AUTOMATIC CLEANING DEVICE AND CLEANING SYSTEM

Abstract

The present application discloses an automatic cleaning apparatus (100) and a cleaning system. The automatic cleaning apparatus (100) comprises: a movable platform (10), configured to automatically move over an operational surface; at least one first cleaning component (20), movably arranged on the movable platform (10), and capable of switching between a first position and a second position; at least one second cleaning component (30), movably arranged on the movable platform (10), and capable of switching between a third position and a fourth position; wherein, the first cleaning component (20) and the second cleaning component (30) are spaced apart and located on the same side as the direction of movement of the automatic cleaning apparatus (100). Fig. 1

Description

Title of the invention: AUTOMATIC CLEANING APPARATUS AND CLEANING SYSTEM Technical field

[0001] The present application relates to the field of electrical appliance technology and specifically relates to an automatic cleaning apparatus and a cleaning system. Prior art

[0002] With the progress of technology and the development of society, cleaning systems have gradually entered people's daily life. Cleaning systems include a main brush, which, when a cleaning system is working, the main brush rotates to perform cleaning, thereby reducing people's burden and facilitating their daily life.

[0003] However, since the overall shape of the cleaning system is round, when cleaning wall corners or turning, there are inaccessible / out-of-cleaning areas, which degrades the cleaning efficiency and negatively affects the user experience.

[0004] Content of the invention

[0005] To solve the technical problem of inaccessible cleaning areas in current cleaning systems, which affect cleaning efficiency and user experience, the present application provides an automatic cleaning apparatus and a cleaning system.

[0006] In a first aspect of this application, there is provided an automatic cleaning apparatus comprising: a movable platform, configured to move automatically over an operational surface, the movable platform having a central axis along the direction of movement of the movable platform; at least one first cleaning component, movably disposed on said movable platform, and capable of switching between a first position and a second position, wherein, when said first cleaning component is in the first position, the distance between the first cleaning component and the central axis is a first distance, and when said first cleaning component is in the second position, the distance between the first cleaning component and the central axis is a second distance, this second distance being greater than the first distance;at least one second cleaning component, movably arranged on said movable platform, and capable of switching between a third position and a fourth position, wherein, when said second cleaning component is in the third position, the; distance between the second cleaning component and the central axis is a third distance, and when said second cleaning component is in the fourth position, the distance between the second cleaning component and the central axis is a fourth distance, this fourth distance being greater than the third distance; wherein, the first cleaning component and the second cleaning component being spaced apart and located on the same side as the direction of movement of the automatic cleaning apparatus.

[0007] In some exemplary embodiments, when cleaning wall corners or obstacles having turns, the first cleaning component is capable of being located in the second position, while the second cleaning component is capable of being located in the fourth position.

[0008] In some exemplary embodiments, when cleaning wall corners or obstacles having turns, the first cleaning component is capable of being located in the second position, while the second cleaning component is capable of being located in the third position.

[0009] In some exemplary embodiments, when cleaning wall corners or obstacles having turns, the first cleaning component is capable of being located in the first position, while the second cleaning component is capable of being located in the fourth position.

[0010] In some exemplary embodiments, the first cleaning component comprises: a fixed arm, mounted on the lower portion of the movable platform; an oscillating arm, one end of which is rotatably connected to the fixed arm, and the other end of which is equipped with a first rotatable cleaning element; a motor component, connected to the fixed arm, this motor component being configured to drive the oscillation of the oscillating arm, in order to move the first cleaning element between the first position and the second position.

[0011] In some exemplary embodiments, the motor component comprises a transmission component, which, under the action of a drive element, causes the oscillation of the swing arm and the rotation of the first cleaning element.

[0012] In some exemplary embodiments, the transmission component comprises: a connecting shaft, which about its own central axis is rotatably connected to the fixed arm and the swinging arm; the drive element is transmissively connected to the connecting shaft, and is configured to drive the rotation of the connecting shaft; a first transmission component, the input end of which is connected to the connecting shaft and the output end of which is connected to the swinging arm. The connecting shaft, when rotated, drives the swinging arm to swing; a second transmission component, the input end of which is connected to the first transmission component and the output end of which is connected to the first cleaning element; the connecting shaft, when rotating, drives the rotation of the first cleaning element via the first and second transmission components.

[0013] In some exemplary embodiments, the second cleaning component comprises: a pivoting arm, rotatably connected to the movable platform; a first elastic member, a first end of which is connected to the pivoting arm and a second end of which is fixed relative to the movable platform; a second cleaning element, disposed on the pivoting arm; a first drive assembly, used to be in cooperation with the first elastic member, to pivot the pivoting arm, thereby driving the second cleaning element to switch between the third and fourth positions.

[0014] In some exemplary embodiments, the first drive assembly moves the second cleaning element to the third position by the pivoting arm, the force applied by the first drive assembly to the pivoting arm being opposite in direction to the force applied by the first resilient element to the pivoting arm.

[0015] In some exemplary embodiments, the first elastic member moves the second cleaning member to the fourth position by the pivoting arm, the first elastic member brings the pivoting arm to its limit position and fixes it in position using its own elastic force.

[0016] In some exemplary embodiments, when the second cleaning element switches between the third and fourth positions, the first drive assembly bears against the pivoting arm, to rotate the pivoting arm.

[0017] In some exemplary embodiments, the first drive assembly includes a cam, a first drive portion being used to drive the cam to rotate, the cam bears against the outer wall of the pivot arm, and thereby drives the pivot arm to pivot.

[0018] In some exemplary embodiments, one end of the pivot arm is connected to a first cam, and the other end is connected to the second cleaning element. As the second cleaning element swings between the third and fourth positions, the first drive assembly engages the protruding portion of the first cam to rotate the pivot arm.

[0019] In some exemplary embodiments, the first drive assembly is used to drive the first cam to rotate in a first direction, thereby allowing the second cleaning element to move from the fourth position into the third position. The first resilient member is used to drive the first cam to rotate in a second direction, thereby allowing the second cleaning element to move from the third position into the fourth position.

[0020] In some embodiments, the first drive assembly deforms the first elastic member by the first cam, thereby accumulating elastic potential energy; the first elastic member releases this elastic potential energy to drive the first cam to rotate in a second direction, causing the second cleaning member to move from the third position to the fourth position.

[0021] In some embodiments, when the number of first cleaning components is two, and the number of second cleaning components is two, the two first cleaning components are respectively located on either side of the travel direction of the automatic cleaning apparatus, and the two second cleaning components are located on either side of the travel direction of the automatic cleaning apparatus.

[0022] In some embodiments, the first cleaning component comprises a dry cleaning component, while the second cleaning component comprises a wet cleaning component; the first cleaning component is located in front of the second cleaning component, in the direction of travel of the automatic cleaning apparatus.

[0023] In some embodiments, the first cleaning component comprises a wet cleaning component and the second cleaning component comprises a dry cleaning component; the first cleaning component being located in front of the second cleaning component in the direction of travel of the automatic cleaning apparatus.

[0024] In some embodiments, the wet cleaning component is configured to pivot relative to the operating surface.

[0025] In some embodiments, the wet cleaning component is configured to move up and down relative to the operating surface.

[0026] In some embodiments, the wet cleaning component is configured to vibrate relative to the operating surface.

[0027] In some embodiments, the dry cleaning component is configured to move up and down relative to the operating surface.

[0028] In a second aspect of this application, a cleaning system is provided, including a cleaning base station and the previously described automatic cleaning apparatus.

[0029] According to one or more embodiments provided by the present application, the automatic cleaning apparatus, such as the mobile platform being configured to move automatically on the operational surface, and the mobile platform, in the direction of movement of the mobile platform, has a central axis. When the automatic cleaning apparatus starts to operate, the mobile platform can automatically move on the operational surface to perform cleaning tasks. Since at least a first cleaning component is movably mounted on the mobile platform and can switch between a first position and a second position, when the first cleaning component is located in the first position, the distance between the first cleaning component and the central axis is the first distance, and when the first cleaning component is located in the second position, the distance between the first cleaning component and the central axis is the second distance, the second distance is greater than the first distance.At least one second cleaning component is movably mounted on the moving platform and can switch between the third position and the fourth position, when the second cleaning component is located in the third position, the distance between the second cleaning component and the central axis is the third distance, and when the second cleaning component is located in the fourth position, the distance between the second cleaning component and the central axis is the fourth distance, the fourth distance is greater than the third distance. The first cleaning component and the second cleaning component are arranged at intervals and located on the same side of the moving direction of the automatic cleaning apparatus.Thus, when cleaning areas that are not wall corners or obstacle-free areas having turns, the first cleaning component switches to the first position and the second cleaning component to the third position, at which time the first cleaning component and the second cleaning component clean the operational surface below the moving platform.When cleaning wall corners or obstacles having turns, the first cleaning component swings to the second position and the second cleaning component swings to the fourth position, at which time, the first and second cleaning components can clean a larger area around the moving platform, thereby increasing the cleaning area of ​​the first and second cleaning components, allowing the first and second cleaning components to extend out of the moving platform as much as possible and enter the wall corner or turn areas to perform cleaning, thereby completely cleaning the wall corner or turn areas.Thus, the exemplary embodiment of the present disclosure provides a cleaning apparatus with a side brush module that is capable of cleaning wall corner areas or rotating obstacles inside a room, achieving cleaning of inaccessible areas, improving the range of the cleaning horizon, and therefore, improving the user experience.

[0030] When cleaning wall corners or obstacles with turns, the second cleaning component can be positioned in the third position and the first cleaning component in the second position, allowing the first cleaning component to extend beyond the mobile platform. The first cleaning component can then clean a larger area around the mobile platform, thereby increasing its cleaning area, the first cleaning component can extend into wall corners or areas with turning obstacles to perform cleaning, thereby completely cleaning wall corner areas or areas with turning obstacles, achieving cleaning of inaccessible areas, and improving the range of the cleaning horizon, thereby improving the user experience. When cleaning areas that are not wall corners or obstacles without turning, the first cleaning component switches from the second position to the first position, allowing the first cleaning component to perform standard cleaning.

[0031] When cleaning the edges of walls or obstacles, the first cleaning component can be positioned in the first position, and the second cleaning component in the fourth position, thereby allowing the second cleaning component to extend beyond the movable platform. The second cleaning component can then clean a larger area around the movable platform, thereby increasing its cleaning area, the second cleaning component can reach the edges of walls or obstacles to perform cleaning, thereby completely cleaning the edges of walls or obstacles, achieving cleaning of inaccessible areas and improving the range of the cleaning horizon, which improves the user experience.When cleaning areas that are not wall edges or obstacles, the second cleaning component moves from the fourth position to the third position, allowing the second cleaning component to perform standard cleaning. Description of the figures

[0032] To better explain the technical solutions of the embodiments of this application, a simple introduction of the accompanying drawings used in the description of the embodiments is presented below. It is obvious that the accompanying drawings described below represent some embodiments of this application. For those of ordinary skill in the art, other accompanying drawings can be obtained from these accompanying drawings without creative effort.

[0033] [Fig. 1] shows a tilting view of the first cleaning component and second cleaning component of the automatic cleaning apparatus, in one or more embodiments of this application.

[0034] [Fig.2] shows a schematic view where the first cleaning component of the automatic cleaning apparatus is in the first position and the second component cleaning the automatic cleaning apparatus is in third position, in one or more embodiments of this application.

[0035] [Fig. 3] is a bottom view of [Fig. 1].

[0036] [Fig.4] shows a schematic view where the first cleaning component of the automatic cleaning apparatus is in the second position and the second cleaning component of the automatic cleaning apparatus is in the fourth position, in one or more embodiments of this application.

[0037] [Fig.5] is a bottom view of [Fig.4].

[0038] [Fig.6] shows a schematic view of the three-dimensional structure of the first cleaning component in one or more embodiments of this application.

[0039] [Fig.7] shows a schematic view of the three-dimensional structure of the first cleaning component, with the swing arm and a portion of the fixed arm omitted, in one or more embodiments of this application.

[0040] [Fig.8] shows a schematic view of the three-dimensional structure of the swing arm and the fixed arm in one or more embodiments of this application.

[0041] [Fig.9] shows a schematic view of the three-dimensional structure of the transmission component in one or more embodiments of this application.

[0042] [Fig. 10] shows a schematic view of the three-dimensional structure of a portion of the transmission component in one or more embodiments of this application.

[0043] [Fig. 11] shows a three-dimensional schematic view of the internal structure of the swing arm in one or more embodiments of this application.

[0044] [Fig. 12] shows a schematic view of the three-dimensional structure of a portion of the transmission component in one or more embodiments of this application.

[0045] [Fig. 13] shows a schematic view of the three-dimensional structure of a portion of the fixed arm in one or more embodiments of this application.

[0046] [Fig. 14] shows a structural schematic view of the second cleaning component in the third position in one or more embodiments of this application.

[0047] [Fig. 15] shows a structural schematic view of the second cleaning component in the fourth position in one or more embodiments of this application.

[0048] [Fig. 16] shows a structural schematic view from another viewing angle of the embodiment illustrated in [Fig. 15].

[0049] [Fig. 17] shows a structural schematic view from another viewing angle of the embodiment illustrated in [Fig. 15].

[0050] [Fig. 18] shows a sectional view along direction AA of the embodiment illustrated in [Fig. 17].

[0051] [Fig. 19] shows a structural schematic view of the second drive assembly in one or more embodiments of this application.

[0052] [Fig.20] shows a structural schematic view from another viewing angle of the embodiment illustrated in [Fig.16].

[0053] [Fig.21] shows a structural schematic view of the second housing in one or more embodiments of this application.

[0054] [Fig.22] shows a structural schematic view from another viewing angle of the embodiment illustrated in [Fig.21].

[0055] [Fig.23] shows a structural schematic view where a protective surface is provided on the first cam in one or more embodiments of this application.

[0056] [Fig.24] shows a structural schematic view where rollers are arranged on the bearing contact portion in one or more embodiments of this application.

[0057] Description of the explanatory notes of the attached drawings:

[0058] 10 - Mobile platform; 101 - Front part; 102 - Rear part; 20 - First cleaning component; 201 - First cleaning element (brush); 202 - Fixed arm; 203 - Swing arm; 204 - Motor component; 2041 - Drive element; 2042 - Transmission component; 20421 - First gear; 20422 - Second gear; 20423 - Connecting shaft; 20424 - First connecting shaft transmission gear; 20425 - Second connecting shaft transmission gear; 20426 - Third connecting shaft transmission gear; 20427 - Fourth connecting shaft transmission gear; 2043 - Second mounting shaft; 20441 - Third gear; 20442 - Fourth gear; 20443 - Output gear; 20444 - Fifth gear; 20445 - Sixth gear; 20446 - Seventh gear; 20447 - Eighth gear; 20448 - Ninth gear; 2045 - Swinging rod; 2046 - Connecting rod transmission component; 20461 - First mounting pin; 20462 - Friction transmission wheel; 20463 - Friction wheel;20464 - Second elastic element; 20465 - Third elastic element; 20466 - First limiting element; 30 - Second cleaning component; 301 - First drive assembly; 3011 - retractable drive assembly; 3013 - Pivoting arm; 3014 - Tenth gear; 3015 - Second cam; 30151 - Sector-shaped toothed part; 30152 - Bearing contact part; 30153 - First partition; 30154 - Second partition; 3016 - First cam; 30161 - Projecting part; 30162 - Connecting part; 3017 - First elastic element; 3018 - First housing; 30181 - Third limiting element; 30182 - Fourth limiting element; 30191 - ; Protective surface; 30192 - Roller; 302 - Second drive assembly; 3021 - Lifting and lowering drive part; 3022 - Transmission part; 3023 - Worm; 3024 - Gear assembly; 30241 - Turbine; 30242 - First auxiliary gear; 30243 - First gear disc; 30244 - Second gear disc; 30245 - Third auxiliary gear; 30246 - Connecting sleeve; 30247 - Guide part; 3025 - Sleeve; 30251 - Slot; 30252 - Guide groove; 30253 - Limiting surface; 3026 - Second housing; 30261 - First mounting cavity; 30262 - Second mounting cavity; 30263 - Base plate; 303 - Second cleaning element; 304 - Position detection device; 3041 - First photoelectric switch; 3042 - Second photoelectric switch; 40 - Main brush; 100 - Automatic cleaning device. Detailed description

[0059] We will now clearly and completely describe the technical solutions of the exemplary embodiments of this application, with the aid of the attached drawings. It is obvious that the described exemplary embodiments represent only a part of the exemplary embodiments of this application and not their entirety. On the basis of the exemplary embodiments of this application, all other exemplary embodiments obtainable by ordinary persons skilled in the art without creative work fall under the protection of this application.

[0060] Additionally, in various examples, this application may repeat reference numbers and / or letters; such repetition is intended to simplify and clarify the text, and does not suggest a relationship between the various exemplary embodiments and / or configurations discussed. In addition, this application provides various specific examples of processes and materials, but those of ordinary skill in the art may recognize the applicability of other processes and / or the use of other materials.

[0061] According to the attached drawings 1, 2, 3, 4 and 5, the exemplary embodiment of the first aspect of this application provides an automatic cleaning apparatus 100 including: a movable platform 10, at least one first cleaning component 20 and at least one second cleaning component 30. The movable platform 10 is configured to move automatically over an operational surface, and in the direction of movement of said movable platform 10, the movable platform 10 has a central axis. At least one first cleaning component 20 is movably mounted on the movable platform 10 and can switch between a first position and a second position. When the first cleaning component 20 is in the first position, the distance between the first cleaning component 20 and the central axis R is the first distance SL. When the first cleaning component 20 is in the second position, the distance between the first cleaning component 20 and the axis central axis R is the second distance S2, the second distance S2 being greater than the first distance S1. At least one second cleaning component 30 is movably mounted on the movable platform 10 and can switch between a third position and a fourth position. When the second cleaning component 30 is in the third position, the distance between the second cleaning component 30 and the central axis R is the third distance S3. When the second cleaning component 30 is in the fourth position, the distance between the second cleaning component 30 and the central axis R is the fourth distance S4, the fourth distance S4 being greater than the third distance S3. Wherein, the first and second cleaning components 20 and 30 are arranged at intervals and located on the same side of the moving direction of the automatic cleaning apparatus 100.

[0062] The number of first cleaning components 20 may be one or more.

[0063] The number of second cleaning components 30 may be one or more.

[0064] The automatic cleaning device 100 may be a scrubber-dryer, a robot vacuum cleaner, a mechanical broom, etc., the examples of embodiment of this application are not limiting thereto.

[0065] Since the movable platform 10 is configured to automatically move on the operating surface, and, the movable platform 10 has a central axis R in the direction of movement of the movable platform 10. When the automatic cleaning apparatus starts to operate, the movable platform 10 can automatically move on the operating surface to perform cleaning tasks. Since at least one first cleaning component 20 is movably mounted on the movable platform 10 and can switch between a first position and a second position, when the first cleaning component 20 is in the first position, the distance between the first cleaning component 20 and the central axis R is the first distance S1, and when the first cleaning component 20 is in the second position, the distance between the first cleaning component 20 and the central axis R is the second distance S2,the second distance S2 is greater than the first distance SL At least one second cleaning component 30 is also movably mounted on the movable platform 10 and can switch between the third position and the fourth position, when the second cleaning component 30 is located in the third position, the distance between the second cleaning component 30 and the central axis R is the third distance S3, and when the second cleaning component 30 is located in the fourth position, the distance between the second cleaning component 30 and the central axis R is the fourth distance S4, the fourth distance S4 is greater than the third distance S3. The first and second cleaning components 20 and 30 are arranged at intervals and located on the same side of the moving direction of the apparatus, automatic cleaning. Thus, when cleaning areas that do not include wall corners or obstacles without turns, the first cleaning component 20 moves to the first position and the second cleaning component 30 to the third position, at which time the first and second cleaning components 20 and 30 clean the operational surface below the mobile platform 10.When cleaning wall corners or similar obstacles, the first cleaning component 20 moves to the second position and the second cleaning component 30 moves to the fourth position, at which time, the first and second cleaning components 20 and 30 can clean a larger area around the moving platform 10, thereby increasing the cleaning area of ​​the first and second cleaning components, allowing the first and second cleaning components 20 and 30 to extend out of the moving platform 10 as much as possible and enter the wall corner or turning areas for cleaning, thereby completely cleaning the wall corner or turning areas.Thus, the cleaning apparatus provided by the embodiment of the present disclosure is equipped with a side brush module which is capable of cleaning wall corners inside the room or obstacles with turns, realizing cleaning of inaccessible areas and improving the range of the cleaning horizon, which, therefore, improves the user experience.

[0066] When cleaning wall corners or similar obstacles, the second cleaning component 30 may be positioned in the third position, and the first cleaning component 20 in the second position, thereby allowing the first cleaning component to extend beyond the movable platform 10. The first cleaning component 20 may then clean a larger area around the movable platform 10, thereby increasing the cleaning surface area of ​​the first cleaning component 20. The first cleaning component 20 may penetrate into the wall corners or turning areas of the obstacles to perform cleaning, thereby thoroughly cleaning the wall corner areas or turning areas of the obstacles, performing cleaning of inaccessible areas and improving the range of the cleaning horizon, thereby improving the user experience.When cleaning areas that are not wall corners or without obstacles similar to wall corners, the first cleaning component 20 moves from the second position to the first position, allowing the first cleaning component 20 to perform standard cleaning.

[0067] When cleaning the edges of walls or obstacles, the first cleaning component 20 may be located in the first position, and the second cleaning component 30 is located in the fourth position, thereby allowing the second cleaning component 30 to extend beyond the movable platform 10. The second The cleaning component 30 can then clean a larger area around the moving platform 10, thereby increasing the cleaning area of ​​the second cleaning component 30. The second cleaning component 30 can reach the edges of walls or obstacles to perform cleaning, thereby completely cleaning the edges of walls or obstacles, achieving cleaning of inaccessible areas and improving the range of the cleaning horizon, thereby improving the user experience. When cleaning areas without edges of walls or obstacles, the second cleaning component 30 moves from the fourth position to the third position, allowing the second cleaning component 30 to perform standard cleaning.

[0068] In some exemplary embodiments, when cleaning wall corners or obstacles having turns, the first cleaning component 20 may be located in the second position and the second cleaning component 30 may be located in the fourth position, with both the first and second cleaning components 20 and 30 extending beyond the movable platform 10, thereby allowing the first and second cleaning components 20 and 30 to work together to simultaneously clean the wall corners or obstacles having turns, thereby completely cleaning the corner areas or areas having turns.

[0069] In some exemplary embodiments, when cleaning wall corners or obstacles having turns, the first cleaning component 20 may be located in the second position and the second cleaning component 30 may be located in the third position, i.e., the first cleaning component 20 may extend beyond the movable platform 10 to clean wall corners or obstacles having turns, while the second cleaning component 30 performs standard cleaning.

[0070] In some exemplary embodiments, when cleaning the edges of walls or obstacles, the first cleaning component 20 may be located in the first position and the second cleaning component 30 may be located in the fourth position, i.e., the second cleaning component 30 may extend beyond the movable platform 10 to clean the edges of walls or obstacles, while the first cleaning component 20 may perform standard cleaning.

[0071] In some exemplary embodiments, in the direction of movement of the automatic cleaning apparatus 100, the movable platform 10 has a first side and a second side opposite each other. When the number of first cleaning components 20 and second cleaning components 30 is one each, the first cleaning component 20 and the second cleaning component 30 are all located on the first side or the second side. When the number of first cleaning components 20 and second cleaning components 30 is two each, one of the two first cleaning components 20 and one of the two second cleaning components 30 are located on the first side, while the other of the two first cleaning components 20 and the other of the two second cleaning components 30 are located on the second side.

[0072] In some exemplary embodiments, the automatic cleaning apparatus 100 also includes sensors for detecting turns or obstacles. Since the movable platform 10 is circular in shape, there are inaccessible cleaning areas in right-angle turns. When the sensors of the automatic cleaning apparatus 100 detect a turn or a turn-like location, at least a portion of the first cleaning component 20 actively extends out of the movable platform 10 to clean the inaccessible areas, thereby ensuring cleaning efficiency and improving the user experience.After cleaning the inaccessible areas, i.e., when the external force disappears or decreases, the first cleaning component 20 can retract to its initial position, thereby ensuring the ability to adapt to complex terrains and reducing the impact of the environment on the automatic cleaning apparatus 100.

[0073] According to [Fig. 5], in some exemplary embodiments, since when the first cleaning component 20 and the second cleaning component 30 perform normal cleaning, the first cleaning component 20 is located in the first position and the second cleaning component 30 is located in the third position, and the cleaning width of the first and second cleaning components 20 and 30 is narrower than the width of the moving platform 10, therefore after back-and-forth cleaning, if there are wall corners or obstacles, uncleaned inaccessible areas may remain between the first and second cleaning components 20 and 30 and the edges of the moving platform 10.When the sensors of the automatic cleaning apparatus 100 detect an obstacle on the wall detector side of the mobile platform 10, the first cleaning component 20 switches to the second position and the second cleaning component 30 switches to the fourth position, i.e., the first and second cleaning components 20 and 30 actively extend to the wall detector side of the mobile platform 10 (the cleaning side along the wall of the mobile platform 10), and clean the environment in inaccessible areas, thereby ensuring cleaning efficiency and improving user experience.After completing the cleaning of the inaccessible areas, i.e., when the external force disappears or decreases, the first cleaning component 20 moves to the first position and the second cleaning component 30 can move to the third position, in order to adapt to complex terrains and reduce the impact of the environment on the automatic cleaning apparatus 100.

[0074] According to [Fig. 6], in some exemplary embodiments, the first cleaning component 20 comprises a fixed arm 202, an oscillating arm 203 and a motor component 204. The fixed arm 202 is intended to be mounted on the lower part of the movable platform 10 of the cleaning apparatus; one end of the oscillating arm 203 is rotatably connected to the fixed arm 202, and the other end is equipped with a first cleaning element capable of performing rotation, such as a brush 201; the motor component 204 is connected to the fixed arm 202 and the motor component 204 is configured to drive the oscillating arm 203 to oscillate, in order to move the brush 201 between the first position and the second position. In some exemplary embodiments, the motor component 204 drives the oscillating arm 203 to oscillate, which moves the brush 201 between the first and second positions.When cleaning large and flat surfaces, the brush 201 is in the first position and can clean the operating surface under the movable platform 10; when cleaning places near wall corners, the brush 201 is in the second position and can clean a larger area, capable of extending into the wall corners to perform complete cleaning of these areas. Thus, the cleaning apparatus provided by the embodiment of the present disclosure is equipped with the first cleaning component 20 capable of cleaning the wall corners in the room, improving the cleaning range and, therefore, improving the user experience.

[0075] According to Figures 6, 7 and 8, in some exemplary embodiments, the motor component 204 comprises a drive element 2041 and a transmission component 2042, the drive element 2041 being capable of driving the swing arm 203 to swing and the brush 201 to rotate by the transmission component 2042. The use of a single drive element 2041 makes it possible to drive both the swing arm 203 to swing and the brush 201 to rotate while reducing the need for power sources and costs. For example, the drive element 2041 is a motor.

[0076] In some exemplary embodiments, the drive member 2041 comprises a rotatable output shaft. When the first cleaning component 20 is in the first position, the rotatable output shaft rotates in a first clockwise direction M, and when the first cleaning component 20 is in the second position, the rotatable output shaft rotates in a second clockwise direction N. When the rotational direction of the rotatable output shaft changes from the first clockwise direction M to the second clockwise direction N, the first cleaning component 20 moves from the first position to the second position.

[0077] In some embodiments, one between the fixed arm 202 and the swing arm 203 is equipped with a projecting stop, and the other has limiting blocks for folding and extending arranged at the interval around the swing center of the arm. swing arm 203. The protruding stopper is located between the extension limiting block and the retracting limiting block. When the swing arm 203 pivots in the first clockwise direction M until the protruding stopper abuts the extension limiting block, the brush 201 is held in the second position. When the swing arm 203 pivots in the second clockwise direction N until the protruding stopper abuts the retracting limiting block, the brush 201 is held in the first position. Thus, this limits the swing angle of the swing arm 203, more precisely controlling the movement range of the brush 201 and improving the operation accuracy of the first cleaning component 20.

[0078] In some embodiments, one between the first clockwise direction M and the second clockwise direction N is clockwise, and the other is counterclockwise.

[0079] In some exemplary embodiments, the brush 201 rotates in the same clockwise direction whether in the first or second position. The rotation direction of the brush 201 remains constant, which can improve cleaning efficiency by preventing changes in the output rotation direction of the drive member 2041 from affecting the rotation direction of the brush 201, thereby ensuring cleanliness of cleaning.

[0080] In some exemplary embodiments, the transmission component 2042 comprises a connecting shaft 20423, a first transmission component, and a second transmission component. The connecting shaft 20423 rotates about its own central axis, and is rotatably connected to the fixed arm 202 and the swing arm 203, and the drive member 2041 is transmissively connected to the connecting shaft 20423 and drives the connecting shaft 20423 to rotate; the input end of the first transmission component is connected to the connecting shaft 20423, and its output end is connected to the swing arm 203.When the connecting shaft 20423 rotates, it can drive the swing arm 203 to swing by the first transmission component; the input end of the second transmission component is connected to the first transmission component, and its output end is connected to the brush 201, when the connecting shaft 20423 rotates, it can drive the brush 201 to rotate by the first and second transmission components.

[0081] In some exemplary embodiments, the rotation of the rotatable output shaft of the drive element 2041 is transmitted to the swing arm 203 by the connecting shaft 20423 and the first transmission component, causing the swing arm 203 to oscillate, in order to change the position of the brush 201; the rotation of the output shaft of the drive element 2041 is transmitted to the brush 201 successively by the connecting shaft 20423, the first transmission component and the second transmission component, causing the brush 201 to rotate to clean the operational surface. Thus, a single drive element 2041 can drive the rotation of the brush 201 and the oscillation of the oscillating arm 203.

[0082] According to Figures 7 and 9, in some embodiments, the rotary output shaft of the drive element 2041 is coaxially connected to a first transmission gear of the connecting shaft 20424. The first transmission gear of the connecting shaft 20424 successively engages with a second, a third and a fourth transmission gear of the connecting shaft 20425, 20426, 20427. The fourth transmission gear of the connecting shaft 20427 is fitted onto the connecting shaft 20423, and the connecting shaft 20423 can rotate synchronously with the fourth transmission gear of the connecting shaft 20427.

[0083] In some exemplary embodiments, the rotating output shaft of the drive member 2041 drives the first transmission gear of the connecting shaft 20424 to rotate, and the rotation of the first transmission gear of the connecting shaft 20424 is successively transmitted to the second and third transmission gears of the connecting shaft 20425, 20426, and then to the fourth transmission gear of the connecting shaft 20427, causing the fourth transmission gear of the connecting shaft 20427 to rotate and the connecting shaft 20423 to rotate. Thus, the drive member 2041 drives the connecting shaft 20423.

[0084] According to figures 7, 8 and 9, in certain exemplary embodiments, the first The transmission component comprises a first gear 20421 and a second gear 20422, the first gear 20421 is fitted onto the connecting shaft 20423 and can rotate with the connecting shaft 20423, the second gear 20422 is rotatably connected to the swing arm 203, and the first gear 20421 engages with the second gear 20422, when the first gear 20421 changes its rotation direction, it can drive the swing arm 203 to change its swing direction by the second gear 20422, thereby enabling the brush 201 to move between the first position and the second position.

[0085] In some exemplary embodiments, when the drive member 2041 drives the connecting shaft 20423 to change its rotational direction, the first gear 20421 also changes its rotational direction, which causes, by the second gear 20422, a change in the swinging direction of the swing arm 203. Therefore, by changing the output rotational direction of the rotating output shaft by the drive member 2041, it is possible to change the swinging direction of the swing arm 203, thereby switching the brush 201 between the first position and the second position. This switching operation is simple, quick, and saves time and effort.

[0086] According to Figures 6 and 10, in certain exemplary embodiments, the second gear 20422 is rotatably mounted on the swing arm 203 by a second mounting axis 2043. When the brush 201 is in the first position, the protruding stop abuts against the limiting block for folding, and the first gear 20421 rotates in the second clockwise direction N, driving the second gear 20422 to rotate in the first clockwise direction M. The rotation of the second gear 20422 is transmitted to the brush 201 by the second transmission component, driving the rotation of the brush 201; when the brush 201 is in the second position, the drive member 2041 drives the first gear 20421 to switch from the second clockwise direction N to the first clockwise direction M, when the first gear 20421 rotates in the first clockwise direction M, it applies a force to the teeth of the second gear 20422, the force and the direction of the axial axis of the second mounting axis 2043 form an angle, a part of this force drives the second gear 20422 to rotate in the clockwise direction N,while the other part of the force is transmitted to the second mounting axis 2043, this part of the force generates a rotational torque relative to the connecting axis 20423, this rotational torque pushes the second mounting axis 2043 to rotate about the connecting axis 20423 in the first clockwise direction M, the second mounting axis 2043 driving the swing arm 203 to rotate about the connecting axis 20423 in the first clockwise direction M, moving the protruding stop away from the limiting block for folding until it abuts against the limiting block for extending, at which time, due to the limitation imposed by the limiting block for extending, the swing arm 203 can no longer continue to rotate, and the brush 201 is then in the second position, thus completing the transition from the first to the second position,when the brush 201 is in the second position and the protruding stop abuts against the limiting block for extension, the first gear 20421 rotates in the first clockwise direction M, when switching from the second position to the first position, the rotation direction of the drive member 2041 is changed again, and so on, thus enabling rapid switching between the first position and the second position of the brush 201.

[0087] In some exemplary embodiments, the second transmission component comprises a first rotation transmission component and a second rotation transmission component. The first gear 20421, by changing the direction of rotation, allows the second gear 20422 to selectively connect to the input end of the first rotation transmission component or that of the second rotation transmission component. The output ends of the first and second rotation transmission components are respectively connected to the brush 201. When the brush 201 is in the first position, the second gear 20422 is connected to the input end of the first rotation transmission component, and when the second gear 20422 rotates in a certain clockwise direction, it can drive the brush 201 to rotate in a clockwise direction predetermined by the first rotation transmission component. When the brush 201 is in the second position, the second gear 20422 is connected to the input end of the second rotation transmission component, and when the second gear 20422 rotates in another clockwise direction, it can drive the brush 201 to rotate in a clockwise direction predetermined by the second rotation transmission component. The predetermined clockwise direction may be the first clockwise direction M or the second clockwise direction N, without particular limitation herein.

[0088] In some exemplary embodiments, when the drive member 2041 drives the connecting shaft 20423 to change rotational direction, the first gear 20421 changes rotational direction therewith, thereby enabling the second gear 20422 to selectively connect to the input end of the first rotation transmission component or the second rotation transmission component. Therefore, when the rotatable output shaft of the drive member 2041 changes rotational direction, the second gear 20422 switches between the rotation transmission components, whereby, when the first cleaning component 20 changes position by changing the output rotational direction of the drive member 2041, the rotational direction of the brush 201 will not be changed due to the change in the output rotational direction of the drive member 2041.That is, when the drive member 2041 drives the swing arm 203 to extend or retract by changing the rotation direction, it does not affect the rotation direction of the brush 201, thus allowing the brush 201 to rotate in a same clockwise direction whether in the first or second position, thereby improving the cleanliness of cleaning.

[0089] In some exemplary embodiments, the first rotation transmission component comprises a third gear 20441, a first intermediate transmission component, and an output gear 20443. The third gear 20441 and the output gear 20443 are respectively connected to the input end and the output end of the first intermediate transmission component. The second rotation transmission component comprises a fourth gear 20442, a second intermediate transmission component, and an output gear 20443. The fourth gear 20442 and the output gear 20443 are respectively connected to the input end and the output end of the second intermediate transmission component. The output gear 20443 is rotatably connected to the swing arm 203, and the brush 201 is coaxially connected to the output gear 20443.The first gear 20421, by changing its direction of rotation, allows the second gear 20422 to selectively connect. coaxially either to the third gear 20441 or to the fourth gear 20442.

[0090] In some exemplary embodiments, when the drive member 2041 drives the connecting shaft 20423 to change rotational direction, the first gear 20421 changes rotational direction therewith, thereby enabling the second gear 20422 to selectively and coaxially connect to either the third gear 20441 or the fourth gear 20442. Thus, this transmits motion to either the third gear 20441 or the fourth gear 20442, therefore, when changing the rotational direction of the rotating output shaft of the drive member 2041, the second gear 20422 switches between the coaxially connected gears, thereby changing the motion transmission path.Thus, when the first cleaning component 20 changes position by changing the output rotation direction of the drive member 2041, the change in rotation direction of the drive member 2041 does not affect the rotation direction of the brush 201. In other words, when the drive member 2041 changes rotation direction to extend or retract the swing arm 203, it does not affect the rotation direction of the brush 201, thereby allowing the brush 201 to rotate in a same clockwise direction whether in the first or second position, thereby improving cleaning efficiency.

[0091] In some exemplary embodiments, the first gear 20421 and the second gear 20422 are helical gears. The second gear 20422 is equipped with pawls on its two lateral faces and the second gear 20422 is mounted movably along its axis and coaxially between the third gear 20441 and the fourth gear 20442. The lateral faces of the third and fourth gears 20441 and 20442, oriented towards the second gear 20422, are also equipped with pawls. The first gear 20421, by changing its direction of rotation, allows the pawls of the second gear 20422 to selectively mesh with the pawls of the third gear 20441 or the fourth gear 20442.

[0092] In some exemplary embodiments, the first gear 20421 and the second gear 20422 are helical gears and mesh together, so that their rotational directions are opposite. According to [Fig. 10], the first gear 20421 rotates to the left, while the second gear 20422 rotates to the right. When the first gear 20421 changes its rotational direction from the second clockwise direction N to the first clockwise direction M, the teeth of the first gear 20421 apply an upward oblique force to the teeth of the second gear 20422. The vertical direction component of this upward oblique force causes the second gear 20422 to rise vertically until that its pawls mesh with those of the third gear 20441, while the component in the horizontal direction of this upward oblique force drives the second gear 20422 to rotate in the second clockwise direction N. As the pawls of the second gear 20422 mesh at this time with those of the third gear 20441, the second gear 20422 drives the third gear 20441 in synchronized rotation. The rotational motion of the third gear 20441 is transmitted to the output gear 20443 by a first intermediate transmission component between the third gear 20441 and the output gear 20443, thereby driving the rotation of the brush 201. When the first gear 20421 changes from the first clockwise direction M to the second clockwise direction N and rotates, the teeth of the first gear 20421 apply a downward oblique force to the teeth of the second gear 20422.The component in the vertical direction of this downward oblique force drives the second gear 20422 to descend vertically until its pawls mesh with those of the fourth gear 20442, while the component in the horizontal direction of this downward oblique force drives the second gear 20422 to rotate in the second clockwise direction N. Since the pawls of the second gear 20422 mesh at this time with those of the fourth gear 20442, the second gear 20422 drives the fourth gear 20442 to rotate in a synchronized manner. The rotational movement of the fourth gear 20442 is transmitted to the output gear 20443 by a second intermediate transmission component between the fourth gear 20442 and the output gear 20443, thereby driving the rotation of the brush 201.

[0093] In some exemplary embodiments, the pawls of the second gear 20422 selectively mesh with the pawls of the third gear 20441 or those of the fourth gear 20442, thereby enabling switching between two motion transmission paths. Therefore, when the first cleaning component 20 changes position by changing the output rotation direction of the drive member 2041, the change in the rotation direction of the drive member 2041 does not change the rotation direction of the brush 201.

[0094] According to [Fig. 10], in some embodiments, the second gear 20422 is fitted onto the second mounting axis 2043, rotatably about the second mounting axis 2043, and movable in the direction of the axis of the second mounting axis 2043. And the third and fourth gears 20441 and 20442 are rotatably fitted onto the second mounting axis 2043 only about the second mounting axis 2043. Thus, under the effect of the first gear 20421, the second gear 20422 can rotate about the second mounting axis 2043, ensuring the transmission of the movement of the second gear 20422 to the output gear 20443, thereby driving the rotation of the brush 201. In addition, the second gear 20422 can approach the third gear 20441 or the fourth gear 20442 under the effect of the first gear 20421, thereby switching between the motion transmission paths and ensuring that the rotation direction of the brush 201 remains unchanged.

[0095] In some exemplary embodiments, the first intermediate transmission component comprises a plurality of first transmission gears that mesh successively. In the motion transmission direction, the first of the first transmission gears meshes with the third gear 20441 and the last one meshes with the output gear 20443; the second intermediate transmission component comprises a plurality of second transmission gears that mesh successively. In the motion transmission direction, the first of the second transmission gears meshes with the fourth gear 20442 and the last one meshes with the output gear 20443; the number of first transmission gears is either one more or one less than that of the second transmission gears.

[0096] In some exemplary embodiments, since two gears that mesh have opposite rotational directions when transmitting, when the input rotational directions of the two sets of gears are opposite and thus, when there is a difference of one for the number of gears in the two sets of gears, this can cause the output rotational direction to be the same, thereby allowing the two sets of gears to transmit the same rotational direction to the output gear 20443, and therefore keep the rotational direction of the brush 201 constant.

[0097] In some exemplary embodiments, K first transmission gears and Kl second transmission gears have been provided, where K first transmission gears and Kl second transmission gears are not shared. Thus, there is a difference of one for the number of these two gears, this makes the first intermediate transmission component and the second intermediate transmission component respectively transmit the same direction of rotation to the output gear 20443.

[0098] In some exemplary embodiments, K first transmission gears and K1 second transmission gears have been provided, where K-2 first transmission gears and K-2 second transmission gears are shared. This makes it possible to reduce the number of gears and simplify the structure of the transmission component 2042.

[0099] According to Figures 9 and 11, in some embodiments, there are four first transmission gears and three second transmission gears.

[0100] In some exemplary embodiments, two of the first transmission gears and two of the second transmission gears are shared. For example, the four of the first transmission gears are the fifth gear 20444, the sixth gear 20445, the seventh gear 20446, and the eighth gear 20447, respectively, and the three gears of the second transmission gears are the ninth gear 20448, the seventh gear 20446, and the eighth gear 20447, respectively. Thus, the seventh gear 20446 and the eighth gear 20447 serve as both the first and second transmission gears.

[0101] In some exemplary embodiments, the fixed arm 202 and the swing arm 203 are hollow housings inside. The connecting gears, namely the first connecting shaft transmission gear 20424, the second connecting shaft transmission gear 20425, the third connecting shaft transmission gear 20426, and the fourth connecting shaft transmission gear 20427, are all rotatably mounted inside the hollow cavity of the fixed arm 202. A portion of the connecting shaft 20423 rotatably penetrates and is located inside the hollow cavity of the fixed arm 202; another portion of the connecting shaft 20423 rotatably penetrates and is located inside the hollow cavity of the swing arm 203.The gears, namely the first gear 20421, the second gear 20422, the third gear 20441, the fourth gear 20442, the fifth gear 20444, the sixth gear 20445, the seventh gear 20446, the eighth gear 20447, the ninth gear 20448 and the output gear 20443, are all rotatably mounted inside the cavity of the swing arm 203. Thus, all the gears are stably installed and the fixed arm 202 and the swing arm 203 protect the gears inside.

[0102] In some exemplary embodiments, the first intermediate transmission component comprises a set of synchronous pulleys and a plurality of first transmission gears mounted successively along the transmission direction. The set of synchronous pulleys is connected in transmission between the first of the first transmission gears and the third gear 20441, between any two adjacent first transmission gears, or between the last of the first transmission gears and the output gear 20443. The second intermediate transmission component comprises a plurality of second transmission gears meshed successively. In the direction of motion transmission, the first of the second transmission gears meshes with the fourth gear 20442, and the last of the second transmission gears meshes with the output gear 20443.The number of first transmission gears is equal to the number of second transmission gears.

[0103] In some exemplary embodiments, the synchronous pulley assembly comprises two synchronous pulleys and a synchronous belt, the two ends of which are respectively wound around the two synchronous pulleys. The two synchronous pulleys are coaxially connected to two transmission gears. Under the effect of the synchronous belt, the two synchronous pulleys rotate synchronously, causing the two transmission gears connected to the two pulleys to rotate in the same direction. These two transmission gears may be respectively the first of the first transmission gears and the third gear 20441, any two adjacent first transmission gears, or respectively the last of the first transmission gears and the output gear 20443.Thus, by integrating a set of synchronous pulleys into a motion transmission path, the rotation direction of a pair of adjacent transmission gears in one motion transmission path is the same, while the rotation direction between other adjacent gears is opposite. Therefore, when the rotation directions of any two adjacent gears in another motion transmission path are opposite, thus, when the input rotation directions in two motion transmission paths are opposite, the output rotation direction can remain the same, thereby keeping the rotation direction of the brush 201 constant.

[0104] According to [Fig. 12], in some exemplary embodiments, the first transmission component comprises a swing rod 2045 and a swing rod transmission component 2046. One end of the swing rod 2045 is rotatably connected to the connecting shaft 20423 and the other end is connected to the swing rod transmission component 2046. The connecting shaft 20423 is connected to the swing rod transmission component 2046, and when the connecting shaft 20423 changes its rotation direction, it can cause the swing rod transmission component 2046 to change its swing direction of the swing rod 2045 around the connecting shaft 20423, thereby driving the swing arm 203 to change its swing direction, allowing the brush 201 to switch between the first and second position.

[0105] In some exemplary embodiments, the drive member 2041 may change the rotational direction of the connecting shaft 20423 by changing the output direction, thereby causing the swing rod transmission component 2046 and the swing rod 2045 to change the swing direction of the swing arm 203. Thus, by changing the rotational direction of its output shaft, the drive member 2041 may change the swing direction of the swing arm 203, thereby allowing the brush 201 to switch between the first and second positions.

[0106] In some exemplary embodiments, the swing rod transmission component 2046 includes a first gear 20421, a first mounting shaft 20461, a friction transmission wheel 20462, and a friction wheel 20463. The first gear 20421 is fitted onto the connecting shaft 20423 and is rotatable with the connecting shaft 20423. The first mounting shaft 20461 is connected to the end of the swing rod 2045 that is remote from the connecting shaft 20423; the friction transmission wheel 20462 is fitted on the first mounting axis 20461 and can rotate relative to the first mounting axis 20461, the first gear 20421 and the friction transmission wheel 20462 mesh together; the friction wheel 20463 is fitted on the first mounting axis 20461 and can rotate relative to the first mounting axis 20461.The friction wheel 20463 is connected to the friction transmission wheel 20462, and the friction wheel 20463 can roll along the wall of the fixed arm 202; when the first gear 20421 changes its rotation direction, it can drive the friction wheel 20463 to change its rolling direction by the friction transmission wheel 20462, thereby changing the swing direction of the swing rod 2045, thereby enabling the brush 201 to switch between the first and second positions.

[0107] In some exemplary embodiments, when the first gear 20421 rotates, it drives the friction transmission wheel 20462 to rotate, the friction transmission wheel 20462 drives the friction wheel 20463 to rotate. The friction wheel 20463 rolls along the wall of the fixed arm 202, thereby moving relative to the wall surface of the fixed arm 202. That is, the end of the swinging rod 2045 connected to the first mounting axis 20461 moves with the friction wheel 20463, moving relative to the wall of the fixed arm 202, while the end of the swinging rod 2045 connected to the connecting axis 20423 remains almost stationary relative to the wall of the fixed arm 202.Thus, the position of the swing rod 2045 changes, specifically, the swing rod 2045 swings around the connecting axis 20423, and the end of the swing rod 2045 away from the connecting axis 20423 pushes the swing arm 203 to swing. Thus, this enables the transmission of the motion of the swing rod transmission component 2046 to the swing rod 2045, and thus, by changing the rotation direction of its output axis, the drive member 2041 can change the swing direction of the swing arm 203, thereby realizing a convenient position change.

[0108] In some exemplary embodiments, the friction transmission wheel 20462 and the friction wheel 20463 are in lateral contact, and the swing rod transmission component also includes a pressurizing component. This pressurizing component applies a first pressure force to the friction transmission wheel 20462 toward the friction wheel 20463, and / or a second force pressure on the friction wheel 20463 towards the friction transmission wheel 20462, so that the friction force between the friction transmission wheel 20462 and the friction wheel 20463 can cause the friction wheel 20463 to rotate synchronously with the friction transmission wheel 20462. This makes it possible, compared to a direct rigid connection between the friction transmission wheel 20462 and the friction wheel 20463, to avoid damage to the friction wheel 20463 and the fixed arm 202 in the event of an overload.

[0109] In some exemplary embodiments, the pressurizing component comprises a first limiting element 20466 and a second elastic element 20464. The first limiting element 20466 is connected to the first mounting axis 20461 and is located on the side of the friction wheel 20463 opposite the friction transmission wheel 20462. The second elastic element 20464 is elastically compressed between the first limiting element 20466 and the friction wheel 20463; and / or the pressurizing component comprises a second limiting element and a third elastic element 20465, the second limiting element is connected to the first mounting axis 20461 and is located on the side of the friction transmission wheel 20462 opposite the friction wheel 20463. The third elastic element 20465 is elastically compressed between the second limiting element and the friction transmission wheel 20462.

[0110] In some exemplary embodiments, a portion of the swinging connecting rod 2045 serves as a second limiting element, pressed against the side of the third elastic element 20465 opposite the friction transmission wheel 20462. Thus, the first and second pressing forces are elastic forces, thereby further preventing damage to the friction wheel 20463 and the fixed arm 202 in the event of overload.

[0111] Referring to Figures 9 and 13, in some exemplary embodiments, the surface of the friction wheel 20463 is corrugated, and the surface of the fixed arm 202 in rolling contact with the friction wheel 20463 is also a corrugated surface matched to the surface of the friction wheel 20463, to increase the rolling friction therebetween, thereby ensuring that the friction wheel 20463 rolls along the fixed arm 202 under constraint, and therefore, ensures that the rolling motion of the friction wheel 20463 drives the oscillation of the oscillating connecting rod 2045.

[0112] In some exemplary embodiments, the first transmission assembly includes a first gear 20421 and a second gear 20422 for driving the swing arm 203 to swing, this driving mode is referred to as the first swing transmission scheme; the first transmission assembly also includes the swing rod 2045 and the swing rod transmission component 2046 for driving the swing arm 203 to swing, this mode drive is designated as the second oscillation transmission scheme. In some exemplary embodiments, the first cleaning component 20 may use only the first oscillation transmission scheme, or may use both the first and second oscillation transmission schemes.

[0113] A description of the operating steps of the cleaning apparatus proposed in certain exemplary embodiments of the present application:

[0114] IF, when the brush 201 is in the first position, the projecting stop abuts against the limiting block for folding, the drive element 2041 drives the first gear 20421 to rotate in the second clockwise direction N, which causes the second gear 20422 to rotate in the first clockwise direction M. The pawls of the second gear 20422 engage those of the fourth gear 20442, the second gear 20422 drives the fourth gear 20442 in synchronous rotation, the movement of the fourth gear 20442 is transmitted successively to the ninth gear 20448, the seventh gear 20446, and the eighth gear 20447 up to the output gear 20443, driving the brush 201 to rotate in the first clockwise direction M.

[0115] S2, when the mobile platform 10 has moved to a wall corner, the element drive gear 2041 changes its output direction, causing the rotation direction of the first gear 20421 to change from the second clockwise direction N to the first clockwise direction M. The first gear 20421 drives the second gear 20422 to change its rotation direction from the first clockwise direction M to the second clockwise direction N, at which time, under the action of the first gear 20421, the second gear 20422 applies a force to the second mounting axis 2043, this force drives the second mounting axis 2043 to pivot the swing arm 203 around the connecting axis 20423 in the first clockwise direction M, thereby moving the brush 201 away from the moving platform 10. The protruding stop moves away from the limiting block for folding and moves toward the limiting block for extending.The swing arm 203 moves until the protruding stop abuts against the extension limiting block and stops swinging, at which point the brush 201 is in the second position; .

[0116] After the direction of the second gear 20422 has changed from the first clockwise direction M to the second clockwise direction N, the pawls of the second gear 20422 disengage from the pawls of the fourth gear 20442 and engage with those of the third gear 20441. The second gear 20422 drives the third gear 20441 in synchronized rotation. The movement of the third gear 20441 is successively transmitted to the fifth gear 20444, the sixth gear 20445, the seventh gear 20446 and the eighth gear 20447 to output gear 20443, driving brush 201 to rotate in the first clockwise direction M, and brush 201 cleans the wall corner area.

[0117] S3, after the wall corner area has been completely cleaned, the drive element 2041 changes its output direction again, changing the rotation direction of the first gear 20421 from the first clockwise direction M to the second clockwise direction N. The first gear 20421 drives the second gear 20422 to change its rotation direction from the second clockwise direction N to the first clockwise direction M. At this time, the second gear 20422, under the action of the first gear 20421, applies a force to the second mounting axis 2043, this force drives the second mounting axis 2043 to rotate the swing arm 203 to rotate around the connecting axis 20423 in the second clockwise direction N, bringing the brush 201 closer to the moving platform 10. The protruding stopper moves away from the limiting block for extension and moves toward the limiting block for retraction.The swing arm 203 moves until the protruding stop abuts against the limiting block for folding and the swing arm 203 stops swinging, at which point the brush 201 is then in the first position.

[0118] After the rotation direction of the second gear 20422 changes from the second clockwise direction N to the first clockwise direction M, the pawls of the second gear 20422 disengage from the pawls of the third gear 20441 and engage with those of the fourth gear 20442. The second gear 20422 drives the fourth gear 20442 to rotate in synchronization. The rotation of the fourth gear 20442 is successively transmitted to the ninth gear 20448, the seventh gear 20446 and the eighth gear 20447 to the output gear 20443, driving the brush 201 to rotate in the first clockwise direction M.

[0119] Thus, during the cleaning process, if a wall corner is encountered again, steps S1 to S3 are repeated.

[0120] In some exemplary embodiments, in the above-mentioned steps S1 to S3, changing the position of the brush 201 is simply achieved by changing the output rotation direction of the drive member 2041, this operation is simple and quick, moreover, whether the brush 201 is in the first or second position, the brush 201 always rotates in the first clockwise direction M, and the rotation direction of the brush 201 is not affected by the change in the output rotation direction of the drive member 2041, which improves the cleaning efficiency.

[0121] In some exemplary embodiments, to perform cleaning, the first cleaning element 201 may be a side brush that rotates horizontally to clean the floor. It may sweep debris around the movable platform 10 down the main brush 40, and then the main brush 40 rotates and sweeps debris toward the floor. the suction port. At the same time, a suction motor can absorb dust and other impurities around the mobile platform 10 into a waste collector for centralized treatment.

[0122] According to Figures 1 and 14, in some exemplary embodiments, the second cleaning component 30 comprises a second cleaning element 303, a first drive assembly 301, a pivoting arm 3013, and a first elastic member 3017. The pivoting arm 3013 is rotatably connected to the machine main body 110, the first end of the first elastic member 3017 is connected to the pivoting arm 3013, and the second end of the first elastic member 3017 is fixed to the machine main body 110. The second cleaning element 303 is mounted on the pivoting arm 3013. The first drive assembly 301 is used in conjunction with the first elastic member 3017 to pivot the pivoting arm 3013, thereby driving the second cleaning element 303 between the third and fourth positions.

[0123] In some exemplary embodiments, by installing the first drive assembly 301, the pivot arm 3013, and the first elastic member 3017, and placing the second cleaning member 303 on the pivot arm 3013, it is possible to adapt the cleaning range of the automatic cleaning apparatus to the needs, by using the first drive assembly and the first elastic member 3017 to switch the second cleaning component 30 between the third and fourth positions, in order to move the second cleaning component 30 to an operational position that meets the cleaning range requirements. This makes it possible to extend the cleaning range, thereby contributing to improving the cleaning efficiency and the user's cleaning experience.It is noted that, the first end of the first elastic member 3017 is connected to the pivot arm 3013, including a direct connection between the first end of the first elastic member 3017 and the pivot arm 3013, as well as an indirect connection by other components. Both the direct and indirect connections of the first end of the first elastic member 3017 with the pivot arm 3013 are covered by the present disclosure.

[0124] According to [Fig. 14], in some embodiments, the first drive assembly, by the pivot arm 3013, drives the second cleaning member 303 to move it into the third position. At this time, the force applied by the first drive assembly to the pivot arm 3013 is opposite in direction to the force applied by the first elastic member 3017 to the pivot arm 3013. Thus, the two opposing forces fix the pivot arm 3013 to prevent it from swinging, thereby preventing the second cleaning member 303 from moving with the pivot arm 3013 during cleaning.

[0125] According to [Fig. 15], in some embodiments, the first elastic member 3017, by the pivoting arm 3013, drives the second cleaning member 303 to move it to the fourth position. At this time, the first elastic member 3017 brings the pivoting arm 3013 to an extreme position and fixes it by its own elastic force. When the second cleaning member 303 is in the third or fourth position, the elastic member may be in a deformed state, maintaining a force applied to the pivoting arm 3013. The second cleaning member 303 may generally be a flexible water-absorbent material such as a cloth or a sponge. In the present embodiment, the second cleaning member 303 may be a self-rotating cleaning member, a vibrating cleaning member, or a fixed cleaning member.More specifically, the second cleaning element 303 may be a cleaning tray, the second cleaning element 303 removes stains on the floor by a rotating movement.

[0126] According to Figures 2, 3, 4 and 5, in certain exemplary embodiments, the projection of the second cleaning element 303 in the third position and in the fourth position may be located at different locations in the projection area of ​​the main body of the machine 110. The projection of the second cleaning element 303 in the third position is located inside the projection area of ​​the main body of the machine 110, while at least a portion of the projection of the second cleaning element 303 in the fourth position is located outside the projection area of ​​the main body of the machine 110.It is to be understood that, in other exemplary embodiments, the projections of the second cleaning element 303 in the third position and in the fourth position may both be located within the projection area of ​​the main body of the machine 110, but at different locations; or, at least a portion of the projections of the second cleaning element 303 in the third position and in the fourth position may be located within the projection area of ​​the main body of the machine 110, but at different locations. That is, at least a portion of the second cleaning element 303 in the fourth position is located outside the main body of the machine 110 in the horizontal direction, while at least a portion of the second cleaning element 303 in the third position is located within the main body of the machine 110 in the horizontal direction.The surface area of ​​the second cleaning member 303 in the fourth position located outside the horizontal direction of the machine main body 110 is larger than that of the second cleaning member 303 in the third position outside the horizontal direction of the machine main body 110. Thus, according to the cleaning needs of the automatic cleaning apparatus 100, and more specifically according to the wet cleaning needs, the first drive assembly 301 is used. to drive the second cleaning member 303 to switch between the third and fourth positions, so as to position the second cleaning member 303 at an operational position necessary to meet cleaning needs. Thus, the second cleaning member 303 can perform floor cleaning operations in the third position and the second cleaning member 303 in the fourth position can also clean the floor, to meet different cleaning needs, thereby expanding the cleaning scope, i.e., expanding the cleaning scope of the automatic cleaning apparatus 100, improving cleaning efficiency and user cleaning experience.It should be noted that when the second cleaning member 303 in the third position is entirely located inside the machine main body 110 in the horizontal direction, the area of ​​the second cleaning component 30 in the third position located outside the horizontal direction of the machine main body 110 is zero. However, when the second cleaning component 30 is in the fourth position, the area located outside the horizontal direction of the machine main body 110 is always larger than that of the second cleaning component 30 in the third position, outside the horizontal direction of the machine main body 110.

[0127] In some exemplary embodiments, at least a portion of the second cleaning member 303 in the fourth position is located outside the machine main body 110 in the horizontal direction, i.e., at least a portion of the second cleaning member 303 in the fourth position is located outside the projection area of ​​the edge of the machine main body 110. Wherein, at least a portion of the second cleaning member 303 in the fourth position is located outside the projection area of ​​the edges of the machine main body 110, thereby allowing the second cleaning member 303 in the fourth position to extend its cleaning range beyond the edges of the movement area of ​​the machine main body 110.This ensures complete cleaning of wall edges and corners where the machine main body 110 cannot reach and hug, thereby improving the cleaning range of the second cleaning member 303 and the cleaning efficiency of the automatic cleaning apparatus 100. Wherein, the second cleaning member 303 in the fourth position may be entirely located outside the projection area of ​​the edges of the machine main body 110, or partially outside the projection area of ​​the machine main body 110, depending on the specific configuration of the structure. Wherein, the majority of the second cleaning member 303 in the third position may be located inside the projection area of ​​the edges of the machine main body 110. This allows the cleaning area of ​​the second cleaning member 303 in the third position to be located inside the moving area of ​​the machine main body 110, . thereby enabling floor cleaning operations in the travel area of ​​the machine main body 110, reducing the risk of collision between the second cleaning element 303 protruding beyond the edges of the machine main body 110, and obstacles, which contributes to improving the service life and reliability of the second cleaning element 303.

[0128] In some exemplary embodiments, depending on the needs of the automatic cleaning apparatus 100 for cleaning wall corners and edges, it is possible to selectively control the second cleaning member 303 to switch between the third and fourth positions: by moving the second cleaning member 303 to the third position for standard wet cleaning operations, and the second cleaning member 303 can be moved to a fourth position to perform a wet cleaning operation of the edges and wall corners, which meets the different functional requirements of the automatic cleaning apparatus 100 and improves the intelligence of the automatic cleaning apparatus 100.

[0129] In some exemplary embodiments, when tilting the second cleaning element 303 between the third and fourth positions, the first drive assembly 301 abuts the pivot arm 3013 to cause the latter pivot arm 3013 to rotate, thereby ensuring stable rotation of the pivot arm 3013 and, consequently, stable tilting of the second cleaning element 303 between the third and fourth positions. The first drive assembly 301 may directly abut the pivot arm 3013, and thus directly drive the rotation of the pivot arm 3013 by the rotation of the first drive assembly 301.

[0130] In some exemplary embodiments, the first drive assembly 301 may include a cam or other eccentric rotation mechanism that is abutted against the outer wall of the pivot arm 3013. By driving the cam or other eccentric rotation mechanism to rotate, the pivot arm 3013 will be directly driven to rotate.

[0131] In some exemplary embodiments, one end of the pivot arm 3013 is connected to a first cam 3016, and the other end is connected to the second cleaning member 303. When tilting the second cleaning member 303 between the third and fourth positions, the first drive assembly abuts the protruding portion 30161 of the first cam 3016 to rotate the pivot arm 3013. The protruding portion of the first cam 3016 corresponds to the portion that protrudes radially outward from the first cam 3016. In which, the first drive assembly abuts the protruding portion of the first cam 3016, thereby exerting a force thereon, thereby enabling the first drive assembly drive to rotate the first cam 3016. One end of the pivot arm 3013 is connected to the first cam 3016, thereby enabling, by rotation of the first cam, the pivot arm to be rotated. This, in turn, switches the second cleaning component 30 at the other end of the pivot arm between the third and fourth positions.

[0132] In some exemplary embodiments, one end of the first elastic member 3017 is connected to the first cam 3016, this end of the first elastic member 3017 may also be attached to the pivot arm 3013, or the first end of the first elastic member 3017 may also be connected to both the first cam 3016 and the pivot arm 3013.

[0133] In some exemplary embodiments, for example, the elastic element is in the form of a tension spring, one end of the first elastic element 3017 may be indirectly or directly fixedly connected to the main body of the machine, i.e., kept relatively immobile relative to the main body of the machine, while the other end may be only connected to the first cam 3016, or to the pivoting arm 3013, or simultaneously to the first cam 3016 and the pivoting arm 3013. For example, the elastic element is a Y-shaped structure, it may be used to make a simultaneous connection to the first cam 3016 and the pivoting arm 3013, or it is also possible to connect it simultaneously to the first cam 3016 and the pivoting arm 3013 using a connecting element such as a connecting wire.

[0134] In some exemplary embodiments, the first elastic member 3017 is a tension spring, one end of which is connected to the first cam 3016 and the second end of the tension spring is relatively fixed to the machine main body 110. Thus, by using a tension spring as the first elastic member 3017, and the first end of the tension spring is connected to the first cam 3016 and the second end of the tension spring is fixed to the machine main body 110, a stable elastic force can be provided, thereby enabling the second cleaning member 303 to move from the third position to the fourth position.

[0135] In some exemplary embodiments, the first elastic element 3017 is a torsion spring, disposed at the rotation axis of the first cam 3016. In which, the torsion spring may be installed coaxially with the rotation axis of the first cam 3016, i.e., the spring may be nested around the outer periphery of the rotation axis of the first cam 3016, and one end of the torsion spring is connected to the first cam 3016, while the other end is fixed relatively to the main body of the machine 110, thereby providing a stable elastic force that allows the second cleaning element 303 to move from the third to the fourth position.

[0136] In some embodiments, the first elastic member 3017 is an elastic plate, one end of which is connected to the first cam 3016 and the other end of which is relatively fixed to the main body of the machine 110. The end of the elastic plate connected to the first cam 3016 and the other end fixed to the main body of the machine 110 makes it possible, after deformation, to generate an elastic force which stably drives the second cleaning member 303 from the third position to the fourth position.

[0137] It is to be understood that the first elastic element 3017 may also be a tension spring, a torsion spring, an elastic plate or any other elastic component capable of providing an elastic force necessary to allow the second cleaning element 303 to move from the third position to the fourth position.

[0138] In some exemplary embodiments, the pivot arm 3013 may be rotatably connected to the machine main body 110, and the second cleaning member 303 is movably, transmissively, or fixedly connected to the pivot arm 3013. One end of the pivot arm 3013 may be rotatably connected to the machine main body 110, thereby allowing the pivot arm 3013 to swing on the machine main body 110 and thereby driving the second cleaning component 30 to swing between the third and fourth positions. Wherein, the second cleaning member 303 is movably, transmissively, or fixedly connected to the pivot arm 3013, thereby allowing the second cleaning member 303 to contact the surface to be cleaned to perform cleaning.

[0139] In some exemplary embodiments, the first elastic member 3017 may also be connected to the protruding portion 30161 of the first cam 3016. In this exemplary embodiment, the peripheral side of the first cam 3016 is provided with a connecting portion 30162, used to connect to the first elastic member 3017, which allows the distance between the first elastic member 3017 and the first drive assembly to be increased, thereby avoiding interference. The connecting portion 30162 may protrude outward in the radial direction of the first cam, with the first elastic member 3017 being connected to the end of the connecting portion 30162 to achieve greater torque. The connecting portion 30162 may be manufactured in one piece with other parts of the cam.

[0140] In some exemplary embodiments, the first drive assembly is used to drive the first cam 3016 to rotate in the first direction, in order to move the second cleaning element 303 from the fourth to the third position. The first elastic element 3017 is used to drive the first cam 3016 to rotate in the second direction, in order to move the second cleaning member 303 from the third to the fourth position. The first and second directions are two opposite directions. For example, the first direction is counterclockwise as shown in [Fig. 6], and the second direction is clockwise as shown in [Fig. 6]. When the second cleaning member 303 is in the third position, the first elastic member 3017 is in a stretched state, which can drive the first cam 3016 to rotate in the second direction, thereby allowing the second cleaning member 303 to move from the third to the fourth position. When the second cleaning member 303 is in the fourth position, the first elastic member 3017 can also be in a stretched state, thereby using the elastic force to lock the pivot arm.

[0141] In some exemplary embodiments, the first drive assembly causes the first elastic member 3017 to deform via the first cam 3016, thereby accumulating elastic potential energy. The first elastic member 3017 releases the elastic potential energy to drive the second cleaning member 303 to move from the third to the fourth position.

[0142] In some exemplary embodiments, the first drive assembly includes a first drive portion and a second cam 3015, the first drive portion being used to drive rotation of the second cam 3015. The second cam 3015 abuts the first cam 3016, so as to rotate the first cam 3016. The second cam 3015 includes a bearing contact portion, which is the portion of the second cam 3015 extending radially outward. The bearing contact portion of the second cam 3015 abuts the protruding portion of the first cam 3016, thereby enabling transmission. The first drive portion is used to generate power, thereby driving the second cam 3015 and the first cam 3016 to rotate.

[0143] In some exemplary embodiments, the second cam may be directly installed on the output of the first drive portion, allowing the first drive portion to directly drive the rotation of the second cam. The output of the first drive portion may also be transmission connected with the second cam, which may also drive the rotation of the second cam.

[0144] According to Figures 14, 15 and 16, in some embodiments, the second cam 3015 comprises a sector-shaped toothed portion 30151 and a bearing contact portion 30152, the tenth gear 3014 is transmission-connected to the retractable drive element 3011 and engages with the sector-shaped toothed portion 30151, the bearing contact portion 30152 is abutted against the first cam 3016, the first cam 3016 is arranged coaxially with the pivot arm 3013. Between the sector-shaped toothed portion 30151 and the bearing contact portion 30152, there is a gap distributed around the rotation axis of the second cam 3015, allowing the second cam 3015 to rotate and simultaneously drive the sector-shaped toothed portion 30151 and the bearing contact portion 30152. Thus, as illustrated in [Fig.6], the retractable drive member 3011 drives the tenth gear 3014 to rotate in one direction, such as clockwise or counterclockwise, and since the sector-shaped toothed portion 30151 engages with the tenth gear 3014, the sector-shaped toothed portion 30151 can drive the second cam 3015 to rotate, which in turn drives the bearing contact portion 30152. The bearing contact portion 30152 is in contact with the first cam 3016 and can push the first cam 3016 to rotate.Since the first cam 3016 is arranged coaxially with the pivot arm 3013, this allows the pivot arm 3013 to rotate synchronously with the first cam 3016, thereby causing the second cleaning element 303 mounted inside the pivot arm 3013 to move from the fourth position into the third position.

[0145] In some exemplary embodiments, the first drive portion comprises a retractable drive member 3011 and the tenth gear 3014, the retractable drive member 3011 being connected to the tenth gear 3014, the tenth gear 3014 engages with the sector-shaped toothed portion 30151 to enable the retractable drive member 3011 to drive, by the tenth gear 3014 and the sector-shaped toothed portion 30151, the bearing contact portion 30152, so that the bearing contact portion 30152 pushes the rotation of the first cam 3016. And by the pivot arm 3013 rotating synchronously, drive the second cleaning member 303 to move from the fourth position to the third position.The retractable drive member 3011 is used to output power and the retractable drive member 3011 can be a motor, the tenth gear 3014 is arranged coaxially with the output of the retractable drive member 3011 and engages with the sector-shaped toothed portion 30151, which enables the retractable drive member 3011 to drive the tenth gear 3014, the second cam 3015 and the first cam 3016 to rotate, and thereby synchronously rotate the pivot arm 3013 to drive the second cleaning member 303 to move from the fourth position to the third position.

[0146] In some exemplary embodiments, when the second cleaning element 303 moves from the third position to the fourth position, the direction of rotation of the bearing contact portion 30152 is opposite to the direction of rotation of the bearing contact portion 30152 during the movement of the second cleaning element 303. when it retracts toward the machine main body 110, therefore, the bearing contact portion 30152 does not exert any propulsion force on the first cam 3016. Under the action of the first elastic member 3017, the first cam 3016 will rotate in the opposite direction relative to the first cam 3016 to the retracting movement of the second cleaning member 303 toward the machine main body 110, and will push the bearing contact portion 30152 to rotate. Since the first cam 3016 is arranged coaxially with the pivot arm 3013, the pivot arm 3013 rotates synchronously with the first cam 3016, thereby driving the second cleaning member 303 mounted inside the pivot arm 3013 to move from the third position to the fourth position.

[0147] In some exemplary embodiments, when the second cleaning component 30 is in position four, the second cam 3015 is disengaged from the first cam 3016. Thus, the second cam 3015 is separated from the first cam 3016, and hence, the second cam and the first cam no longer have an interaction force between them, which prevents that when the swing arm pivots and rotates the first cam 3016, the force is transmitted to the retractable drive member 3011 via the first cam 3016 and the tenth gear 3014, which can play a protective role for the retractable drive member 3011. When the second cleaning component 30 is in position four, there is a circumferential gap between the bearing contact portion of the second cam and the protruding portion of the first cam, which disengages the contact portion in support of the second cam of the projecting part of the first cam.

[0148] According to Figures 15 and 16, in some exemplary embodiments, the automatic cleaning apparatus 100 also comprises a first housing 3018, the retractable drive member 3011 and the pivot arm 3013 are located outside the first housing 3018, while the tenth gear 3014, the second cam 3015, the first cam 3016 and the first elastic member 3017 are all located inside the first housing 3018, the tenth gear 3014 penetrates the first housing 3018 and is transmissively connected to the retractable drive member 3011, the second end of the first elastic member 3017 being connected to the first housing 3018. The tenth gear 3014, the second cam 3015, the first cam 3016 and the first elastic member 3017 are all located inside of the first 3018 box.Thus, the use of the first 3018 housing provides good protection, which is beneficial to extend the service life and reliability, while ensuring good transmission accuracy.

[0149] In some exemplary embodiments, the first housing 3018 may include a first upper housing and a first lower housing removably connected, thereby facilitating assembly and disassembly of the first housing 3018, as well that the assembly and disassembly of the tenth gear 3014, the second cam 3015, the first cam 3016 and the first elastic element 3017, in order to facilitate the assembly and disassembly of the first drive assembly 301. More specifically, the first upper housing and the first lower housing may be removably connected by at least one of the following: screws, clipping structures, mortise and tenon joints, magnetic structures.

[0150] According to Figures 14 and 15, in some exemplary embodiments, the automatic cleaning apparatus 100 also comprises: a position detection device 304, located inside the housing, used to detect the rotational position of the second cam 3015, the retractable drive member 3011 rotating or stopping rotating depending on the detection results of the position detection device 304. The provision of the position detection device 304 makes it possible to detect the rotational position of the second cam 3015 and thus to know the rotational position of the first cam 3016.Therefore, when the first cam 3016 rotates and reaches a suitable position, such as when the first cam 3016 rotates so that the pivot arm 3013 drives the second cleaning member 303 to move to the third position or the fourth position, the retractable driving member 3011 stops rotating according to the detection results of the position detection device 304 at that time, thereby allowing the second cleaning member 303 to remain in the third position or the fourth position to achieve precise switching between these positions.It is understandable that when the first cam 3016 rotates and drives the pivot arm 3013 the second cleaning member 303 which have not yet reached the third or fourth position, the retractable driving member 3011 may continue to rotate according to the detection results of the position detection device 304 at that time, to continue moving the second cleaning member 303 to an operational position close to the target, such as the third or fourth position. The position detection device 304 may include a photoelectric switch, a mechanical switch or other detection mechanisms that meet the requirements.

[0151] According to Figures 14 and 15, in certain embodiments, the position detection device 304 comprises a first photoelectric switch 3041 and a second photoelectric switch 3042, arranged on either side of the second cam 3015. The second cam 3015 also comprises a first partition 30153 and a second partition 30154 arranged on either side of the bearing contact portion 30152, the first partition 30153 being adapted to be inserted into the first photoelectric switch 3041 so that the first photoelectric switch 3041 changes the detection signal, and the second partition 30154 being adapted to be inserted in the second photoelectric switch 3042 so that the second photoelectric switch 3042 changes the detection signal.

[0152] In some exemplary embodiments, by arranging a first photoelectric switch 3041 and a second photoelectric switch 3042 on either side of the second cam 3015, it is possible to use the two photoelectric switches to separately detect whether the second cleaning member 303 has reached the third or fourth position, thereby improving the accuracy of detecting whether the second cleaning member 303 has reached the target operating position. Photoelectric switches generally include a light emitting portion and a light receiving portion, the latter of which may or may not receive the light signal emitted by the emitting portion to change the detection signal of the photoelectric switch.By placing a first partition 30153 and a second partition 30154 on the second cam 3015, the rotation of the second cam 3015 can cause the first partition 30153 and the second partition 30154 to rotate in synchronization, the first partition 30153 and the second partition 30154 are arranged on either side of the bearing contact portion 30152. When the second cam 3015 rotates to a suitable position, the first partition 30153 fits into the first photoelectric switch 3041 to change the detection signal of the first photoelectric switch 3041.For example, when the first partition 30153 is positioned between the light emitting portion and the light receiving portion of the first photoelectric switch 3041, preventing the receiving portion from receiving the light signal emitted by the light emitting portion, causing the photoelectric switch 3041 to change the detection signal, indicating that the first cam 3016 has rotated to a suitable position and the second cleaning member 303 is in the third position. At this time, the retractable drive member 3011 can stop rotating according to the detection signal of the first photoelectric switch 3041 to keep the second cleaning member 303 in the third position.

[0153] In some exemplary embodiments, when the second cam 3015 rotates to an appropriate position, the second partition 30154 inserts into the second photoelectric switch 3042 to change the detection signal of the second photoelectric switch 3042. For example, when the second partition 30154 is positioned between the light emitting portion and the light receiving portion of the second photoelectric switch 3042, preventing the receiving portion from receiving the light signal emitted by the emitting portion, this causes the photoelectric switch 3042 to change the detection signal, indicating that the first cam 3016 has rotated to an appropriate position and the second cleaning member 303 is in the fourth position. At this time, the retractable drive member 3011 can stop rotating according to the detection signal of the second photoelectric switch 3042 to keep the second cleaning element 303 in the fourth position.

[0154] In some exemplary embodiments, the automatic cleaning apparatus 100 also includes a rotation angle detection device, installed on the retractable drive member 3011, used to detect the rotation angle of the output shaft of the retractable drive member 3011. The retractable drive member 3011 also rotates or stops rotating depending on the detection results of the angle detection device.

[0155] In some embodiments, the angle detection device can detect the rotation angle of the output shaft of the retractable drive member 3011, thereby knowing the rotation angle of the tenth gear 3014, that of the second cam 3015, and consequently that of the first cam 3016. Thus, when the first cam 3016 rotates to an appropriate angle, such as when the first cam 3016 rotates to move the second cleaning member 303 to the third or fourth position by the pivot arm 3013, the retractable drive member 3011 stops rotating according to the detection results of the angle detection device at that time, thereby allowing the second cleaning member 303 to remain in the third or fourth position to perform a precise change between these positions.It is understandable that when the first cam 3016 rotates to move by the pivot arm 3013 the second cleaning member 303 which has not yet reached the third or fourth position, the retractable driving member 3011 can continue to rotate according to the detection results of the angle detection device at that time, to continue to move the second cleaning member 303 to a position close to the target operating position, such as the third or fourth position.

[0156] According to [Fig. 16], in some embodiments, inside the first housing 3018, a third limiting element 30181 and a fourth limiting element 30182 are also arranged, located around the peripheral side of the first cam 3016. The third limiting element 30181 is located on the opposite side of the protruding portion 30161 from the bearing contact portion 30152, and the third limiting element 30181 is used to abut the protruding portion 30161 to limit the rotation of the first cam 3016. The fourth limiting element 30182 is located on the side of the connection portion 30162 moving away from the bearing contact portion 30152, and the fourth limiting element 30182 is used to abut the connection portion 30162. in order to limit the rotational position of the first cam 3016. Thus, the rotational position of the first cam 3016 can be limited.For example, when the first . cam 3016 rotates to a suitable position, the protruding portion 30161 of the first cam 3016 contacts the third limiting member 30181, thereby preventing the first cam 3016 from continuing to move toward the third limiting member 30181, allowing the second cleaning member 303 to reliably and accurately stay in the third position. Similarly, when the first cam 3016 rotates to a suitable position, the connecting portion 30162 of the first cam 3016 abuts against the fourth limiting member 30182, thereby preventing the first cam 3016 from continuing to move toward the fourth limiting member 30182, allowing the second cleaning member 303 to reliably and accurately stay in the fourth position.

[0157] In some exemplary embodiments, in this state, even if the retractable drive member 3011 continues to rotate, under the action of the third limiting member 30181 or the fourth limiting member 30182, the first cam 3016 will not continue to rotate. Thus, even if the position detection device 304 and the rotation angle detection device fail, it is possible to reliably maintain the second cleaning member 303 in the third or fourth position, thereby realizing double confirmation and improving the accuracy and reliability with which the second cleaning member 303 reaches the target operating position.

[0158] In some exemplary embodiments, the first drive assembly 301 and / or the first cam 3016 are provided with anti-wear structures, the first drive assembly 301 abutting the first cam 3016 through these anti-wear structures. By providing anti-wear structures on the first drive assembly 301 and / or the first cam 3016 and using these structures to transfer force between the first drive assembly 301 and the first cam 3016, these structures protect the first drive assembly 301 and the first cam 3016, thereby reducing wear on the first drive assembly 301 and the first cam 3016, and each other, and ensuring a good service life.

[0159] In some exemplary embodiments, the anti-wear structures may be disposed on the first drive assembly 301, or on the protruding portion of the first cam 3016, or on both the first drive assembly 301 and the protruding portion of the first cam 3016. During force transfer between the first drive assembly 301 and the protruding portion of the first cam 3016, i.e., during compression between the first drive assembly 301 and the first cam 3016, the anti-wear structures are located between the first drive assembly 301 and the protruding portion of the first cam 3016.

[0160] According to [Fig.24], in certain exemplary embodiments, the anti-wear structure comprises a roller 30192 and / or a protective surface 30191 whose surface outer surface is smooth. The use of the roller 30192 makes the friction force between the first drive assembly 301 and the first cam 3016 a rolling friction, which is less than the sliding friction between the first drive assembly 301 and the first cam 3016. By providing the protective surface 30191 whose outer surface is smooth, it is also possible to reduce the friction while protecting the first cam 3016. After prolonged use, if the wear due to friction becomes severe, it is sufficient to replace the protective surface 30191, which also reduces the repair costs.

[0161] In some exemplary embodiments, the first drive assembly 301 may be equipped with a roller 30192, and a smooth outer surface protective surface 30191 may be provided on the protruding portion of the first cam 3016, the first drive assembly 301 acts by the roller 30192 abutting the protective surface 30191 on the protruding portion of the first cam 3016 by the roller 30192.

[0162] According to [Fig.23], in some exemplary embodiments, the protruding portion of the first cam 3016 may be equipped with a roller 30192, and a smooth outer surface protective surface 30191 may be provided on the first drive assembly 301, the first cam 3016 acts by the roller 30192 abutting against the protective surface 30191 on the first drive assembly 301 by the roller 30192.

[0163] In some exemplary embodiments, a smooth outer surface protective surface 30191 is disposed on the projecting portion of the first cam 3016 and on the first drive assembly 301, the first cam 3016 abutting against the first drive assembly 301 via this protective surface 30191.

[0164] In some exemplary embodiments, rollers 30192 may be disposed on both the protruding portion of the first cam 3016 and the first drive assembly 301. The roller 30192 on the protruding portion of the first cam 3016 and that on the first drive assembly 301 are arranged in an offset manner, i.e., the two rollers 30192 do not touch each other. The protruding portion of the first cam 3016 abuts the first drive assembly 301 by the roller 30192 located thereon, while the first drive assembly 301 abuts the protruding portion of the first cam 3016 by the roller 30192 located thereon.

[0165] In some exemplary embodiments, a smooth outer surface protective surface 30191 is disposed on the outer wall of the protruding portion 30161 of the first cam 3016. By disposing a smooth outer surface protective surface 30191 on the outer wall of the protruding portion 30161 of the first cam 3016, it It is possible to reduce friction when the protruding portion 30161 of the first cam 3016 and the second cam 3015 contacts, it can serve to protect the first cam 3016 and the second cam 3015 and extend the service life of the first cam 3016 and the second cam 3015. The protective surface 30191 may be made of metal plates or replaced by other wear-resistant materials, including but not limited to PK, powder metallurgy.

[0166] In some exemplary embodiments, a metal plate is disposed on the contact surface between the protruding portion 30161 and the second cam 3015, i.e., during the interaction between the protruding portion 30161 and the second cam 3015, the metal plate is located between the protruding portion 30161 and the second cam 3015.

[0167] In some embodiments, a roller 30192 is disposed on the protruding portion 30161 of the first cam 3016, the protruding portion 30161 abuts against the first drive assembly 301 via the roller 30192, thereby enabling rolling friction between the protruding portion 30161 and the first drive assembly 301, which is less intense than sliding friction. This prevents excessively rapid wear between the protruding portion 30161 and the first drive assembly 301, thereby ensuring a longer service life of the first cam 3016 and the first drive assembly 301. In addition, the protruding portion 30161 contacts the bearing contact portion 30152 of the second cam 3015 via the roller 30192.The axis of the roller 30192 is generally parallel to the contact surface between the protruding portion 30161 and the first drive assembly 301, which ensures that the roller 30192 can roll stably on the first drive assembly.

[0168] In some exemplary embodiments, when the first drive assembly 301 comprises a second cam 3015, this second cam 3015 is equipped with a roller 30192. The second cam 3015 bears against the first cam 3016 by the roller 30192, which also makes it possible to achieve rolling friction between the protruding portion 30161 and the first drive assembly 301, thus having less friction and avoiding excessively rapid wear between the protruding portion 30161 and the first drive assembly 301, thus ensuring a longer service life for the first cam 3016 and the second cam 3015. The axis of the roller 30192 is generally parallel to the contact surface between the protruding portion 30161 and the second cam 3015, thus ensuring that the roller 30192 can roll stably. on the second cam 3015.

[0169] According to [Fig.19], in some exemplary embodiments, the transmission device also comprises a second drive assembly 302, the second drive assembly 302 is connected to the second cleaning element 303 and serves to drive the lifting and lowering movement of the second cleaning element 303. cleaning 303. The second drive assembly 302 also serves to drive the second cleaning element 303 to vibrate and / or rotate it about its central axis R as the center of rotation. Thus, the second drive assembly 302 can be used to lower the second cleaning element 303, which is in the third or fourth position, until it touches the surface to be cleaned and rotate it to perform the floor cleaning operation. After completing the floor cleaning operation, by using the second drive assembly 302 to lift the second cleaning element 303, the second cleaning element 303 will be separated from the surface to be cleaned and stored. Thus, this prevents the second cleaning element 303 from contacting the surface to be cleaned when the automatic cleaning apparatus 100 is moving and does not need to clean the floor.This prevents secondary contamination of the surface to be cleaned by the second cleaning element 303 contacting the surface to be cleaned in cases where it is not necessary to clean the floor, for example when the automatic cleaning apparatus 100 is moving to or from the base station, or when cleaning a carpet, the contact of the second cleaning element 303 with the surface to be cleaned may cause secondary contamination of that surface. This can improve the cleaning efficiency of the automatic cleaning apparatus 100, as well as the cleaning efficiency and user experience.

[0170] In some embodiments, the second drive assembly 302 may, depending on the contact needs of the second cleaning member 303 with the surface to be cleaned, i.e., whether the second cleaning member 303 needs to perform a cleaning or storage function, drive the lifting, lowering, and rotating operations of the second cleaning member 303 to meet the different functional needs of the second cleaning member 303, thereby distinguishing the cleaning or storage processing strategies of the second cleaning member 303, thereby improving the cleaning performance of the automatic cleaning apparatus. It is understandable that the second cleaning member 303, in the third position, may perform both cleaning and storage functions.In addition, the second drive assembly 302 is also used to vibrate the second cleaning member 303, for example, in horizontal vibration, which can further improve the cleaning efficiency.

[0171] In some exemplary embodiments, the first drive assembly 301 is used to tilt the second cleaning element 303 between the third position and fourth position, and the second drive assembly 302 to perform lifting, vibration and rotation of the second cleaning element 303. The cooperation between the first drive assembly 301 and the second drive assembly drive 302 enables wet cleaning operations to be performed over different ranges, thereby extending the cleaning range of the automatic apparatus 100 and improving the cleaning efficiency. In addition, this meets the contact needs of the second cleaning member 303 with the surface to be cleaned, thereby satisfying the different cleaning or storage functions of the second cleaning member 303, improving the cleaning performance of the automatic apparatus 100 and the user experience.

[0172] In some exemplary embodiments, the use of a single second drive assembly 302 to actuate both the lifting and rotation of the second cleaning element 303, as compared to existing techniques requiring two separate drive assemblies for these functions, simplifies the configuration of the components. This makes it possible to meet the design requirements for compact and small-sized structures, promoting a reduction in the occupied space and costs, making the device more suitable for wide distribution.

[0173] According to Figures 17, 18 and 19, in some exemplary embodiments, the second drive assembly 302 comprises: a lifting and lowering drive portion 3021 and a transmission portion 3022, at least a portion of the transmission portion 3022 being disposed inside the pivot arm 3013 and connected to the second cleaning element 303. The lifting and lowering drive portion 3021 drives the lifting, lowering and rotation of the second cleaning element 303 by the transmission portion 3022.

[0174] In some exemplary embodiments, since the transmission portion 3022 is connected to the pivot arm 3013 and the second cleaning member 303, this allows the transmission portion 3022, under the action of the lifting and lowering driving portion 3021, to drive the lifting, lowering and rotation of the second cleaning member 303 and, under the action of the pivot arm 3013, to allow the second cleaning member 303 to move between the third position and the fourth position.

[0175] In some exemplary embodiments, the second drive assembly 302 includes a lifting and lowering drive portion 3021, and the lifting and lowering drive portion 3021 alone can drive the lifting, lowering, and rotation of the second cleaning member 303. Compared with existing techniques that require two drive portions to separately drive the lifting, lowering, and rotation of the cleaning member, this simplifies the configuration of the drive portions, thereby meeting the design requirements for compact structures and small sizes. This achieves a reduction in occupied space and costs, making the device more suitable for widespread distribution.

[0176] According to Figures 18 and 19, in some exemplary embodiments, the transmission portion 3022 comprises: a lifting and lowering drive portion 3021 and a transmission portion 3022, at least a part of the transmission portion 3022 being located inside the pivot arm 3013 and connected to the second cleaning element 303. The lifting and lowering drive portion 3021 drives the lifting, lowering and rotation of the second cleaning element 303 by the transmission portion 3022. Thus, via a worm 3023, the power of the lifting and lowering drive portion 3021 is transmitted to a gear set 3024, which drives the lifting, lowering and rotation of the sleeve 3025 through the gear set 3024, thereby lifting, lowering and rotating the second cleaning element 303. cleaning 303.The worm screw 3023 and the gear assembly 3024 cooperate, with a compact mechanical structure, small size and precise transmission, which is beneficial to reducing the volume of the transmission part 3022, and therefore reducing the volume of the second drive assembly 302, thereby meeting the design needs of compact structures and small size.

[0177] According to Figures 18, 19 and 20, in some exemplary embodiments, the gear assembly 3024 comprises: a turbine 30241, a first auxiliary gear 30242, a second auxiliary gear, a third auxiliary gear 30245 and a connecting sleeve 30246, the turbine 30241 and the first auxiliary gear 30242 are coaxial, the turbine 30241 is located outside the pivot arm 3013 and meshes with the worm 3023, the first, second and third auxiliary gears 30242, 30245 are located inside the pivot arm 3013. The second auxiliary gear comprises a first gear disc 30243 and a second gear disc 30244 coaxial, the first auxiliary gear 30242 engages with the first gear disc 30243, and the second gear disc 30244 engages with the third auxiliary gear 30245.The connecting sleeve 30246 is coaxial with the third auxiliary gear 30245 and located outside the pivot arm 3013, connected to the connecting sleeve 30246 by threading to the sleeve 3025. Rotation of the gear assembly 3024 allows the sleeve 3025 to rotate relative to the connecting sleeve 30246, causing the sleeve 3025 to be raised or lowered relative to the connecting sleeve 30246.

[0178] In some exemplary embodiments, rotation of the lifting and lowering drive portion 3021 causes rotation of the worm 3023. As the impeller 30241 meshes with the worm 3023, it causes rotation of the impeller 30241, which in turn will cause rotation of the first auxiliary gear 30242 disposed coaxially with the impeller 30241. As the first auxiliary gear 30242 engages with the first gear disc 30243, this causes rotation of the first gear disc 30243 as well as the second gear disc 30244, arranged coaxially with the first gear disc 30243. As the second gear disc 30244 engages with the third auxiliary gear 30245, this causes the rotation of the third auxiliary gear 30245, which in turn causes the rotation of the connecting sleeve 30246 arranged coaxially with the third auxiliary gear 30245. Since the connecting sleeve 30246 is threadedly connected to the sleeve 3025, the relative rotation of the sleeve 3025 with respect to the connecting sleeve 30246 causes the sleeve 3025 to be raised or lowered with respect to the connecting portion 30162, thereby causing the second cleaning element 303 installed inside the sleeve 3025 to be raised, lowered, or rotated. This configuration is simple and provides high accuracy of transmission.

[0179] In some exemplary embodiments, the first auxiliary gear 30242, the second auxiliary gear, and the third auxiliary gear 30245 are all located within the pivot arm 3013, thereby utilizing the pivot arm 3013 to provide mounting space and some protection for the first auxiliary gear 30242, the second auxiliary gear, and the third auxiliary gear 30245, which can extend the service life of the first auxiliary gear 30242, the second auxiliary gear, and the third auxiliary gear 30245, and thus improve the reliability of the second drive assembly 302. In addition, this configuration meets the design requirements for compact structures and small sizes.It is understandable that the shaft connecting the first auxiliary gear 30242 and the turbine 30241 passes through the pivot arm 3013, and the shaft connecting the third auxiliary gear 30245 and the connecting sleeve 30246 also passes through the pivot arm 3013. This allows the power of the lifting and lowering drive part 3021 to be transmitted from the outside of the pivot arm 3013, through the worm 3023 and the turbine 30241, to the inside of the pivot arm 3013, and from there, through the connecting sleeve 30246, again transmit to the outside of the pivot arm 3013, and through the sleeve 3025, to drive the lifting, lowering and rotation of the second cleaning element 303.

[0180] According to Figures 18 and 19, in some embodiments, the wall of the connecting sleeve 30246 is equipped with a spirally arranged guide portion 30247; the wall of the sleeve 3025 has a slot 30251 designed to accommodate the connecting sleeve 30246, and the wall of the slot 30251 is equipped with a spirally arranged guide groove 30252 designed to accommodate the guide portion 30247.

[0181] In some exemplary embodiments, a slot 30251 is disposed at the top of the sleeve 3025, the slot 30251 of the sleeve 3025 fits into the wall of the connecting sleeve 30246, and the guide portion 30247 on the wall of the connecting sleeve 30246 is seated in the guide groove 30252 of the slot 30251. Since the guide portion 30247 is arranged in a spiral, and the guide groove 30252 is also spiral, the guide portion 30247 moves in a spiral along the guide groove 30252, thereby enabling rotation and lifting and lowering of the sleeve 3025 relative to the connecting sleeve 30246. The connection mode between the sleeve 3025 and the connecting sleeve 30246 can be regarded as a screw-nut type connection, a simple configuration to realize, which uses a single structure to realize the lifting, lowering and rotation of the sleeve 3025, facilitating the reduction of the size of the second drive assembly.

[0182] According to Figures 18 and 19, in some exemplary embodiments, the guide portion 30247 is disposed on the outer wall of the connecting sleeve 30246, and the guide groove 30252 is located on the wall of the slot 30251 far from the inside of the sleeve 3025, or, the guide portion 30247 is disposed on the inner wall of the connecting sleeve 30246, and the guide groove 30252 is located on the wall of the slot 30251 close to the inside of the sleeve 3025. In this case, the guide portion 30247 takes the form of a helical projection, such as the guide portion 30247 being a protruding thread. This is beneficial to improve the accuracy and reliability of mutual limitation and guidance between the guide portion 30247 and the guide groove 30252, so as to improve the stability of lifting, lowering and rotation of the sleeve 3025 relative to the connecting sleeve 30246.

[0183] According to [Fig.19], in some exemplary embodiments, the guide portion 30247 comprises a plurality of projections arranged at intervals, i.e., a plurality of projections are distributed at spiral intervals. Thus, this can simplify the structure of the guide portion 30247, reduce the amount of material required for the guide portion 30247, and save manufacturing costs. In particular, the number of projections may be two, three, four, or another number.

[0184] In some exemplary embodiments, a reinforcement is provided on the wall of the slot 30251 near the opening, used to bear against the guide portion 30247 to limit the movement of the mounting, the descent of the sleeve 3025 relative to the connecting sleeve 30246. That is, the reinforcement and the guide portion 30247 cooperate to limit the maximum descent position of the sleeve 3025 relative to the connecting sleeve 30246. This prevents the guide portion 30247 from coming out of the guide groove 30252, which could separate the sleeve 3025 from the connecting sleeve 30246, and thus maintains a reliable connection between the sleeve 3025 and the connecting sleeve 30246. At the same time, this ensures that the second cleaning element 303 connected to the sleeve 3025 can reliably contact and complete with the surface to be cleaned.

[0185] In some exemplary embodiments, the guide portion 30247 bears against the bottom of the slot 30251 to limit the lifting and lowering movement of the sleeve 3025 relative to the connecting sleeve 30246, thus, the guide portion 30247 and the bottom of the slot 30251 cooperate to limit the maximum rising position of the sleeve 3025 relative to the connecting sleeve 30246, in order to prevent the second cleaning element 303 from continuing to rise after reaching its maximum position and damaging the second drive assembly, thereby improving reliability. At the same time, this allows a certain distance to be maintained between the second cleaning element 303, in the maximum lifting position, and the surface to be cleaned, in order to reduce the impact on the ability of the autonomous cleaning apparatus to overcome obstacles or climb a slope, as well as on secondary contamination of the surface to be cleaned.

[0186] According to [Fig.20], in some exemplary embodiments, the inner wall of the sleeve 3025 is provided with a limiting surface 30253 adapted to the second cleaning element 303. The installation of the limiting surface 30253 ensures that the second cleaning element 303 rotates with the rotation of the sleeve 3025, and that the second cleaning element 303 does not rotate relative to the sleeve 3025, thus ensuring good cleaning capability of the second cleaning element 303. The axial section of the sleeve 3025 is hexagonal, that is, the inner wall of the sleeve 3025 is provided with six planes. It can be understood that these six planes can all be a limiting surface 30253, or a part of the six planes can constitute a limiting surface 30253.More specifically, the portion of the second cleaning member 303 that connects to the sleeve 3025 can be designed as a hexagonal prism structure, thus, by using the hexagonal prism structure in conjunction with the six planes of the inner wall of the sleeve 3025, it is possible to limit the rotation of the second cleaning member 303 relative to the sleeve 3025, the structure is simple, easy to machine, and provides reliable limitation.

[0187] According to Figures 18, 19 and 20, in some exemplary embodiments, the second drive assembly 302 also includes a second housing 3026 with an open end. When the automatic cleaning apparatus comprises a first housing 3018, the second housing 3026 engages with the first housing 3018. The auger 3023, the impeller 30241, the pivot arm 3013 and the connecting sleeve 30246 are located in the space formed by the second housing 3026 and the first housing 3018. The opening of the second housing 3026 is located on the opposite side to the first housing 3018, and the lower end of the sleeve 3025 is configured to extend out of the opening of the second housing 3026. The lifting and lowering drive portion 3021 is located outside the second housing 3026, and the auger 3023 passes through the second housing 3026 and connects to the lifting and lowering drive portion 3021.The lower end of the sleeve 3025 is configured to extend out of the opening of the second housing 3026, ensuring that the second . cleaning element 303 connected to the sleeve 3025 can descend to contact the surface to be cleaned, while allowing a certain distance to be maintained between the lower end of the second housing 3026 and the surface to be cleaned, in order to prevent the second housing 3026 from interfering with the ability of the automatic cleaning apparatus to climb a slope or overcome obstacles. The lifting and lowering drive portion 3021 is located outside the second housing 3026, and the worm gear 3023 passes through the second housing 3026 to connect to the lifting and lowering drive portion 3021, thereby transferring the driving force of the lifting and lowering drive portion 3021 from outside the second housing 3026 to inside the second housing 3026.

[0188] According to Figures 20, 21 and 22, in some exemplary embodiments, the second housing 3026 is divided into a first mounting cavity 30261 and a second mounting cavity 30262, the turbine 30241 is located in the first mounting cavity 30261, while the sleeve 3025 is located in the second mounting cavity 30262, the pivot arm 3013 extends into both the first mounting cavity 30261 and the second mounting cavity 30262, the first auxiliary gear 30242 within the pivot arm 3013 is coaxial with the turbine 30241 in the first mounting cavity 30261. The sleeve 3025 in the second mounting cavity 30262 is connected to the connecting sleeve 30246 on the pivot arm 3013.Thus, the power of the lifting and lowering drive portion 3021 can be transmitted through the first and second mounting cavities 30261, 30262 to the sleeve 3025, to drive the lifting, lowering and rotation of the second cleaning element 303.

[0189] In some exemplary embodiments, the shape of the second mounting cavity 30262 is adapted to the movement space of the pivot arm 3013, such that the walls of the second mounting cavity 30262 do not hinder the movement of the pivot arm 3013, while effectively protecting the pivot arm 3013 and minimizing the volume of the second drive assembly 302 to meet the design requirements of compact and small-sized structures.

[0190] In some exemplary embodiments, the second housing 3026 also includes a base plate 30263, the base plate 30263 is removably connected to the walls of the first mounting cavity 30261 to enclose the turbine 30241 within the first mounting cavity 30261. The installation of the base plate 30263 provides good protection to the turbine 30241, reducing contamination from dirty liquids and the turbine 30241 thereby improving the life of the turbine 30241 and the reliability of the second drive assembly 302.

[0191] In some exemplary embodiments, the base plate 30263 may be removably connected to the walls of the first mounting cavity 30261 using screws, snap-fit ​​structures, mortise and tenon joints, magnetic structures, etc.

[0192] In some exemplary embodiments, for cleaning, the second cleaning element 303 may be a mop, which can rotate horizontally to perform floor cleaning, removing stubborn stains on the floor, thereby ensuring cleaning efficiency and improving user experience.

[0193] In some exemplary embodiments, in order to further ensure cleaning efficiency, when the number of first cleaning components 20 is two and the number of second cleaning components 30 is two, the two first cleaning components 20 are respectively arranged on either side of the moving direction of the automatic cleaning apparatus 100, and the two second cleaning components 30 are also located on either side of the moving direction of the automatic cleaning apparatus 100.

[0194] In some exemplary embodiments, the use of two first cleaning components 20 and two second cleaning components 30 enables thorough cleaning of the floor, thereby ensuring cleaning efficiency and improving the user experience. During the cleaning process of the automatic cleaning apparatus 100, when a turn or obstacle is encountered on either side of the moving platform 10 in the direction of travel of the automatic cleaning apparatus 100, it is sufficient to at least partially extend the first cleaning component 20 and the second cleaning component 30 of the relevant side out of the moving platform 10. Thus, the first cleaning component 20 and the second cleaning component 30 can clean inaccessible areas without requiring the automatic cleaning apparatus 100 to turn around, thereby increasing cleaning efficiency.

[0195] In some exemplary embodiments, in order to further ensure cleaning efficiency, the first cleaning component 20 comprises a dry cleaning component and the second cleaning component 30 comprises a wet cleaning component. Along the direction of movement of the automatic cleaning apparatus 100, the first cleaning component 20 is positioned in front of the second cleaning component 30, with the main brush 40 located between the first cleaning component 20 and the second cleaning component 30.

[0196] In some exemplary embodiments, the first cleaning component 20 sweeps the waste around the movable platform 10 down the main brush 40, and then the main brush 40 rotates to sweep the waste towards the rear portion 102. At the same time, thanks to the suction motor, the dust and other impurities around the movable platform 10 are sucked up and collected in the waste bin for centralized treatment. After the first cleaning component 20 and the brush main component 40 has cleaned the waste from the floor surface, the second cleaning component 30 proceeds to clean the floor, removing stubborn stains on the floor, while preventing the waste from affecting the cleaning efficiency of the second cleaning component 30, thereby further ensuring the cleaning efficiency and improving the user experience.

[0197] In some exemplary embodiments, the mobile platform 10 comprises a front portion 101 and a rear portion 102, the first cleaning component 20 is located at the front portion 101, and the second cleaning component 30 is located at the rear portion 102. After the first cleaning component 20 and the main brush 40 clean the waste from the floor surface, the second cleaning component 30 proceeds to clean the floor, removing stubborn stains on the floor, while preventing the waste from affecting the cleaning efficiency of the second cleaning component 30, thereby further ensuring the cleaning efficiency and improving the user experience.

[0198] In some exemplary embodiments, in order to prevent the trash from impacting the cleaning efficiency by the second cleaning component 30, along the moving direction of the automatic cleaning apparatus 100, the first cleaning component 20 and the main brush 40 are located in front of the second cleaning component 30. This means that, during the moving of the automatic cleaning apparatus 100, the first cleaning component 20 and the main brush 40 first clean the trash and dust, and then the second cleaning component 30 proceeds to clean the floor, removing stubborn stains, without the trash disturbing the actions of the second cleaning component 30, thereby ensuring the cleaning efficiency by the second cleaning component 30 and thus improving the overall cleaning efficiency.

[0199] In some exemplary embodiments, in order to further ensure the cleaning efficiency, the first cleaning component 20 can raise and lower relative to the operating surface, this allows the raising and lowering of the first cleaning component 20 to be achieved and thus allows the lowering amplitude of the first cleaning component 20 to be effectively controlled, which greatly contributes to the cleanliness of the floor cleaning.

[0200] In some exemplary embodiments, in order to further ensure cleaning efficiency, the second cleaning component 30 vibrates relative to the operating surface, so as to enable the second cleaning component 30 to perform high-frequency vibrations to clean stubborn stains on the floor and completely remove them, thereby improving cleaning efficiency and user experience.

[0201] In some exemplary embodiments, in order to further ensure the cleaning efficiency, the second cleaning component 30 can raise and lower relative to the operating surface, this allows the raising and lowering of the first cleaning component 20 to be achieved and thus allows the lowering amplitude of the first cleaning component 20 to be effectively controlled, which greatly contributes to the cleanliness of the floor cleaning.

[0202] In a second aspect of this application, a cleaning system is provided, comprising a cleaning base station and the automatic cleaning apparatus 100 described above.

[0203] In this application, unless explicitly stated and limited otherwise, whether a first feature is "on" or "under" a second feature may include direct contact between the first and second features, or may include that the first and second features are not in direct contact but are connected by another feature between them. In addition, the term "above," "on," and "over" may mean that the first feature is directly or obliquely above the second feature, or simply that the first feature is at a higher horizontal elevation than the second feature. The term "below," "under," and "below" may mean that the first feature is directly or obliquely below the second feature, or simply that the first feature is at a lower horizontal elevation than the second feature.

[0204] In describing this application, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "top", "bottom", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate positional or orientational relationships based on those illustrated in the drawings. These indications are used solely to facilitate the description of this application and to simplify the description, and should not be construed as indicating or implying that the devices or components concerned must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be considered a limitation for this application.

[0205] It is noted that in the embodiments of this application, all directional indications are used only to explain the relative positional relationships, movements, etc., between the components in a certain specific posture. If this specific posture changes, the directional indications will also change accordingly.

[0206] In this application, unless explicitly stated otherwise, the terms "connect", "fix" are to be understood in a broad sense. For example, "fix" may mean a fixed or detachable connection, or one integrated into a single part; it may imply a mechanical or electrical connection; it may be a direct connection or an indirect connection through an intermediary; it may concern the internal communication between two elements or an interaction between two elements, unless explicitly stated otherwise. For those skilled in the art, it is possible to understand the specific meaning of these terms in this application depending on the specific situation.

[0207] Furthermore, in this application, the use of terms such as "first", "second", etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly suggesting the number of technical features indicated. Thus, features defined as "first", "second" may explicitly or implicitly include one or more features. In the description of this application, the term "several" means two or more, unless specifically indicated otherwise.

[0208] In this specification, references to "an exemplary embodiment," "certain exemplary embodiments," "embodiment," "specific example," or "some examples" mean that the specific features, structures, materials, or aspects described in connection with that embodiment or examples are included in at least one exemplary embodiment or example of this application. In this specification, illustrative representations of the aforementioned terms herein are not necessarily applied to the same embodiments or examples. In addition, the specific features, structures, materials, or aspects described may be suitably combined in one or more exemplary embodiments or examples. Furthermore, those skilled in the art may combine and assemble different exemplary embodiments or examples described in this specification.

[0209] The technical solutions between different embodiments can be combined with each other, but must be able to be achieved by the ability of those skilled in the art. When the combination of technical solutions is contradictory or impossible to achieve, it must be considered that this combination of technical solutions does not exist and is not covered by the scope of protection claimed by this application.

[0210] Although the embodiments of this application have been shown and described, it will be understood by those skilled in the art that various modifications, substitutions, variations and alterations may be made without departing from the principles and objectives of this application. The scope of this application is defined by the claims and their equivalents.

Claims

Claims

1. An automatic cleaning apparatus (100) comprising: a movable platform (10), configured to automatically move on an operational surface, the movable platform (10) having a central axis along the direction of movement of the movable platform (10); at least one first cleaning component (20), movably disposed on said movable platform (10), and capable of switching between a first position in which the distance between the first cleaning component (20) and the central axis is a first distance, and a second position in which the distance between the first cleaning component (20) and the central axis is a second distance, the second distance being greater than the first distance;at least one second cleaning component (30), movably arranged on said movable platform (10), and capable of switching between a third position in which the distance between the second cleaning component (30) and the central axis is a third distance, and a fourth position in which the distance between the second cleaning component (30) and the central axis is a fourth distance, the fourth distance being greater than the third distance; the first cleaning component (20) and the second cleaning component (30) being spaced apart and located on the same side as the direction of movement of the automatic cleaning apparatus (100).;

2. An automatic cleaning apparatus (100) according to claim 1, characterized in that when cleaning wall corners or obstacles having turns, said first cleaning component (20) is located in the second position and said second cleaning component (30) is located in the fourth position; or said first cleaning component (20) is located in the second position, and said second cleaning component (30) is located in the third position; or said first cleaning component (20) is located in the first position, and said second cleaning component (30) is located in the fourth position.

3. An automatic cleaning apparatus (100) according to claim 1, characterized in that when cleaning wall corners or obstacles having turns, said first cleaning component (20) is located in the second position, and said second cleaning component (30) is located in the fourth position.

4. An automatic cleaning apparatus (100) according to claim 1 or 2, characterized in that said first cleaning component (20) comprises: a fixed arm (202), mounted on said movable platform (10); an oscillating arm (203), one end of which is rotatably connected to the fixed arm (202), and the other end of which is equipped with a rotatable first cleaning element (201); a motor component (204), connected to the fixed arm (202), said motor component (204) being configured to drive the oscillation of the oscillating arm (203), in order to move said first cleaning element (201) between the first position and the second position.

5. Automatic cleaning apparatus (100) according to claim 4, characterized in that, said motor component (204) comprises a transmission component (2042), said transmission component (2042) being capable, under the action of a drive element (2041), of driving the oscillation of the oscillating arm (203) as well as the rotation of the first cleaning element (201).

6. Automatic cleaning apparatus (100) according to claim 5, characterized in that said transmission component (2042) comprises: a connecting shaft (20423), which is rotatably connected about its own central axis to the fixed arm (202) and the swinging arm (203), the drive member (2041) being transmissively connected to the connecting shaft (20423) and being configured to drive the rotation of the connecting shaft (20423); a first transmission component, the input end of which is connected to the connecting shaft (20423) and the output end of which is connected to the swinging arm (203), the rotation of the connecting shaft (20423) being capable of driving the swinging arm (203) to swing via the first transmission component; a second transmission component, the input end of which is connected to the first transmission component and the output end of which is connected to the first cleaning element (201), the rotation of the connecting shaft (20423) being capable, via the first and second transmission components, of driving the rotation of the first cleaning element (201).

7. An automatic cleaning apparatus (100) according to claim 1 or 2, characterized in that said second cleaning component (30) comprises: a pivoting arm (3013), rotatably connected to the movable platform (10); a second cleaning element (303), arranged on said pivoting arm (3013); a first drive assembly (301), arranged to pivot said pivoting arm (3013), in order to drive the second cleaning element (303) to switch between the third position and the fourth position.

8. An automatic cleaning apparatus (100) according to claim 7, characterized in that said second cleaning component (30) also comprises: a first elastic element (3017) a first end of which is connected to the pivoting arm (3013), a second end of the first elastic element (3017) being fixed relative to the movable platform (10).

9. An automatic cleaning apparatus (100) according to claim 8, characterized in that said first drive assembly (301) moves the second cleaning member (303) to the third position by the pivot arm (3013), the force applied by the first drive assembly (301) to the pivot arm (3013) being opposite in direction to the force applied by the first elastic member (3017) to the pivot arm (3013), the first elastic member (3017) moving the second cleaning member (303) to the fourth position by the pivot arm (3013), the first elastic member bringing the pivot arm to its limit position and fixing it in position using its own elastic force.

10. An automatic cleaning apparatus (100) according to claim 7, characterized in that when the second cleaning element (303) switches between the third position and the fourth position, the first drive assembly (301) bears against the pivoting arm (3013), to drive the rotation of the pivoting arm (3013); or the first drive assembly (301) comprises a cam, a first drive portion being used for driving the cam to rotate, the cam bears against the outer wall of the pivot arm (3013), and thus drives the pivot arm (3013) to pivot.

11. An automatic cleaning apparatus (100) according to claim 7, characterized in that one end of the pivoting arm (3013) is connected to a first cam (3016), and the other end is connected to the second cleaning member (303), and when the second cleaning member (303) switches between the third position and the fourth position, the first drive assembly (301) bears against a protruding portion (30161) of the first cam (3016) to drive the pivoting arm (3013) to rotate.

12. An automatic cleaning apparatus (100) according to claim 11, characterized in that the first drive assembly (301) is used to drive the first cam (3016) to rotate in a first direction, so that the second cleaning member (303) moves from the fourth position into the third position, the first elastic member (3017) is used to drive the first cam (3016) to rotate in a second direction, so that the second cleaning member (303) moves from the third position into the fourth position; or the first drive assembly (301) causes the first elastic member (3017) to deform by the first cam (3016), so as to accumulate elastic potential energy;the first elastic element (3017) releases this elastic potential energy to drive the first cam (3016) to rotate in a second direction, so that the second cleaning element (303) moves from the third position into the fourth position.;

13. An automatic cleaning apparatus (100) according to claim 1 or 2, characterized in that when the number of first cleaning components (20) is two and the number of second cleaning components (30) is two, the two first cleaning components (20) are respectively located on either side of the moving direction of the automatic cleaning apparatus (100), and the two second cleaning components (30) are also located on either side of the moving direction of the automatic cleaning apparatus (100).

14. An automatic cleaning apparatus (100) according to claim 1 or 2, characterized in that the first cleaning component (20) comprises a dry cleaning component and the second cleaning component (30) comprises a wet cleaning component, the first cleaning component (20) being located in front of the second cleaning component (30) in the direction of movement of the automatic cleaning apparatus (100); or the first cleaning component (20) comprises a wet cleaning component and the second cleaning component (30) comprises a dry cleaning component; the first cleaning component (20) being located in front of the second cleaning component (30) in the direction of movement of the automatic cleaning apparatus (100).

15. An automatic cleaning apparatus (100) according to claim 14, characterized in that the wet cleaning component is configured to pivot relative to the operating surface; or the wet cleaning component is configured to move up and down relative to the operating surface; or the wet cleaning component is configured to vibrate relative to the operating surface; or the dry cleaning component is configured to move up and down relative to the operating surface.

16. A cleaning system, characterized in that the cleaning system comprises a cleaning base station and an automatic cleaning apparatus (100) according to any one of claims 1 to 15.

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