AUTOMATIC CLEANING DEVICE AND CLEANING SYSTEM

Abstract

This application discloses an automatic cleaning device (100) and a cleaning system. The automatic cleaning device (100) comprises: a mobile platform (10), configured to move automatically on an operational surface; at least one first cleaning component (20), movablely arranged on the mobile platform (10), and capable of pivoting between a first and a second position; at least one second cleaning component (30), movablely arranged on the mobile platform (10), and capable of pivoting between a third 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 device (100). Fig. 1

Description

Title of the invention: AUTOMATIC CLEANING APPLIANCE AND CLEANING SYSTEM technical field

[0001] The present application falls within the field of electrical appliance technology and relates specifically to an automatic cleaning device and a cleaning system. Previous art

[0002] With advances in technology and societal development, cleaning systems have gradually become part of people's daily lives. These systems include a main brush which, when the system is in operation, rotates to perform the cleaning, thus reducing the burden on people and making their daily lives easier.

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

[0004] Content of the invention

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

[0006] In a first aspect of this application, an automatic cleaning device is proposed comprising: a mobile platform, configured to move automatically on an operational surface, the mobile platform having a central axis along the direction of movement of the mobile platform; at least a first cleaning component, movably arranged on said mobile platform, and capable of switching between a first position and a second position, where, 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 mobile platform, and capable of switching between a third position and a fourth position, where, when said second cleaning component is in the third position, the; 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; in which, the first cleaning component and the second cleaning component are spaced apart and located on the same side as the direction of movement of the automatic cleaning device.

[0007] In some embodiments, when cleaning corners of walls or obstacles with turns, the first cleaning component is able to be in the second position, while the second cleaning component is able to be in the fourth position.

[0008] In some embodiments, when cleaning corners of walls or obstacles with turns, the first cleaning component is able to be in the second position, while the second cleaning component is able to be in the third position.

[0009] In some embodiments, when cleaning corners of walls or obstacles with turns, the first cleaning component is able to be in the first position, while the second cleaning component is able to be in the fourth position.

[0010] In some embodiments, the first cleaning component comprises: a fixed arm, mounted on the lower part of the moving platform; a swing arm, one end of which is rotationally connected to the fixed arm, and the other end of which is equipped with a first rotating cleaning element; a motor component, connected to the fixed arm, this motor component being configured to drive the oscillation of the swing arm, in order to move the first cleaning element between the first position and the second position.

[0011] In some embodiments, the motor component includes 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 certain embodiments, the transmission component comprises: a connecting shaft, which about its own central axis is rotationally connected to the fixed arm and the swing arm; the drive element is transmission-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 swing arm. The connecting shaft, when it rotates, causes the swing arm to oscillate 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; the connecting shaft, when it rotates, causes the rotation of the first cleaning element via the first and second transmission components.

[0013] In some embodiments, the second cleaning component comprises: a pivoting arm, rotationally connected to the moving platform; a first elastic element, one end of which is connected to the pivoting arm and the other end of which is fixed relative to the moving platform; a second cleaning element, arranged on the pivoting arm; a first drive assembly, used to cooperate with the first elastic element, to rotate the pivoting arm, thereby causing the second cleaning element to tilt between the third and fourth positions.

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

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

[0016] In some embodiments, when the second cleaning element tilts between the third and fourth position, the first drive assembly is in contact with the pivoting arm, to rotate the pivoting arm.

[0017] In some embodiments, the first drive assembly includes a cam, a first drive part being used to drive the rotation of the cam, the cam comes to rest against the outer wall of the pivoting arm, and thus causes the pivoting arm to pivot.

[0018] In some embodiments, one end of the pivoting arm is connected to a first cam, and the other end is connected to the second cleaning element. While the second cleaning element pivots between the third and fourth positions, the first drive assembly presses against the protruding part of the first cam to rotate the pivoting arm.

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

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

[0021] In certain 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 each side of the direction of movement of the automatic cleaning device, and the two second cleaning components are located on each side of the direction of movement of the automatic cleaning device.

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

[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 movement of the automatic cleaning device.

[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 proposed, including a cleaning base station and the automatic cleaning device previously described.

[0029] According to one or more embodiments provided by this application, the automatic cleaning device, such as the mobile platform being configured to move automatically across the operating surface, and the mobile platform, in the direction of movement of the mobile platform, have a central axis. When the automatic cleaning device begins to operate, The mobile platform can move automatically across the operating surface to perform cleaning tasks. Since at least one 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 being greater than the first distance.At least one second cleaning component is movably mounted on the moving platform and can switch between the third and fourth positions. When the second cleaning component is in the third position, the distance between it and the central axis is the third distance, and when it is in the fourth position, the distance between it and the central axis is also the fourth distance. This fourth distance is greater than the third distance. The first and second cleaning components are spaced apart and located on the same side of the direction of travel of the automatic cleaning device.Thus, when cleaning areas that are not wall corners or areas without obstacles having turns, the first cleaning component switches to the first position and the second cleaning component to the third position; at this moment, the first cleaning component and the second cleaning component clean the operational surface below the mobile platform.When cleaning corners of walls or obstacles with turns, the first cleaning component switches to the second position and the second cleaning component switches to the fourth position. At this point, the first and second cleaning components can clean a larger area around the moving platform, thus increasing the cleaning surface of the first and second cleaning components. This allows the first and second cleaning components to extend as far as possible from the moving platform and penetrate the corner areas of walls or turns to perform the cleaning, thus completely cleaning the corner areas of walls or turns.Thus, the embodiment example in this disclosure provides a cleaning device with a side brush module that is capable of cleaning corner areas of walls or rotating obstacles inside the room, achieving cleaning of inaccessible areas, improving the scope of the cleaning horizon, and consequently, 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 The cleaning component is positioned second, allowing the first cleaning component to extend beyond the mobile platform. This enables the first cleaning component to clean a larger area around the platform, increasing its cleaning surface area. It can then extend into corners or areas with turns and obstacles to perform cleaning, thus thoroughly cleaning these areas, reaching inaccessible zones, and improving the cleaning horizon, thereby enhancing the user experience. When cleaning areas that are not corners or obstacles without turns, the first cleaning component switches from the second position to the first, allowing it to perform standard cleaning.

[0031] When cleaning the edges of walls or obstacles, the first cleaning component can be positioned first, and the second cleaning component fourth, allowing the second cleaning component to extend beyond the mobile platform. The second cleaning component can then clean a larger area around the mobile platform, increasing its cleaning surface. The second cleaning component can reach the edges of walls or obstacles to perform the cleaning, thus completely cleaning the edges of walls or obstacles, achieving cleaning of inaccessible areas and improving the cleaning horizon, thereby enhancing 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 to the accompanying drawings used in the description of the embodiments is presented below. It is evident that the accompanying drawings described below represent some embodiments of this application. For those skilled in the art, further accompanying drawings can be derived from these accompanying drawings without creative effort.

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

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

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

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

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

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

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

[0043] Fig. 11 shows a schematic three-dimensional 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 part 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 part of the fixed arm in one or more embodiments of this application.

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

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

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

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

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

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

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

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

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

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

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

[0057] Description of the explanatory notes for 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 transmission gear of the connecting shaft; 20425 - Second transmission gear of the connecting shaft; 20426 - Third transmission gear of the connecting shaft; 20427 - Fourth transmission gear of the connecting shaft; 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 - Oscillating connecting rod; 2046 - Connecting rod transmission component; 20461 - First mounting pin; 20462 - Friction drive 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 - Swivel arm; 3014 - Tenth gear; 3015 - Second cam; 30151 - Sector-shaped toothed part; 30152 - Support 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 section; 3022 - Transmission section; 3023 - Worm gear; 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 section; 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 unit. Detailed description

[0059] We will now clearly and completely describe the technical solutions of the embodiments of this application, with the aid of the accompanying drawings. It is evident that the embodiments described represent only a part of the embodiments of this application and not all of them. Based on the embodiments of this application, all other embodiments that can be obtained by ordinary persons skilled in the art without creative work fall within the protection of this application.

[0060] Furthermore, in various examples, this application may repeat reference numbers and / or letters; this repetition is intended to simplify and clarify the text and does not suggest any relationship between the different embodiments and / or configurations discussed. Moreover, this application provides various specific examples of processes and materials, but those familiar with the art can recognize the applicability of other processes and / or the use of other materials.

[0061] According to the accompanying drawings 1, 2, 3, 4 and 5, the embodiment of the first aspect of this application provides an automatic cleaning apparatus 100 comprising: a mobile platform 10, at least one first cleaning component 20 and at least one second cleaning component 30. The mobile platform 10 is configured to move automatically on an operating surface, and in the direction of movement of said mobile platform 10, the mobile platform 10 has a central axis. At least one first cleaning component 20 is movably mounted on the mobile 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 The 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 mobile platform 10 and can switch between a third 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. The first and second cleaning components 20 and 30 are arranged at intervals and located on the same side of the direction of travel of the automatic cleaning device 100.

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

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

[0064] The automatic cleaning device 100 can be a floor scrubber, a robot vacuum cleaner, a mechanical sweeper, etc., the examples of implementation of this application are not limiting.

[0065] As the mobile platform 10 is configured to move automatically on the operating surface, and the mobile platform 10 has a central axis R in the direction of movement of the mobile platform 10. When the automatic cleaning device starts operating, the mobile platform 10 can move automatically on the operating surface to perform cleaning tasks. As at least one first cleaning component 20 is movably mounted on the mobile 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 moving platform 10 and can switch between the third and fourth positions. 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, and 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 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 direction of movement of the device. automatic cleaning. Thus, when cleaning areas which do not have 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 this time, the first and second cleaning components 20 and 30 clean the operational surface below the mobile platform 10.When cleaning corners of walls 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 this time, the first and second cleaning components 20 and 30 can clean a larger area around the mobile platform 10, thus increasing the cleaning area of ​​the first and second cleaning components, allowing the first and second cleaning components 20 and 30 to extend as much as possible out of the mobile platform 10 and penetrate the corner areas of walls or turns for cleaning, thus completely cleaning the corner areas of walls or turns.Thus, the cleaning device provided by the embodiment of this disclosure is equipped with a side brush module which is capable of cleaning wall corners inside rooms or obstacles with turns, achieving cleaning of inaccessible areas and improving the scope of the cleaning horizon, which, consequently, improves the user experience.

[0066] When cleaning wall corners or similar obstacles, the second cleaning component 30 can be positioned in the third position, and the first cleaning component 20 in the second position, thus allowing the first cleaning component to extend beyond the mobile platform 10. The first cleaning component 20 can then clean a larger area around the mobile platform 10, thereby increasing the cleaning area of ​​the first cleaning component 20. The first cleaning component 20 can penetrate wall corners or turning areas of obstacles to perform the cleaning, thus completely cleaning the wall corner areas or turning areas of obstacles, achieving cleaning of inaccessible areas and improving the reach of the cleaning horizon, which enhances 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 a standard cleaning.

[0067] When cleaning the edges of walls or obstacles, the first cleaning component 20 can be located in the first position, and the second cleaning component 30 is located in the fourth position, thus allowing the second cleaning component 30 to extend beyond the mobile platform 10. The second The cleaning component 30 can then clean a larger area around the mobile platform 10, thus 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, thus thoroughly cleaning the edges of walls or obstacles, achieving cleaning of inaccessible areas and improving the cleaning horizon range, thereby enhancing the user experience. When cleaning areas without wall edges 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 embodiments, when cleaning corners of walls or obstacles with turns, the first cleaning component 20 can be located in the second position and the second cleaning component 30 in the fourth position, the first and second cleaning components 20 and 30 both extending beyond the mobile platform 10, thus allowing the first and second cleaning components 20 and 30 to work together to simultaneously clean corners of walls or obstacles with turns, thus completely cleaning the corner areas or areas with turns.

[0069] In some embodiments, when cleaning corners of walls or obstacles with turns, the first cleaning component 20 can be located in the second position and the second cleaning component 30 can be located in the third position, that is to say that the first cleaning component 20 can extend beyond the mobile platform 10 to clean corners of walls or obstacles with turns, while the second cleaning component 30 performs a standard cleaning.

[0070] In some embodiments, when cleaning the edges of walls or obstacles, the first cleaning component 20 can be located in the first position and the second cleaning component 30 can be located in the fourth position, that is to say that the second cleaning component 30 can extend beyond the mobile platform 10 to clean the edges of walls or obstacles, while the first cleaning component 20 can perform standard cleaning.

[0071] In certain embodiments, in the direction of travel of the automatic cleaning device 100, the mobile 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 both located on the first side or on the second side. When the number of first cleaning components 20 and second cleaning components 30 is two each, one of the first two cleaning components 20 and one of the second two cleaning components 30 are located on the first side, while the other of the first two cleaning components 20 and the other of the second two cleaning components 30 are located on the second side.

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

[0073] According to [Fig.5], in some embodiments, given that 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 that the cleaning width of the first and second cleaning components 20 and 30 is narrower than the width of the mobile platform 10, therefore after a back-and-forth cleaning, if there are wall corners or obstacles, inaccessible uncleaned areas may remain between the first and second cleaning components 20 and 30 and the edges of the mobile platform 10.When the sensors of the automatic cleaning device 100 detect an obstacle on the side of the wall detector of the mobile platform 10, the first cleaning component 20 switches to the second position and the second cleaning component 30 moves to the fourth position, i.e. the first and second cleaning components 20 and 30 actively extend to the side of the wall detector of the mobile platform 10 (the cleaning side along the wall of the mobile platform 10), and clean the environment in inaccessible areas, thus ensuring cleaning efficiency and improving the user experience.After completing the cleaning of inaccessible areas, i.e. when the external force disappears or diminishes, 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 device 100.

[0074] According to [Fig. 6], in some embodiments, the first cleaning component 20 comprises a fixed arm 202, a swing 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 device; one end of the swing arm 203 is rotatably connected to the fixed arm 202, and the other end is equipped with a first cleaning element capable of rotation, such as a brush 201; the motor component 204 is connected to the fixed arm 202 and is configured to drive the swing arm 203 to swing, in order to move the brush 201 between the first and second positions. In some embodiments, the motor component 204 drives the swing arm 203 to swing, which moves the brush 201 between the first and second positions.When cleaning large, flat surfaces, brush 201 is in the first position and can clean the operational surface under the mobile platform 10; when cleaning areas near wall corners, brush 201 is in the second position and can clean a larger area, extending into wall corners to perform a thorough cleaning of these areas. Thus, the cleaning device provided by the embodiment of this disclosure is equipped with the first cleaning component 20, capable of cleaning wall corners indoors, improving the cleaning range and, consequently, enhancing the user experience.

[0075] According to Figures 6, 7, and 8, in some 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 oscillate and the brush 201 to rotate via the transmission component 2042. The use of a single drive element 2041 makes it possible to drive both the oscillation of the swing arm 203 and the rotation of the brush 201, reducing the need for energy sources and costs. By way of example, the drive element 2041 is a motor.

[0076] In some embodiments, the drive element 2041 includes a rotating output shaft. When the first cleaning component 20 is in the first position, the rotating output shaft rotates in a first clockwise direction M, and when the first cleaning component 20 is in the second position, the rotating output shaft rotates in a second clockwise direction N. When the direction of rotation of the rotating 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 extension arranged at intervals around the center of oscillation of the arm The oscillating arm 203 has a protruding stop located between the extension and retraction limiting blocks. When the oscillating arm 203 pivots in the first clockwise direction (M) until the protruding stop abuts the extension limiting block, the brush 201 is held in its second position. When the oscillating arm 203 pivots in the second clockwise direction (N) until the protruding stop abuts the retraction limiting block, the brush 201 is held in its first position. This limits the oscillation angle of the oscillating arm 203, more precisely controlling the range of motion of the brush 201 and improving the operating 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 in the direction of the hands of a clock, and the other is in the opposite direction.

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

[0080] In some 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 rotationally connected to the fixed arm 202 and the swing arm 203. The drive element 2041 is transmissionally connected to the connecting shaft 20423 and causes 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 cause the swing arm 203 to oscillate via 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, so when the connecting shaft 20423 rotates, it can cause the brush 201 to rotate via the first and second transmission components.

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

[0082] According to Figures 7 and 9, in some embodiments, the rotating 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 engages successively 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 embodiments, the rotating output shaft of the drive element 2041 drives the first transmission gear of the connecting shaft 20424 in rotation, 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 element 2041 drives the connecting shaft 20423.

[0084] According to Figures 7, 8 and 9, in certain embodiments, the first The transmission component includes 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 direction of rotation, it can cause the swing arm 203 to change its swing direction through the second gear 20422, thus allowing the brush 201 to move between the first position and the second position.

[0085] In certain embodiments, when the drive element 2041 causes the connecting shaft 20423 to change its direction of rotation, the first gear 20421 also changes its direction of rotation, which, via the second gear 20422, causes a change in the swing direction of the swing arm 203. Therefore, by changing the output direction of the rotating output shaft by the drive element 2041, it is possible to change the swing direction of the swing arm 203, thus allowing the brush 201 to move between the first and second positions. This switching operation is simple, quick, and saves time and effort.

[0086] According to Figures 6 and 10, in some 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 comes against the limiting block for folding, and the first gear 20421 rotates in the second clockwise direction N, causing 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, causing the rotation of the brush 201; When the brush 201 is in the second position, the drive element 2041 causes 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. Part of this force causes the second gear 20422 to rotate clockwise 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 about the connecting axis 20423. This rotational torque causes the second mounting axis 2043 to rotate about the connecting axis 20423 in the first clockwise direction M. The second mounting axis 2043 drives the swing arm 203 to rotate about the connecting axis 20423 in the first clockwise direction M, moving the protruding stop from the retraction limiting block until it comes against the extension limiting block. At this point, due to the limitation imposed by the extension limiting block, the swing arm 203 can no longer 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 comes 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 direction of rotation of the drive element 2041 is changed again, and so on, thus allowing a rapid switching between the first and second positions of the brush 201.

[0087] In some embodiments, the second transmission component comprises a first rotation transmission component and a second rotation transmission component. The first gear 20421, by changing its direction of rotation, allows the second gear 20422 to selectively connect to the input end of the first rotation transmission component or to 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 its 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 cause the brush 201 to rotate in a clockwise direction predetermined by the first rotation transmission component. When the brush 201 is in its 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 cause the brush 201 to rotate in a clockwise direction predetermined by the second rotation transmission component. The predetermined clockwise direction can be either the first clockwise direction (M) or the second clockwise direction (N), without any particular limitation.

[0088] In certain embodiments, when the drive element 2041 causes the connecting shaft 20423 to change its direction of rotation, the first gear 20421 changes its direction of rotation with it, thus allowing the second gear 20422 to selectively engage with the input end of either the first or second rotational transmission component. Consequently, when the rotating output shaft of the drive element 2041 changes its direction of rotation, the second gear 20422 switches between the rotational transmission components. Therefore, when the first cleaning component 20 changes position, changing the output direction of rotation of the drive element 2041, the direction of rotation of the brush 201 will not change due to the change in the output direction of rotation of the drive element 2041.In other words, when the drive element 2041 causes the swing arm 203 to extend or retract by changing the direction of rotation, this does not affect the direction of rotation of the brush 201, thus allowing the brush 201 to rotate in the same clockwise direction, whether in first or second position, thereby improving the cleanliness of the cleaning.

[0089] In some embodiments, the first rotational 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 connected to the input and output ends of the first intermediate transmission component, respectively. The second rotational 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 connected to the input and output ends of the second intermediate transmission component, respectively. 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 connect selectively. coaxially either to the third gear 20441, or to the fourth gear 20442.

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

[0091] In certain embodiments, the first gear 20421 and the second gear 20422 are helical gears. The second gear 20422 is equipped with pawls on both its lateral faces and 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, facing the second gear 20422, are also equipped with pawls. By changing its direction of rotation, the first gear 20421 allows the pawls of the second gear 20422 to mesh selectively with the pawls of the third gear 20441 or the fourth gear 20442.

[0092] In some embodiments, the first gear 20421 and the second gear 20422 are helical gears and mesh together, resulting in opposite directions of rotation. According to [Fig. 10], the first gear 20421 rotates counterclockwise, while the second gear 20422 rotates clockwise. When the first gear 20421 changes its direction of rotation 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 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 causes the second gear 20422 to rotate in the second clockwise direction N. As the pawls of the second gear 20422 mesh at this moment with those of the third gear 20441, the second gear 20422 drives the third gear 20441 in synchronized rotation. The rotational movement 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, thus causing the brush 201 to rotate. 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 causes 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 causes the second gear 20422 to rotate in the second clockwise direction N. As the pawls of the second gear 20422 mesh at this moment with those of the fourth gear 20442, the second gear 20422 drives the fourth gear 20442 in synchronized rotation. 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, thus causing the rotation of the brush 201.

[0093] In certain embodiments, the pawls of the second gear 20422 mesh selectively with the pawls of the third gear 20441 or those of the fourth gear 20442, thus allowing switching between two motion transmission paths. Consequently, when the first cleaning component 20 changes position by altering the output rotation direction of the drive element 2041, the change in the rotation direction of the drive element 2041 does not alter 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 shaft 2043, rotatably about the second mounting shaft 2043, and movable in the direction of the axis of the second mounting shaft 2043. The third and fourth gears 20441 and 20442 are rotatably fitted onto the second mounting shaft 2043 only about the second mounting shaft 2043. Thus, under the effect of the first gear 20421, the second gear 20422 can rotate about the second mounting shaft 2043, ensuring the transmission of motion from the second gear 20422 to the output gear 20443, thus 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, thus allowing switching between the motion transmission paths and ensuring that the direction of rotation of the brush 201 remains unchanged.

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

[0096] In some embodiments, since two meshing gears have opposite directions of rotation during transmission, when the input directions of rotation of the two gear sets are opposite and therefore, when there is a difference of one for the number of gears in the two gear sets, this can cause the output direction of rotation to be the same, thus allowing the two gear sets to transmit the same direction of rotation to the output gear 20443, and consequently to maintain the direction of rotation of the brush 201 constant.

[0097] In some embodiments, K first transmission gears and Kl second transmission gears are provided, where K first transmission gears and Kl second transmission gears are not shared. Thus, there is a difference of one in the number of these two gears, which means that 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 embodiments, K first transmission gears and K1 second transmission gears are provided, where K-2 first transmission gears and K-2 second transmission gears are shared. This reduces the number of gears and simplifies 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 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 respectively the fifth gear 20444, the sixth gear 20445, the seventh gear 20446 and the eighth gear 20447, and the three gears of the second transmission gears are respectively the ninth gear 20448, the seventh gear 20446 and the eighth gear 20447. Thus, the seventh gear 20446 and the eighth gear 20447 serve as both the first and second transmission gears.

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

[0102] In some embodiments, the first intermediate transmission component comprises a set of synchronous pulleys and several first transmission gears mounted successively along the direction of transmission. 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 several 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 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 influence 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 channel, the direction of rotation of a pair of adjacent transmission gears in that channel is the same, while the direction of rotation between other adjacent gears is opposite. Therefore, when the directions of rotation of any two adjacent gears in another motion transmission channel are opposite, and thus, when the input directions of rotation in two motion transmission channels are opposite, the output direction of rotation can remain the same, thereby maintaining the constant direction of rotation of brush 201.

[0104] According to [Fig.12], in some embodiments, the first transmission component comprises a rocker arm 2045 and a rocker arm transmission component 2046. One end of the rocker arm 2045 is rotationally connected to the connecting shaft 20423 and the other end is connected to the rocker arm transmission component 2046. The connecting shaft 20423 is connected to the rocker arm transmission component 2046, and when the connecting shaft 20423 changes its direction of rotation, it can cause the rocker arm 2045 to change its direction of oscillation around the connecting shaft 20423 by the rocker arm transmission component 2046, thus causing the rocker arm 203 to change its direction of oscillation, allowing the brush 201 to switch between the first and second positions.

[0105] In some embodiments, the drive element 2041 can change the direction of rotation of the connecting shaft 20423 by changing the output direction, which causes the swing arm 203 to change its oscillation direction by the swing arm transmission component 2046 and the swing arm 2045. Thus, by changing the direction of rotation of its output shaft, the drive element 2041 can change the oscillation direction of the swing arm 203, thereby allowing the brush 201 to switch between the first and second positions.

[0106] In some embodiments, the swing-link transmission component 2046 comprises a first gear 20421, a first mounting shaft 20461, a friction drive wheel 20462 and a friction wheel 20463. The first gear 20421 is fitted onto the connecting shaft 20423 and can rotate with the connecting shaft 20423. The first mounting shaft 20461 is connected to the end of the swing-link 2045 that is away from the connecting shaft 20423; the friction drive wheel 20462 is fitted onto the first mounting shaft 20461 and can rotate relative to the first mounting shaft 20461; the first gear 20421 and the friction drive wheel 20462 mesh together; The friction wheel 20463 is fitted onto 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 direction of rotation, it can cause the friction wheel 20463 to change its rolling direction via the friction transmission wheel 20462, thus changing the oscillation direction of the oscillating connecting rod 2045, thereby allowing the brush 201 to switch between the first and second positions.

[0107] In some embodiments, when the first gear 20421 rotates, it drives the rotation of the friction drive wheel 20462, and the friction drive wheel 20462 drives the rotation of the friction wheel 20463. The friction wheel 20463 rolls along the wall of the fixed arm 202, thus 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 shaft 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 shaft 20423 remains almost stationary relative to the wall of the fixed arm 202.Thus, the position of the swing arm 2045 changes; specifically, the swing arm 2045 oscillates around the connecting axis 20423, and the end of the swing arm 2045 that is far from the connecting axis 20423 causes the swing arm 203 to oscillate. This allows the transmission of motion from the swing arm transmission component 2046 to the swing arm 2045, and thus, by changing the direction of rotation of its output axis, the drive element 2041 can change the direction of oscillation of the swing arm 203, thereby achieving a practical change of position.

[0108] In some embodiments, the friction drive wheel 20462 and the friction wheel 20463 are in lateral contact, and the swing arm transmission component also includes a pressurization component. This pressurization component applies a first pressure force to the friction drive wheel 20462 in the direction of the friction wheel 20463, and / or a second force pressure is applied to the friction wheel 20463 in the direction of the friction drive wheel 20462, so that the friction force between the friction drive wheel 20462 and the friction wheel 20463 can cause the friction wheel 20463 to rotate in sync with the friction drive wheel 20462. This prevents damage to the friction wheel 20463 and the fixed arm 202 in case of overload, compared to a direct rigid connection between the friction drive wheel 20462 and the friction wheel 20463.

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

[0110] In some embodiments, a portion of the oscillating connecting rod 2045 serves as a second limiting element, pressed against the side of the third elastic element 20465 opposite the friction drive wheel 20462. Thus, the first and second pressure forces are elastic forces, which helps to prevent further damage to the friction wheel 20463 and the fixed arm 202 in the event of overload.

[0111] With reference to Figures 9 and 13, in some 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 adapted to the surface of the friction wheel 20463, to increase the rolling friction between the two, thus ensuring that the friction wheel 20463 rolls along the fixed arm 202 under stress, and consequently, ensures that the rolling motion of the friction wheel 20463 causes the oscillation of the swinging connecting rod 2045.

[0112] In some embodiments, the first transmission assembly includes a first gear 20421 and a second gear 20422 for driving the oscillation of the swing arm 203; this drive method is designated as the first oscillation transmission scheme. The first transmission assembly also includes the swing arm 2045 and the swing arm transmission component 2046 for driving the oscillation of the swing arm 203. The drive is designated as the second oscillation transmission scheme. In some 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 device proposed in certain examples of implementation of this application:

[0114] If, when the brush 201 is in the first position, the protruding stop comes to rest against the limiting block for folding, the drive element 2041 drives the first gear 20421 to rotate in the second clockwise direction N, which drives 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 moved to a corner of the wall, the element The 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 this moment, under the action of the first gear 20421, the second gear 20422 applies a force to the second mounting shaft 2043. This force causes the second mounting shaft 2043 to rotate the swing arm 203 around the connecting shaft 20423 in the first clockwise direction M, thus moving the brush 201 away from the moving platform 10. The protruding stop moves away from the limiting block for retraction and towards the limiting block for extension.The swing arm 203 moves until the protruding stop comes 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 motion of the third gear 20441 is transmitted successively to the fifth gear 20444, the sixth gear 20445, the seventh gear 20446, and the eighth gear 20445. gear 20447 to output gear 20443, causing brush 201 to rotate in the first clockwise direction M, and brush 201 cleans the corner area of ​​the wall.

[0117] S3, after complete cleaning of the wall corner area, the drive element 2041 changes its output direction again, changing the direction of rotation 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 so that its direction of rotation changes from the second clockwise direction N to the first clockwise direction M. At this moment, 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 around the connecting axis 20423 in the second clockwise direction N, bringing the brush 201 closer to the moving platform 10. The protruding stop moves away from the limiting block for extension and towards the limiting block for retraction.The swing arm 203 moves until the protruding stop comes into contact with the limiting block for folding and the swing arm 203 stops swinging, at which point the brush 201 is in the first position.

[0118] After the direction of rotation 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 in synchronized rotation. The rotation of the fourth gear 20442 is transmitted successively to the ninth gear 20448, the seventh gear 20446, and the eighth gear 20447 until it reaches the output gear 20443, causing the brush 201 to rotate in the first clockwise direction M.

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

[0120] In some embodiments, in the steps SI to S3 mentioned above, changing the position of the brush 201 is simply achieved by changing the output rotation direction of the drive element 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 element 2041, which improves cleaning efficiency.

[0121] In some embodiments, to perform the cleaning, the first cleaning element 201 may be a side brush that rotates horizontally to clean the floor. It may sweep the debris around the moving platform 10 down towards the main brush 40, then the main brush 40 rotates and sweeps the debris towards 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 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 element 3017. The pivoting arm 3013 is rotatably connected to the main body of the machine 110, the first end of the first elastic element 3017 is connected to the pivoting arm 3013, and the second end of the first elastic element 3017 is fixed to the main body of the machine 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 element 3017 to pivot the pivoting arm 3013, thereby driving the second cleaning element 303 between the third and fourth positions.

[0123] In certain embodiments, by installing the first drive assembly 301, the pivoting arm 3013, and the first elastic element 3017, and by placing the second cleaning element 303 on the pivoting arm 3013, it is possible to adapt the cleaning range of the automatic cleaning device to the requirements. This is achieved by using the first drive assembly and the first elastic element 3017 to pivot the second cleaning component 30 between the third and fourth positions, thereby moving the second cleaning component 30 to an operational position that meets the cleaning range requirements. This extends the cleaning reach, thereby contributing to improved cleaning efficiency and the user's cleaning experience.It should be noted that the first end of the first elastic element 3017 is connected to the pivoting arm 3013, including a direct connection between the first end of the first elastic element 3017 and the pivoting arm 3013, as well as an indirect connection via other components. Both the direct and indirect connections of the first end of the first elastic element 3017 with the pivoting arm 3013 are covered by this disclosure.

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

[0125] According to [Fig. 15], in some embodiments, the first elastic element 3017, via the pivoting arm 3013, drives the second cleaning element 303 to move it into the fourth position. At this point, the first elastic element 3017 brings the pivoting arm 3013 to an extreme position and holds it in place by its own elastic force. When the second cleaning element 303 is in the third or fourth position, the elastic element may be in a deformed state, maintaining a force applied to the pivoting arm 3013. The second cleaning element 303 can generally be a flexible, water-absorbing material such as a fabric or a sponge. In the present embodiment, the second cleaning element 303 can be a rotating cleaning element, a vibrating cleaning element, or a fixed cleaning element.More specifically, the second cleaning element 303 can be a cleaning plate; the second cleaning element 303 removes stains from the floor by a rotating motion.

[0126] According to Figures 2, 3, 4 and 5, in some embodiments, the projection of the second cleaning element 303 in the third and fourth positions can be located in different places within 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 part 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 should be understood that, in other embodiments, the projections of the second cleaning element 303 in the third and fourth positions may both be located within the projection area of ​​the main body of the machine 110, but in different locations; or alternatively, at least part of the projections of the second cleaning element 303 in the third and fourth positions may be located within the projection area of ​​the main body of the machine 110, but in different locations. In other words, at least part 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 part of the second cleaning element 303 in the third position is located inside the main body of the machine 110 in the horizontal direction.The surface area of ​​the second cleaning element 303 in the fourth position located outside the horizontal direction of the main body of the machine 110 is larger than that of the second cleaning element 303 in the third position outside the horizontal direction of the main body of the machine 110. Thus, depending on the cleaning requirements of the automatic cleaning device 100, and more specifically depending on the wet cleaning requirements, the first drive assembly 301 is used. To train the second cleaning element 303 to switch between the third and fourth positions, positioning it in the necessary operational position to meet cleaning needs. Thus, the second cleaning element 303 can perform floor cleaning operations in the third position, and the second cleaning element 303 can also clean the floor in the fourth position, meeting different cleaning requirements. This expands the cleaning range, meaning it extends the cleaning reach of the automatic cleaning device 100, improving cleaning efficiency and the user experience.It should be noted that when the second cleaning element 303 in the third position is entirely located inside the main body of the machine 110 in the horizontal direction, the surface area of ​​the second cleaning component 30 in the third position located outside the horizontal direction of the main body of the machine 110 is zero. However, when the second cleaning component 30 is in the fourth position, the surface area located outside the horizontal direction of the main body of the machine 110 is always larger than that of the second cleaning component 30 in the third position, outside the horizontal direction of the main body of the machine 110.

[0127] In certain embodiments, 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, i.e., at least a portion of the second cleaning element 303 in the fourth position is located outside the projection area of ​​the edge of the main body of the machine 110. In which, at least a portion of the second cleaning element 303 in the fourth position is located outside the projection area of ​​the edges of the main body of the machine 110, thus allowing the second cleaning element 303 in the fourth position to extend its cleaning reach beyond the edges of the movement area of ​​the main body of the machine 110.This ensures thorough cleaning of edges and corners of walls where the main body of the machine 110 cannot reach and fit, thus improving the cleaning range of the second cleaning element 303 and the cleaning efficiency of the automatic cleaning device 100. The second cleaning element 303 in the fourth position can be located entirely outside the projection zone of the edges of the main body 110, or partially outside the projection zone of the main body of the machine 110, depending on the specific structural configuration. Alternatively, the majority of the second cleaning element 303 in the third position can be located within the projection zone of the edges of the main body of the machine 110. This allows the cleaning zone of the second cleaning element 303 in the third position to be located within the movement zone of the main body of the machine 110. enabling floor cleaning operations in the movement area of ​​the main body of the machine 110, reducing the risk of collision between the second cleaning element 303 extending beyond the edges of the main body of the machine 110, and obstacles, which helps to improve the service life and reliability of the second cleaning element 303.

[0128] In some embodiments, depending on the needs of the automatic cleaning device 100 for cleaning wall corners and edges, it is possible to selectively control the second cleaning element 303 to switch between the third and fourth position: by moving the second cleaning element 303 to the third position for standard wet cleaning operations, and the second cleaning element 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 device 100 and improves the intelligence of the automatic cleaning device 100.

[0129] In certain embodiments, when the second cleaning element 303 is tilted between the third and fourth positions, the first drive assembly 301 comes to rest against the pivoting arm 3013, causing the latter pivoting arm 3013 to rotate, thus ensuring stable rotation of the pivoting arm 3013 and, consequently, stable tilting of the second cleaning element 303 between the third and fourth positions. The first drive assembly 301 can come to rest directly against the pivoting arm 3013, and thus directly cause the rotation of the pivoting arm 3013 by the rotation of the first drive assembly 301.

[0130] In some embodiments, the first drive assembly 301 may include a cam or other eccentric rotation mechanism which has come to rest against the outer wall of the pivoting arm 3013. By driving the rotation of the cam or other eccentric rotation mechanism, the pivoting arm 3013 will be directly driven to rotate.

[0131] In some embodiments, one end of the pivoting arm 3013 is connected to a first cam 3016, and the other end is connected to the second cleaning element 303. When the second cleaning element 303 is tilted between the third and fourth positions, the first drive assembly abuts against the protruding portion 30161 of the first cam 3016 to rotate the pivoting arm 3013. The protruding portion of the first cam 3016 corresponds to the portion that extends radially outward from the first cam 3016. The first drive assembly abuts against the protruding portion of the first cam 3016, thus exerting a force on it, thereby enabling the first assembly The drive mechanism rotates the first cam 3016. One end of the pivoting arm 3013 is connected to the first cam 3016, thus allowing the rotation of the first cam to rotate the pivoting arm. This, in turn, pivots the second cleaning component 30 at the other end of the pivoting arm between the third and fourth positions.

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

[0133] In some embodiments, for example, the elastic element is in the form of a tension spring, one end of the first elastic element 3017 can be connected indirectly or directly in a fixed manner to the main body of the machine, i.e., held relatively immobile with respect to the main body of the machine, while the other end can be connected only 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 can 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 embodiments, the first elastic element 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 fixed relative to the main body of the machine 110. Thus, by using a tension spring as the first elastic element 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 main body of the machine 110, a stable elastic force can be provided, thus allowing the second cleaning element 303 to move from the third to the fourth position.

[0135] In certain embodiments, the first elastic element 3017 is a torsion spring, disposed at the axis of rotation of the first cam 3016. In which, the torsion spring can be installed coaxially with the axis of rotation of the first cam 3016, i.e., the spring can be fitted around the outer periphery of the axis of rotation 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 relative to the main body of the machine 110, thus providing a stable elastic force which allows the second cleaning element 303 to move from the third to the fourth position.

[0136] In some embodiments, the first elastic element 3017 is an elastic plate, one end of which is connected to the first cam 3016 and the other end is fixed relative 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 allow, after deformation, the generation of an elastic force which stably drives the second cleaning element 303 from the third position to the fourth position.

[0137] It is to be understood that the first elastic element 3017 can 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 embodiments, the pivoting arm 3013 can be rotatably connected to the main body of the machine 110, and the second cleaning element 303 is movably connected, by transmission, or fixedly to the pivoting arm 3013. One end of the pivoting arm 3013 can be rotatably connected to the main body of the machine 110, thus allowing the pivoting arm 3013 to swing on the main body of the machine 110 and thereby causing the second cleaning component 30 to pivot between the third and fourth positions. In other embodiments, the second cleaning element 303 is movably connected, by transmission, or fixedly to the pivoting arm 3013, thus allowing the second cleaning element 303 to come into contact with the surface to be cleaned in order to perform the cleaning.

[0139] In some embodiments, the first elastic element 3017 can also be connected to the projecting portion 30161 of the first cam 3016. In this embodiment, the peripheral side of the first cam 3016 is equipped with a connecting portion 30162, used to connect to the first elastic element 3017, which increases the distance between the first elastic element 3017 and the first drive assembly, thus avoiding interference. The connecting portion 30162 can project outwards in the radial direction of the first cam, with the first elastic element 3017 connected to the end of the connecting portion 30162 to obtain a higher torque. The connecting portion 30162 can be manufactured as a single piece with other parts of the cam.

[0140] In some 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 element 303 from the third to the fourth position. The first and second directions are 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 element 303 is in the third position, the first elastic element 3017 is stretched, which can cause the first cam 3016 to rotate in the second direction, thus allowing the second cleaning element 303 to move from the third to the fourth position. When the second cleaning element 303 is in the fourth position, the first elastic element 3017 can also be stretched, thus using the elastic force to lock the pivoting arm.

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

[0142] In some embodiments, the first drive assembly comprises a first drive part and a second cam 3015, the first drive part being used to drive the rotation of the second cam 3015. The second cam 3015 abutted against the first cam 3016, causing the first cam 3016 to rotate. The second cam 3015 has a contact portion, which is the part of the second cam 3015 extending radially outward. The contact portion of the second cam 3015 abutted against the protruding part of the first cam 3016, thus enabling the transmission. The first drive portion is used to generate power, thereby causing the rotation of the second cam 3015 and the first cam 3016.

[0143] In some embodiments, the second cam can be directly mounted on the output of the first drive part, allowing the first drive part to directly drive the rotation of the second cam. The output of the first drive part can also be connected in a transmission to the second cam, which can 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 connected in transmission to the retractable drive element 3011 and engages with the sector-shaped toothed portion 30151, the bearing contact portion 30152 comes to rest against the first Cam 3016, the first cam 3016 is arranged coaxially with the pivoting arm 3013. Between the sector-shaped toothed portion 30151 and the contact portion 30152, there is a gap distributed around the axis of rotation of the second cam 3015, allowing the second cam 3015 to rotate and simultaneously drive the sector-shaped toothed portion 30151 and the contact portion 30152. Thus, as illustrated in [Fig. 6], the retractable drive element 3011 causes 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 contact part in support 30152. The contact part in support 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 pivoting arm 3013, this allows the pivoting arm 3013 to rotate synchronously with the first cam 3016, thus causing the second cleaning element 303 mounted inside the pivoting arm 3013 to move from the fourth position to the third position.

[0145] In some embodiments, the first drive part comprises a retractable drive element 3011 and the tenth gear 3014, the retractable drive element 3011 being connected to the tenth gear 3014, the tenth gear 3014 engages with the sector-shaped toothed part 30151 to allow the retractable drive element 3011 to drive, by the fact of the tenth gear 3014 and the sector-shaped toothed part 30151, the supporting contact part 30152, so that the supporting contact part 30152 pushes the rotation of the first cam 3016. And by the fact that the pivoting arm 3013 rotates synchronously, drive the second cleaning element 303 to move from the fourth position to the third position.The retractable drive element 3011 is used to output power and the retractable drive element 3011 can be a motor, the tenth gear 3014 is arranged coaxially with the output of the retractable drive element 3011 and engages with the sector-shaped toothed part 30151, which allows the retractable drive element 3011 to drive the tenth gear 3014, the second cam 3015 and the first cam 3016 to rotate, and thus to rotate synchronously the pivoting arm 3013 to drive the second cleaning element 303 to move from the fourth position to the third position.

[0146] In certain embodiments, when the second cleaning element 303 moves from the third position to the fourth position, the direction of rotation of the contacting part in support 30152 is opposite to the direction of rotation of the contacting part in support 30152 during the movement of the second cleaning element 303 When it retracts towards the main body of the machine 110, the supporting contact part 30152 exerts no propulsive force on the first cam 3016. Under the action of the first elastic element 3017, the first cam 3016 will rotate in the opposite direction to the retraction movement of the second cleaning element 303 towards the main body of the machine 110, and will cause the supporting contact part 30152 to rotate. Since the first cam 3016 is arranged coaxially with the pivoting arm 3013, the pivoting arm 3013 will rotate synchronously with the first cam 3016, thus causing the second cleaning element 303, mounted inside the pivoting arm 3013, to move from the third position to the fourth position.

[0147] In certain 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 consequently, the second and first cams no longer interact. This prevents the force from being transmitted to the retractable drive element 3011 via the first cam 3016 and the tenth gear 3014 when the swing arm pivots and rotates the first cam 3016, which can serve as protection for the retractable drive element 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 bearing contact portion. of the second cam of the protruding part of the first cam.

[0148] According to Figures 15 and 16, in some embodiments, the automatic cleaning device 100 also includes a first housing 3018. The retractable drive element 3011 and the pivoting 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 element 3017 are all located inside the first housing 3018. The tenth gear 3014 penetrates the first housing 3018 and is connected in a transmission to the retractable drive element 3011. The second end of the first elastic element 3017 is connected to the first housing 3018. The tenth gear 3014, the second cam 3015, the first cam 3016, and the first elastic element 3017 are all located inside the first housing. 3018.Thus, the use of the first 3018 case offers good protection, which is beneficial for extending service life and reliability, while ensuring good transmission accuracy.

[0149] In some embodiments, the first housing 3018 may comprise a first upper housing and a first lower housing connected in a removable manner, thus facilitating the assembly and disassembly of the first housing 3018, and so 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 can be removably connected by at least one of the following: screws, clip structures, tenon and mortise assemblies, magnetic structures.

[0150] According to Figures 14 and 15, in some embodiments, the automatic cleaning device 100 also includes: a position detection device 304, located inside the housing, used to detect the rotation position of the second cam 3015, the retractable drive element 3011 rotating or stopping rotation depending on the detection results of the position detection device 304. The position detection device 304 makes it possible to detect the rotation position of the second cam 3015 and thus to know the rotation 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 pivoting arm 3013 drives the second cleaning element 303 to move to the third or fourth position, the retractable drive element 3011 stops rotating according to the detection results of the position detection device 304 at that time, thus allowing the second cleaning element 303 to remain in the third or fourth position to achieve a precise switch between these positions.It is understandable that, when the first cam 3016 rotates and drives the pivoting arm 3013 and the second cleaning element 303, which have not yet reached the third or fourth position, the retractable drive element 3011 can continue to rotate according to the detection results of the position detection device 304 at that time, to continue moving the second cleaning element 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 some 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 contact portion 30152, the first partition 30153 being adapted to fit 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 fit in the second photoelectric switch 3042 so that the second photoelectric switch 3042 changes the detection signal.

[0152] In some embodiments, by arranging a first photoelectric switch 3041 and a second photoelectric switch 3042 on each side of the second cam 3015, it is possible to use the two photoelectric switches to detect separately whether the second cleaning element 303 has reached the third or fourth position, thus improving the accuracy of detecting whether or not the second cleaning element 303 has reached the target operating position. The photoelectric switches generally include a light-emitting part and a light-receiving part, the latter being able to or not receive the light signal emitted by the emitting part to modify 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 synchronized rotation of the first partition 30153 and the second partition 30154. The first partition 30153 and the second partition 30154 are arranged on either side of the supporting contact part 30152. When the second cam 3015 rotates to a suitable position, the first partition 30153 inserts itself 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 and receiving parts of the first photoelectric switch 3041, preventing the receiving part from receiving the light signal emitted by the light-emitting part, the photoelectric switch 3041 changes its detection signal, indicating that the first cam 3016 has rotated to a suitable position and that the second cleaning element 303 is in the third position. At this point, the retractable drive element 3011 can stop rotating based on the detection signal from the first photoelectric switch 3041 to maintain the second cleaning element 303 in the third position.

[0153] In certain embodiments, when the second cam 3015 rotates to a suitable position, the second partition 30154 engages with 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 and light-receiving parts of the second photoelectric switch 3042, preventing the receiving part from receiving the light signal emitted by the emitting part, this causes the photoelectric switch 3042 to change the detection signal, indicating that the first cam 3016 has rotated to a suitable position and that the second cleaning element 303 is in the fourth position. At this point, the retractable drive element 3011 can stop rotating depending on the detection signal from the second photoelectric switch 3042 to maintain the second cleaning element 303 in the fourth position.

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

[0155] In some embodiments, the angle detection device makes it possible to detect the angle of rotation of the output shaft of the retractable drive element 3011, which makes it possible to know the angle of rotation 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 element 303 to the third or fourth position via the pivoting arm 3013, the retractable drive element 3011 stops rotating according to the detection results of the angle detection device at that moment, thus allowing the second cleaning element 303 to remain in the third or fourth position to make a precise change between these positions.It is understandable that when the first cam 3016 rotates to move the second cleaning element 303, which has not yet reached the third or fourth position, via the pivoting arm 3013, the retractable drive element 3011 can continue to rotate according to the detection results of the angle detection device at that time, to continue moving the second cleaning element 303 towards a position close to the target operating position, such as the third or fourth position.

[0156] According to [Fig. 16], in some embodiments, a third limiting element 30181 and a fourth limiting element 30182 are also arranged inside the first housing 3018, 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 is used to abut against the protruding portion 30161 in order to limit the rotation of the first cam 3016. The fourth limiting element 30182 is located on the side of the connecting portion 30162 away from the bearing contact portion 30152, and is used to abut against the connecting portion 30162 in order to limit the rotation position of the first cam 3016. Thus, the rotation position of the first cam 3016 can be limited.For example, when the first one... When cam 3016 rotates to a suitable position, the projecting portion 30161 of the first cam 3016 comes into contact with the third limiting element 30181, thus preventing the first cam 3016 from continuing to move towards the third limiting element 30181. This allows the second cleaning element 303 to remain reliably and precisely 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 element 30182, thus preventing the first cam 3016 from continuing to move towards the fourth limiting element 30182. This allows the second cleaning element 303 to remain reliably and precisely in the fourth position.

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

[0158] In certain embodiments, the first drive assembly 301 and / or the first cam 3016 are equipped with wear-resistant structures, the first drive assembly 301 bearing against the first cam 3016 through these wear-resistant structures. By placing the wear-resistant 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 between them, and ensuring a good service life.

[0159] In some embodiments, the anti-wear structures can be arranged on the first drive assembly 301, or on the protruding part of the first cam 3016, or both on the first drive assembly 301 and on the protruding part of the first cam 3016. During the transfer of force between the first drive assembly 301 and the protruding part of the first cam 3016, i.e. during the 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 part of the first cam 3016.

[0160] According to [Fig. 24], in some embodiments, the wear-resistant structure comprises a roller 30192 and / or a protective surface 30191 whose surface The outer surface is smooth. The use of roller 30192 results in a rolling friction force between the first drive assembly 301 and the first cam 3016, which is less than the sliding friction between the first drive assembly 301 and the first cam 3016. By using the protective surface 30191 with a smooth outer surface, friction can be further reduced while protecting the first cam 3016. After prolonged use, if wear due to friction becomes severe, the protective surface 30191 can simply be replaced, thus reducing repair costs.

[0161] In some embodiments, the first drive assembly 301 can be equipped with a roller 30192, and a protective surface with a smooth outer surface 30191 can be disposed on the protruding part of the first cam 3016, the first drive assembly 301 acts by means of the roller 30192 coming against the protective surface 30191 on the protruding part of the first cam 3016 by means of the roller 30192.

[0162] According to [Fig.23], in some embodiments, the protruding part of the first cam 3016 can be equipped with a roller 30192, and a protective surface with a smooth outer surface 30191 can be arranged on the first drive assembly 301, the first cam 3016 acting by means of the roller 30192 coming against the protective surface 30191 on the first drive assembly 301 by means of the roller 30192.

[0163] In some embodiments, a protective surface with a smooth outer surface 30191 is disposed on the protruding part of the first cam 3016 and on the first drive assembly 301, the first cam 3016 coming to rest against the first drive assembly 301 via this protective surface 30191.

[0164] In some embodiments, rollers 30192 may be arranged both on the protruding portion of the first cam 3016 and on the first drive assembly 301. The roller 30192 on the protruding portion of the first cam 3016 and the roller on the first drive assembly 301 are staggered, i.e., the two rollers 30192 do not touch. The protruding portion of the first cam 3016 abuts against the first drive assembly 301 by the roller 30192 located on it, while the first drive assembly 301 abuts against the protruding portion of the first cam 3016 by the roller 30192 located on it.

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

[0166] In some embodiments, a metal plate is disposed on the contact surface between the protruding part 30161 and the second cam 3015, that is to say that, during the interaction between the protruding part 30161 and the second cam 3015, the metal plate is located between the protruding part 30161 and the second cam 3015.

[0167] In some embodiments, a roller 30192 is positioned on the projecting portion 30161 of the first cam 3016. The projecting portion 30161 butts against the first drive assembly 301 via the roller 30192, thus providing rolling friction between the projecting portion 30161 and the first drive assembly 301, which is less intense than sliding friction. This prevents excessive wear between the projecting portion 30161 and the first drive assembly 301, thereby ensuring a longer service life for both the first cam 3016 and the first drive assembly 301. Furthermore, the projecting portion 30161 comes into contact with the bearing contact portion 30152 of the second cam 3015 via the roller 30192.The axis of roller 30192 is generally parallel to the contact surface between the protruding part 30161 and the first drive assembly 301, which ensures that roller 30192 can roll stably on the first drive assembly.

[0168] In some embodiments, when the first drive assembly 301 includes a second cam 3015, this second cam 3015 is equipped with a roller 30192. The second cam 3015 bears against the first cam 3016 via the roller 30192, which also creates rolling friction between the protruding portion 30161 and the first drive assembly 301. This results in less friction and prevents excessive wear between the protruding portion 30161 and the first drive assembly 301, thus ensuring a longer service life for both 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, thereby ensuring that the roller 30192 can roll stably on the second cam 3016. came 3015.

[0169] According to [Fig. 19], in some embodiments, the transmission device also includes 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 element. Cleaning 303. The second drive assembly 302 also serves to drive the vibration of the second cleaning element 303 and / or to rotate it around its central axis R, which acts 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 rotates it to perform the floor cleaning operation. After the floor cleaning operation is complete, the second drive assembly 302 is used to lift the second cleaning element 303, separating the second cleaning element 303 from the surface to be cleaned and storing it away. Therefore, this prevents the second cleaning element 303 from coming into contact with the surface to be cleaned when the automatic cleaning device 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, which comes into contact with the surface in cases where floor cleaning is not required, for example, when the automatic cleaning unit 100 is moving to or from the base station, or when cleaning a carpet. In such cases, contact between the second cleaning element 303 and the surface to be cleaned could lead to secondary contamination of that surface. This can improve the cleaning efficiency of the automatic cleaning unit 100, as well as the overall cleaning effectiveness and user experience.

[0170] In certain embodiments, the second drive assembly 302 can, depending on the contact requirements of the second cleaning element 303 with the surface to be cleaned—that is, whether the second cleaning element 303 needs to perform a cleaning or storage function—drive the lifting, lowering, and rotation operations of the second cleaning element 303 to meet the different functional requirements of the second cleaning element 303. This allows for differentiation between the cleaning and storage processing strategies of the second cleaning element 303, thereby improving the cleaning performance of the automatic cleaning device. It is understandable that the second cleaning element 303, in the third position, can perform both cleaning and storage functions.In addition, the second drive assembly 302 is also used to vibrate the second cleaning element 303, for example in horizontal vibration, which can further improve cleaning efficiency.

[0171] In some embodiments, the first drive assembly 301 is used to tilt the second cleaning element 303 between the third and fourth positions, and the second drive assembly 302 is used to lift, vibrate, and rotate the second cleaning element 303. The cooperation between the first drive assembly 301 and the second drive assembly 302 The 302 drive unit enables wet cleaning operations across various surfaces, extending the cleaning range of the automatic device 100 and improving cleaning efficiency. Furthermore, it meets the contact requirements of the second cleaning element 303 with the surface to be cleaned, thus fulfilling the various cleaning or storage functions of the second cleaning element 303, enhancing the cleaning performance of the automatic device 100 and the user experience.

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

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

[0174] In some embodiments, since the transmission part 3022 is connected to the pivoting arm 3013 and the second cleaning element 303, this allows the transmission part 3022, under the action of the lifting and lowering drive part 3021, to drive the lifting, lowering and rotation of the second cleaning element 303 and, under the action of the pivoting arm 3013, to allow the second cleaning element 303 to move between the third and fourth positions.

[0175] In some embodiments, the second drive assembly 302 comprises 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 element 303. Compared to existing techniques that require two drive portions to separately drive the lifting, lowering, and rotation of the cleaning element, this simplifies the configuration of the drive portions, thus meeting the design requirements for compact and small structures. This results in a reduction of the space occupied and costs, making the device more suitable for widespread adoption.

[0176] According to Figures 18 and 19, in some embodiments, the transmission portion 3022 comprises: a lifting and lowering drive portion 3021 and a transmission portion 3022, at least a portion of which is located inside the pivoting 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 means of the transmission portion 3022. Thus, via a worm gear 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 enabling the second cleaning element to be raised, lowered, and rotated. 303.The worm gear 3023 and the gear set 3024 cooperate, with a compact mechanical structure, small size and precise transmission, which is advantageous for reducing the volume of the transmission part 3022, and consequently, reducing the volume of the second drive set 302, thus meeting the design requirements for compact and small structures.

[0177] According to Figures 18, 19, and 20, in certain embodiments, the gear set 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 pivoting arm 3013 and meshes with the worm gear 3023. The first, second, and third auxiliary gears 30242 and 30245 are located inside the pivoting arm 3013. The second auxiliary gear comprises a first gear disc 30243 and a second gear disc 30244 that are 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 pivoting arm 3013, connected to the connecting sleeve 30246 by thread to the sleeve 3025. The rotation of the gear assembly 3024 allows the sleeve 3025 to rotate relative to the connecting sleeve 30246, causing the sleeve 3025 to rise or fall relative to the connecting sleeve 30246.

[0178] In some embodiments, the rotation of the lifting and lowering drive portion 3021 causes the worm gear 3023 to rotate. As the turbine 30241 meshes with the worm gear 3023, it drives the rotation of the turbine 30241, which in turn drives the rotation of the first auxiliary gear 30242 arranged coaxially with the turbine 30241. As the first auxiliary gear 30242 engages with the first gear disc 30243, this causes the rotation of the The first gear disc 30243 and the second gear disc 30244 are arranged coaxially with the first gear disc 30243. As the second gear disc 30244 engages with the third auxiliary gear 30245, this causes the third auxiliary gear 30245 to rotate, which in turn causes the connecting sleeve 30246, arranged coaxially with the third auxiliary gear 30245, to rotate. Since the connecting sleeve 30246 is threaded 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 relative to the connecting portion 30162, thus causing the second cleaning element 303, installed inside the sleeve 3025, to be raised, lowered, or rotated. This configuration is simple and offers high transmission accuracy.

[0179] In some embodiments, the first auxiliary gear 30242, the second auxiliary gear and the third auxiliary gear 30245 are all located inside the pivoting arm 3013, thus using the pivoting 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 and small-sized structures.It is understandable that the shaft connecting the first auxiliary gear 30242 and the turbine 30241 passes through the pivoting arm 3013, and the shaft connecting the third auxiliary gear 30245 and the connecting sleeve 30246 also passes through the pivoting arm 3013. This allows the power of the lifting and lowering drive part 3021 to be transmitted from the outside of the pivoting arm 3013, via the worm gear 3023 and the turbine 30241, to the inside of the pivoting arm 3013, and from there, via the connecting sleeve 30246, again to the outside of the pivoting arm 3013, and via 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 spiral guide groove 30252 designed to house the guide portion 30247.

[0181] In some embodiments, a slot 30251 is disposed at the top of the sleeve 3025, the slot 30251 of the sleeve 3025 is inserted into the wall of the connecting sleeve 30246, and the guide portion 30247 on the wall of the connecting sleeve 30246 is housed in the guide groove 30252 of the slot 30251. Given that The guide part 30247 is arranged in a spiral, and since the guide groove 30252 is also spiral, the guide part 30247 moves spirally along the guide groove 30252, thus enabling the rotation, lifting, and lowering of the sleeve 3025 relative to the connecting sleeve 30246. The connection method between the sleeve 3025 and the connecting sleeve 30246 can be considered a screw-nut type connection, a simple configuration to implement, which uses a single structure to achieve the lifting, lowering, and rotation of the sleeve 3025, facilitating the reduction in the size of the second drive assembly.

[0182] According to Figures 18 and 19, in some 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, as the guide portion 30247 is a protruding thread. This is advantageous for improving the accuracy and reliability of the mutual limitation and guidance between the guide part 30247 and the guide groove 30252, in order to improve the stability of the lifting, lowering and rotation of the sleeve 3025 relative to the connecting sleeve 30246.

[0183] According to [Fig. 19], in some embodiments, the guide portion 30247 comprises several projections arranged at intervals, i.e., several projections are distributed at intervals in a spiral pattern. 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 can be two, three, four, or another number.

[0184] In some embodiments, a reinforcement is provided on the wall of the slot 30251 near the opening. This reinforcement is used to bear against the guide portion 30247 in order to limit the movement of the assembly, specifically 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 and completely make contact with the surface to be cleaned.

[0185] In some embodiments, the guide portion 30247 rests against the bottom of the slot 30251 to limit the lifting and lowering movement of the The sleeve 3025, relative to the connecting sleeve 30246, and the guide portion 30247 and the bottom of the slot 30251, cooperate to limit the maximum lifting position of the sleeve 3025 relative to the connecting sleeve 30246. This prevents the second cleaning element 303 from continuing to rise after reaching its maximum position and damaging the second drive assembly, thus improving reliability. Simultaneously, this maintains a certain distance between the second cleaning element 303, in its maximum lifting position, and the surface to be cleaned. This reduces the impact on the autonomous cleaning device's ability to overcome obstacles or climb slopes, as well as the risk of secondary contamination of the surface being cleaned.

[0186] According to [Fig. 20], in some embodiments, the inner wall of the sleeve 3025 is equipped 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 guaranteeing good cleaning capacity of the second cleaning element 303. The axial cross-section of the sleeve 3025 is hexagonal, i.e., the inner wall of the sleeve 3025 has six planes. It can be understood that all six planes can be a limiting surface 30253, or some of the six planes can constitute a limiting surface 30253.More specifically, the part of the second cleaning element 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 element 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 embodiments the second drive assembly 302 also includes a second housing 3026 with an open end. When the automatic cleaning device includes a first housing 3018, the second housing 3026 engages with the first housing 3018. The auger 3023, the turbine 30241, the pivoting 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 from the first housing 3018, and the lower end of the sleeve 3025 is designed 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 3025 sleeve is designed to extend out of the opening of the second 3026 housing, ensuring that the second. The cleaning element 303, connected to the sleeve 3025, can descend to make contact with the surface to be cleaned, while maintaining a certain distance between the lower end of the second housing 3026 and the surface to be cleaned. This prevents the second housing 3026 from interfering with the automatic cleaning device's ability 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, thus transferring the driving force from 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 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 pivoting arm 3013 extends into both the first mounting cavity 30261 and the second mounting cavity 30262. The first auxiliary gear 30242 inside the pivoting 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 pivoting arm 3013.Thus, the power of the lifting and lowering drive part 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 embodiments, the shape of the second mounting cavity 30262 is adapted to the movement space of the pivoting arm 3013, so that the walls of the second mounting cavity 30262 do not hinder the movement of the pivoting arm 3013, while effectively protecting the pivoting arm 3013 and minimizing the volume of the second drive assembly 302 to meet the design requirements of compact and small structures.

[0190] In some 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 inside the first mounting cavity 30261. The installation of the base plate 30263 provides good protection to the turbine 30241, reducing contamination by dirty liquids and thus improving the service life of the turbine 30241 and the reliability of the second drive assembly 302.

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

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

[0193] In certain 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 first two cleaning components 20 are arranged respectively on each side of the direction of movement of the automatic cleaning device 100, and the two second cleaning components 30 are also located on each side of the direction of movement of the automatic cleaning device 100.

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

[0195] In certain embodiments, 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 travel of the automatic cleaning device 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 embodiments, the first cleaning component 20 sweeps the debris around the moving platform 10 down towards the main brush 40, then the main brush 40 rotates to sweep the debris towards the rear part 102. At the same time, thanks to the suction motor, the dust and other impurities around the moving platform 10 are vacuumed and collected in the waste bin for centralized treatment. After the first cleaning component 20 and the brush After the main 40 cleaning of the floor surface has been cleaned, 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, thus ensuring greater cleaning efficiency and improving the user experience.

[0197] In some embodiments, the mobile platform 10 comprises a front part 101 and a rear part 102, the first cleaning component 20 is located at the front part 101, and the second cleaning component 30 is located at the rear part 102. After the first cleaning component 20 and the main brush 40 have 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, thus further ensuring cleaning efficiency and improving the user experience.

[0198] In some embodiments, in order to prevent waste from impacting the cleaning efficiency of the second cleaning component 30, along the direction of travel of the automatic cleaning device 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 travel of the automatic cleaning device 100, the first cleaning component 20 and the main brush 40 first clean the waste and dust, and then the second cleaning component 30 proceeds to clean the floor, removing stubborn stains, without the waste interfering with the actions of the second cleaning component 30, thus ensuring the cleaning efficiency of the second cleaning component 30 and thereby improving the overall cleaning efficiency.

[0199] In some embodiments, in order to further guarantee the efficiency of the cleaning, the first cleaning component 20 can be raised and lowered relative to the operating surface, this allows the first cleaning component 20 to be raised and lowered and thus allows the amplitude of descent of the first cleaning component 20 to be effectively controlled, which greatly contributes to the cleanliness of the floor cleaning.

[0200] In some embodiments, in order to further guarantee 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 eliminate them completely, thus improving cleaning efficiency and the user experience.

[0201] In some embodiments, in order to further guarantee the efficiency of the cleaning, the second cleaning component 30 can be raised and lowered relative to the operating surface, this allows the first cleaning component 20 to be raised and lowered and thus allows the amplitude of descent 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 proposed, comprising a cleaning base station and the automatic cleaning device 100 described above.

[0203] In this application, unless explicitly stated otherwise and limited, the fact that 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. Furthermore, the terms "above," "on," and "above" 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 terms "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 the description of this application, it is necessary to understand that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "top," "bottom," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," and "counterclockwise" indicate positional or orientational relationships based on those illustrated in the drawings. These indications are used solely to facilitate and simplify the description of this application and should not be interpreted 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 should be noted that in the embodiments of this application, all directional indications are used solely to explain the relative position 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" and "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 piece; it may involve a mechanical or electrical connection; it may be a direct connection or an indirect connection through an intermediary; it may relate to internal communication between two elements or to interaction between two elements, unless explicitly specified otherwise. For those skilled in the art, it is possible to understand the specific meaning of these terms in this application according to the specific situation.

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

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

[0209] Technical solutions between different embodiment examples may be combined, but must be achievable by those skilled in the art. Where the combination of technical solutions is contradictory or impossible to achieve, it shall 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 embodiments of this application have been shown and described, it can be understood by those skilled in the art that various modifications, substitutions, variations, and alterations can 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

Demands

1. Automatic cleaning device (100) comprising: a mobile platform (10), configured to move automatically on an operational surface, the mobile platform (10) having a central axis along the direction of movement of the mobile platform (10); at least one first cleaning component (20), movably arranged on said mobile 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 mobile 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 device (100).

2. Automatic cleaning device (100) according to claim 1, characterized in that when cleaning corners of walls or obstacles having turns, said first cleaning component (20) is in second position and said second cleaning component (30) is in fourth position; or said first cleaning component (20) is in second position, and said second cleaning component (30) is in third position; or said first cleaning component (20) is in first position, and said second cleaning component (30) is in fourth position.

3. Automatic cleaning device (100) according to claim 1, characterized in that when cleaning corners of walls 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. 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 mobile platform (10); a swing arm (203), one end of which is rotatably connected to the fixed arm (202), and the other end of which is equipped with a first rotating 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 swing arm (203), in order to move said first cleaning element (201) between the first position and the second position.

5. Automatic cleaning device (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 swing arm (203) as well as the rotation of the first cleaning element (201).

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

7. Automatic cleaning device (100) according to claim 1 or 2, characterized in that said second cleaning component (30) comprises: a pivoting arm (3013), rotationally connected to the mobile platform (10); a second cleaning element (303), disposed on said pivoting arm (3013); a first drive assembly (301), disposed to pivot said pivoting arm (3013), in order to drive the second cleaning element (303) to tilt between the third position and the fourth position.

8. Automatic cleaning device (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 moving platform (10).

9. Automatic cleaning device (100) according to claim 8, characterized in that said first drive assembly (301) moves the second cleaning element (303) into the third position by means of the pivoting arm (3013), the force applied by the first drive assembly (301) on the pivoting arm (3013) being opposite in direction to the force applied by the first elastic element (3017) on the pivoting arm (3013), the first elastic element (3017) moving the second cleaning element (303) into the fourth position by means of the pivoting arm (3013), the first elastic element bringing the pivoting arm to its limit position and fixing it in position using its own elastic force.

10. Automatic cleaning device (100) according to claim 7, characterized in that when the second cleaning element (303) tilts between the third and fourth positions, the first drive assembly (301) comes into contact with the pivoting arm (3013), to drive the rotation of the pivoting arm (3013); or The first drive assembly (301) includes a cam, a first drive part being used to drive the rotation of the cam, the cam comes to rest against the outer wall of the pivoting arm (3013), and thus causes the pivoting arm (3013) to pivot.

11. Automatic cleaning device (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 element (303), and when the second cleaning element (303) tilts between the third and fourth positions, the first drive assembly (301) comes to rest against a protruding part (30161) of the first cam (3016) to drive the rotation of the pivoting arm (3013).

12. 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 element (303) moves from the fourth position to the third position, the first elastic element (3017) is used to drive the first cam (3016) to rotate in a second direction, so that the second cleaning element (303) moves from the third position to the fourth position; or the first drive assembly (301) causes a deformation of the first elastic element (3017) by the first cam (3016), in order to accumulate elastic potential energy;the first elastic element (3017) releases this elastic potential energy to cause the first cam (3016) to rotate in a second direction, so that the second cleaning element (303) moves from the third position to the fourth position.;

13. Automatic cleaning device (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 first two cleaning components (20) are respectively located on each side of the direction of travel of the automatic cleaning device (100), and the two second cleaning components (30) are also located on each side of the direction of travel of the automatic cleaning device (100).

14. Automatic cleaning device (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 travel of the automatic cleaning device (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 travel of the automatic cleaning device (100).

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

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