuration of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with this technical field can easily think of modifications or substitutions within the technical scope disclosed by the present invention, which should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

Claims

1. A transmission mechanism (10) for automatic cleaning equipment, characterized in that said transmission mechanism (10) comprises: - a transmission component (100), said transmission component (100) comprising a connection end, said connection end being used for connecting a cleaning element (500), the position of said connection end comprising an extended position and a standard position; - a first drive component (200), said first drive component (200) being connected to said transmission component (100), used for driving at least a part of the area of ​​said transmission component (100) to enable said connection end to switch between said extended position and said standard position.

2. The transmission mechanism according to claim 1, characterized in that the first drive component (200) comprises a first motor (210), a thrust plate (220) and an elastic element (230), said first motor (210) being connected to said thrust plate (220), the first end of said elastic element (230) being connected to said transmission component (100), the second end of said elastic element (230) being connected to said thrust plate (220).

3. The transmission mechanism according to claim 2, characterized in that the first motor (210) drives the thrust plate (220) to rotate, so that the thrust plate (220) comes into contact with the transmission component (100), in cooperation with the elastic member (230) to drive the transmission component (100) into movement, thereby allowing the connection end to switch between the extended position and the standard position.

4. The transmission mechanism according to claim 2, characterized in that the transmission component (100) moves under the drive of the thrust plate (220) or under the effect of an external force, when the connecting end swings from the extended position to the standard position, the elastic member (230) stores energy; when the elastic member (230) releases the stored energy, the transmission component (100) moves, the connecting end tilting from the standard position to the extended position.

5. The transmission mechanism according to claim 2, characterized in that the transmission component (100) comprises a swing arm assembly (110) and a force receiving disc (120), said swing arm assembly (110) comprising said connecting end, the force receiving disc (120) being connected to the first end of said swing arm assembly (110) opposite to said connecting end; the thrust plate (220) being used to contact different areas of the force receiving disc (120) to drive the movement of the swing arm assembly (110), thereby allowing the connecting end to switch between the extended position and the standard position.

6. The transmission mechanism according to claim 5, characterized in that the first end of the elastic member (230) is directly connected to the swing arm assembly (110), or the first end of the elastic member (230) is connected to the force receiving disc (120).

7. The transmission mechanism according to claim 5, characterized in that the transmission mechanism also comprises: a housing (300), the swing arm assembly (110) being rotatably connected to said housing (300), the thrust plate (220) being used to contact different areas of the force receiving disc (120) to drive the swing arm assembly (110) to rotate.

8. The transmission mechanism according to claim 6, characterized in that the force receiving disc (120) rotates in a first direction under the effect of the thrust plate (220), the connecting end tilting from the extended position to the standard position.

9. The transmission mechanism according to claim 7, characterized in that the force receiving disc (120) rotates in a second direction under the effect of the thrust plate (220), the connecting end tilting from the standard position to the extended position.

10. The transmission mechanism according to claim 7, characterized in that the first motor (210) is used to drive the rotation of the thrust plate (220), so that the thrust plate (220) rolls relative to the force receiving disc 120), thereby allowing different areas of the thrust plate (220) to come into contact with different areas of the force receiving disc (120).

11. The transmission mechanism according to claim 10, characterized in that when the thrust plate (220) rotates in a first direction under the effect of the first motor (210), the elastic member (230) releases the stored energy, the elastic member (230) pulling the connecting end of the swing arm assembly (110) from the standard position to the extended position; when the thrust plate (220) rotates in a second direction under the effect of the first motor (210), the thrust plate (220) pushes the connecting end of the swing arm assembly (110) from the extended position to the standard position, the elastic member (230) storing energy.

12. The transmission mechanism according to claim 11, characterized in that the first end of the force receiving disc (120) is connected to the swing arm assembly (110), the second end of the force receiving disc (120) comprising a receiving projection (121) extending outward; the first end of the thrust plate (220) is connected to the first motor (210), the second end of the thrust plate (220) comprising a force applying projection (221) extending outward; the two ends of the elastic member (230) are respectively connected to the second end of the force receiving disc (120) and the second end of the thrust plate (220); when the thrust plate (220) rotates in a first direction, the force applying projection (221) rolls from the second face to the first face of the receiving projection (121);when the thrust plate (220) rotates in a second direction, the force applying projection (221) rolls from the first face to the second face of the receiving projection (121).;

13. The transmission mechanism according to claim 1, characterized in that the first drive component (200) comprises a first motor (210) and a thrust plate (220), the first motor (210) driving the thrust plate (220) to rotate to drive the transmission component (100) to move, thereby allowing the connecting end to switch between the extended position and the standard position.

14. The transmission mechanism according to claim 13, characterized in that the transmission component (100) comprises a swing arm assembly (110) and a force receiving disc (120), the swing arm assembly (110) comprising said connecting end, the force receiving disc (120) being connected to the first end of the swing arm assembly (110) opposite to said connecting end; the thrust plate (220) being used to contact different areas of the force receiving disc (120) to move the swing arm assembly (110), so that said connecting end switches between the extended position and the standard position.

15. The transmission mechanism according to claim 14, characterized in that the force receiving disc (120) rotates in a first direction under the action of the thrust plate (220), said connecting end tilting from the extended position to the standard position.

16. The transmission mechanism according to claim 14, characterized in that the force receiving disc (120) rotates in a second direction under the action of the thrust plate (220), said connecting end tilting from the standard position to the extended position.

17. The transmission mechanism according to claim 14, characterized in that the first motor (210) is used to drive the rotation of the thrust plate (220), so that the thrust plate (220) rolls relative to the force receiving disc (120), thereby allowing different areas of the thrust plate (220) to contact different areas of the force receiving disc (120).

18. The transmission mechanism according to claim 17, characterized in that the first end of the force receiving disc (120) is connected to the swing arm assembly (110), the second end of the force receiving disc (120) comprising a force receiving projection (121) extending outward; the first end of the thrust plate (220) is connected to the first motor (210), the second end of the thrust plate (220) comprising a force applying projection (221) extending outward; when the thrust plate (220) rotates in the first direction, the force applying projection (221) contacts the force receiving projection (121); when the thrust plate (220) rotates in the second direction, the force applying projection (221) contacts the force receiving projection (121).

19. The transmission mechanism according to claim 1, characterized in that the transmission component (100) comprises a swing arm assembly (110), the swing arm assembly (110) comprising said connecting end, the first drive component (200) being connected to the swing arm assembly (110) to move the swing arm assembly (110), so that said connecting end switches between the extended position and the standard position; the transmission mechanism also comprises a second drive component (400); the second drive component (400) being connected to the cleaning member (500) to move the cleaning member (500) relative to the swing arm assembly (110) by lifting, rotating or vibrating it.

20. The transmission mechanism according to claim 19, characterized in that the cleaning element (500) is a rotating or vibrating mop.

21. The transmission mechanism according to claim 19, characterized in that the swing arm assembly (110) comprises a swing arm (111) and a lifting piece (112), the lifting piece (112) being movably connected to the swing arm (111), the cleaning member (500) being connected to the lifting piece (112), the first drive component (200) being connected to the swing arm (111) to move the swing arm (111); the second drive component (400) being connected to the lifting piece (112) to move the lifting piece (112) relative to the swing arm (111) by lifting or rotating it, so that the cleaning member (500) is lifted or rotated.

22. The transmission mechanism according to claim 21, characterized in that the swing arm assembly (110) also comprises a rotating part (113), the lifting part (112) comprising a lifting cylinder area (1123), the inner wall of the lifting cylinder area (1123) being provided with a thread (1121), the rotating part (113) being provided with a locking head (1131), the swing arm (111) comprising a lifting groove (1111), the axis of the lifting groove (1111) extending in the lifting direction of the cleaning member (500); the lifting cylinder area (1123) extending from the first end into the lifting groove (1111), the second end of the lifting cylinder area (1123) being used for connecting the cleaning member (500), the outer wall of the lifting cylinder area (1123) being in frictional contact with the inner wall of the lifting groove (1111) or being mutually limited in the circumferential direction of the lifting groove (1111); the rotating piece (113) extending into the lifting cylinder area (1123), and the locking head (1131) being slidably inserted between the threads (1121);and the second drive component (400) being connected to the rotating part (113), the second drive component (400) being used for driving the rotating part (113) to rotate, so that under the action of the locking head (1131) and the thread (1121), the lifting part (112) drives the cleaning element (500) by lifting it.;

23. The transmission mechanism according to claim 22, characterized in that the lifting part (112) also comprises a connecting cylinder area (1124), the connecting cylinder area (1124) being located inside the lifting cylinder area (1123), and there is a gap between the connecting cylinder area (1124) and the lifting cylinder area (1123), the connecting cylinder area (1124) being connected to the second end of the lifting cylinder area (1123), the connecting cylinder area (1124) being used for connecting the cleaning member (500).

24. The transmission mechanism according to claim 23, characterized in that the rotating part (113) comprises a clearance opening (1132), when the lifting part (112) rises relative to the rotating part (113), the rotating part (113) is inserted between the connection cylinder area (1124) and the lifting cylinder area (1123) through the clearance opening (1132), and by contacting the connection position between the connection cylinder area (1124) and the lifting cylinder area (1123), it defines the highest point of the lifting part (112).

25. The transmission mechanism according to claim 22, characterized in that the inner wall of the lifting cylinder area (1123) is also provided with a locking block (1122), the locking block (1122) being located at the end of the thread (1121) near of the first end of the lifting cylinder area (1123); the second drive component (400) being used to drive the rotating part (113) to rotate, so that the lifting part (112) descends, so that the locking head (1131) interacts with the locking block (1122), thereby driving the lifting part (112) to drive the cleaning element (500) to rotate.

26. The transmission mechanism according to claim 22, characterized in that the swing arm assembly (110) also comprises a rotary transmission component (114); the second motor (410) being connected to the rotary transmission component (114), the rotary transmission component (114) being connected to the rotary part (113); the second drive component (400) being used to drive the rotary part (113) to rotate via the rotary transmission component (114), thereby driving the cleaning member (500) to lift or rotate it.

27. ​​The transmission mechanism according to claim 26, characterized in that the swing arm (111) comprises an internal cavity; the second drive component (400) comprises a second motor (410) and a screw (420), the second motor (410) being connected to the screw (420); the rotary transmission component (114) comprising a rotation axis (1141), a worm wheel (1142) and a gear set, the worm wheel (1142) and the gear set being respectively connected to the rotation axis (1141), the worm wheel (1142) being located outside the inner cavity, the gear set being located inside the inner cavity, the worm wheel (1142) being meshed with the screw (420), the rotation axis (1141) being at least rotatably connected to the swing arm (111), the gear set being connected to the rotating part (113);the second motor (410) being used for driving the rotation of the screw (420), through the interaction between the screw (420) and the worm wheel (1142) to drive the rotation of the rotation axis (1141), thereby driving the rotation of the rotating part (113) through the gear set.;

28. The transmission mechanism according to claim 27, characterized in that the swing arm assembly (110) also comprises a first bearing (115), the rotation axis (1141) being rotatably connected to the swing arm (111) via the first bearing (115).

29. The transmission mechanism according to claim 27, characterized in that the transmission mechanism also comprises a housing (300), the second motor (410) and the first motor (210) both being located outside the housing (300) and fixed to the housing (300); the rotation axis (1141) also being rotatably connected to the housing (300).

30. The transmission mechanism according to claim 29, characterized in that the housing (300) comprises a first cavity (310) and a second cavity (320) adjacent and communicating, the swing arm (111) being arranged in the second cavity (320), the contour of the second cavity (320) being adapted to the movement zone of the swing arm (111), the axis of rotation (1141) passing through the partition between the first cavity (310) and the second cavity (320), the worm wheel (1142) being located in the first cavity (310).

31. The transmission mechanism according to claim 29, characterized in that the swing arm assembly (110) also comprises a second bearing (116), the rotation axis (1141) being rotatably connected to the housing (300) via the second bearing (116).

32. The transmission mechanism according to claim 27, characterized in that the gear assembly comprises a first gear (1143), a second gear component (1144), a third gear component (1145), a fourth gear component (1146) and a fifth gear component (1147); the first gear (1143), the second gear component (1144), the third gear component (1145), the fourth gear component (1146) and the fifth gear component (1147) are all arranged in the inner cavity and meshed successively, the second gear component (1144), the third gear component (1145), the fourth gear component (1146) and the fifth gear component (1147) are rotatably connected to the swing arm (111), the first gear is connected to the rotation axis (1141), the fifth gear component (1147) is connected to the rotating part (113).

33. The transmission mechanism according to claim 21, characterized in that the swing arm assembly (110) also comprises a first disassembly member (118), the first disassembly member (118) being connected to the lifting piece (112), the cleaning member (500) comprising a mop tray and a second disassembly member connected to the mop tray; the second disassembly member being used to be detachably connected to the first disassembly member (118), and detaching from the first disassembly member (118) when the mop tray is subjected to an external force in a predetermined direction.

34. The transmission mechanism according to claim 33, characterized in that one of the disassembly elements, the first disassembly element (118) or the second disassembly element, is a magnetic element, the other being a magnetic attraction element.

35. The transmission mechanism according to claim 33, characterized in that the cleaning member (500) also comprises a connecting rod, the mop tray being connected to the first end of the connecting rod, the second end of the connecting rod being connected to the second disassembly member; the lifting piece (112) comprising an inner hole (1125), the first disassembly member (118) being disposed inside the inner hole (1125), the connecting rod being inserted by the second end into the inner hole (1125).

36. The transmission mechanism according to claim 35, characterized in that the inner wall of the inner hole (1125) is in contact with the outer wall of the connecting rod, and is mutually limited in the circumferential direction of the connecting rod.

37. An automatic cleaning equipment, characterized in that the equipment comprises: a cleaning equipment body (20); and the transmission mechanism (10) according to one of claims 1 to

38. 30. An automatic cleaning system, comprising: a base station; and the automatic cleaning equipment of claim 37, wherein the automatic cleaning equipment is operated to selectively stop at the base station.

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