Transmission equipment, automatic cleaning equipment, and cleaning robot systems

Abstract

This disclosure provides a transmission device, an automatic cleaning device and a cleaning robot system, the transmission device being applied to the automatic cleaning device, the automatic cleaning device comprising a machine body and a first cleaning element, the transmission device comprising a first drive assembly, a rotating arm and an elastic member, the rotating arm being rotatably connected to the machine body, the first end of the elastic member being connected to the rotating arm and the second end of the elastic member being fixed relative to the machine body, the first cleaning element being mounted on the rotating arm, and the first drive assembly being used to switch the first cleaning element between a first operating position and a second operating position by cooperating with the elastic member to drive the rotating arm to rotate.

Description

Cross-reference to Related Applications ,

[0005]

[0001] This application claims the priority of Chinese Patent Application No. 202311091088.8 filed on August 25, 2023, and the disclosure content of the above Chinese patent application is incorporated herein by reference in its entirety as part of this application.

Technical Field

[0002] This disclosure relates to the technical field of transmission devices, and particularly to transmission devices, automatic cleaning devices, and cleaning robot systems.

Background Art

[0003] Current self-cleaning devices generally have a mopping function. However, the transmission devices of current self-cleaning devices are simple in design and single in function, and can only drive the mop to rotate for cleaning. Therefore, the position of the mop is relatively fixed, and the cleaning range is relatively small. For example, the current mop is located below the housing and is blocked by the housing in the horizontal direction. Due to the limitation of the housing, the current self-cleaning device cannot clean the surface to be cleaned at the corner, which affects the cleaning effect.

Summary of the Invention

[0006] In the process of selectively switching the first cleaning element between a first operating position and a second operating position, the first drive assembly rotates the rotating arm by contacting it.

[0007] Selectively, the rotating arm has a first cam connected to one end and the other end connected to the first cleaning element, and in the process of switching the first cleaning element between a first operating position and a second operating position, the first drive assembly contacts the protrusion of the first cam and rotates the rotating arm.

[0008] Selectively, the first end of the elastic member is connected to the first cam. and / or The first end of the elastic member is connected to the rotating arm.

[0009] Selectively, the elastic member is a tension spring, the first end of the tension spring is connected to the first cam, and the second end of the tension spring is fixed relative to the machine body. Alternatively, the elastic member is a torsion spring, the torsion spring is mounted on the rotation axis of the first cam, the first end of the torsion spring is connected to the first cam, and the second end of the torsion spring is fixed relative to the machine body. Alternatively, the elastic member is an elastic piece, the first end of which is connected to the first cam, and the second end of which is fixed relative to the machine body.

[0010] Selectively, the first cleaning element is movably, dynamically, or fixedly connected to the rotating arm.

[0011] Selectively, the first drive assembly is used to switch the first cleaning element from a second operating position to a first operating position by driving the first cam to rotate along a first direction.

[0012] Selectively, the elastic member is used to switch the first cleaning element from a first operating position to a second operating position by driving the first cam to rotate along a second direction.

[0013] Selectively, the first drive assembly stores elastic energy by deforming the elastic member with the first cam.

[0014] Selectively, the elastic member releases elastic energy to switch the first cleaning element from a first operating position to a second operating position by driving the first cam to rotate along a second direction.

[0015] Selectively, the first drive assembly includes a first drive unit and a second cam, the first drive unit being used to drive the second cam to rotate, and the second cam being used to contact the first cam and rotate the first cam.

[0016] Selectively, the second cam is installed at the output terminal of the first drive unit so that the first drive unit drives the second cam to rotate. or The output terminal of the first drive unit is power-driven to the second cam.

[0017] Selectively, the second cam includes a fan-shaped tooth portion and a contact portion, the first drive portion meshes with the fan-shaped tooth portion, the contact portion contacts the first cam, and the first cam is mounted coaxially with the rotating arm.

[0018] A connecting portion is selectively provided on the circumferential side of the first cam, and the connecting portion is used to connect to the first end of the elastic member.

[0019] Selectively, the first drive unit includes an extendable drive member and a first gear, the extendable drive member being connected to the first gear, and the first gear meshing with the fan-shaped teeth, thereby driving the extendable drive member by the first gear and the fan-shaped teeth such that the contact portion presses against and rotates the first cam, and the rotating arm rotates synchronously, thereby driving the first cleaning element to move from the second operating position to the first operating position.

[0020] Selectively, when the first cleaning element is in the second operating position, the second cam separates from the first cam.

[0021] Selectively, the automatic cleaning device further includes a first housing, wherein the telescopic drive member and the rotating arm are located outside the first housing, and the first gear, the second cam, the first cam and the elastic member are located inside the first housing, the first gear is power-connected to the telescopic drive member through the first housing, and the second end of the elastic member is connected to the first housing.

[0022] Selectively, the transmission device is A position detection device used to detect the rotational position of the second cam, wherein the telescopic drive member further includes a position detection device that rotates or stops rotating based on the detection result of the position detection device.

[0023] Alternatively, the position detection device includes a first optoelectronic switch and a second optoelectronic switch distributed on both sides of the second cam, the second cam further includes a first baffle and a second baffle distributed on both sides of the contact portion, the first baffle is inserted into the first optoelectronic switch and is suitable for changing a detection signal of the first optoelectronic switch, and the second baffle is inserted into the second optoelectronic switch and is suitable for changing a detection signal of the second optoelectronic switch.

[0024] Alternatively, the transmission device is a rotation angle detection device installed on the telescopic drive member and used for detecting the rotation angle of the output shaft of the telescopic drive member, and the telescopic drive member further includes a rotation angle detection device that rotates or stops rotating based on the detection result of the rotation angle detection device.

[0025] Alternatively, a first position restricting member and a second position restricting member are installed on the circumferential side of the first cam, the first position restricting member is located on the side away from the contact portion of the convex portion, the first position restricting member is used for abutting against the convex portion to restrict the rotation of the first cam, the second position restricting member is located on the side away from the contact portion of the connecting portion, and the second position restricting member is used for abutting against the connecting portion to restrict the rotation of the first cam.

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

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

[0028] Alternatively, a protective layer with a smooth outer surface is installed on the outer wall of the convex portion of the first cam.

[0029] Selectively, a roller is installed on the protrusion of the first cam, and the protrusion contacts the first drive assembly by the roller. or If the first drive assembly includes a second cam, a roller is installed on the second cam, and the second cam contacts the first cam by the roller.

[0030] Selectively, the first cleaning element is a rotating mop or a vibrating mop.

[0031] Selectively, the transmission further includes a second drive assembly, which is connected to the first cleaning element and used to drive the first cleaning element to move up and down.

[0032] Selectively, the second drive assembly is further used to drive the first cleaning element to vibrate and / or rotate about its own central axis as the center of rotation.

[0033] Selectively, the second drive assembly includes a lifting drive unit and a transmission unit, at least a portion of which is installed in the rotating arm and connected to the first cleaning element, and the lifting drive unit drives the first cleaning element to move up and down and rotate by the transmission unit.

[0034] Selectively, the transmission unit includes a power-connected worm, gear set, and sleeve, the worm being power-connected to the lifting drive unit, the gear set being installed in the rotating arm, the sleeve being connected to the first cleaning element, and the worm being driven by the gear set to cause the sleeve to lift and rotate, thereby driving the first cleaning element to lift and rotate.

[0035] Selectively, the gear set includes a worm wheel, a first sub-gear, a second sub-gear, a third sub-gear, and a connecting cylinder, of which, The worm wheel and the first subgear are mounted coaxially, the worm wheel is located outside the rotating arm and meshes with the worm, the first subgear, the second subgear, and the third subgear are all located inside the rotating arm, the second subgear includes a coaxially mounted first gear plate and a second gear plate, the first subgear meshes with the first gear plate, the second gear plate meshes with the third subgear, the connecting cylinder is mounted coaxially with the third subgear and located outside the rotating arm, the connecting cylinder is screw-connected to the sleeve, and the rotation of the gear set causes the sleeve and the connecting cylinder to rotate relative to each other, driving the sleeve to move up or down relative to the connecting cylinder.

[0036] Selectively, guide portions arranged in a spiral direction are installed on the cylindrical wall of the connecting cylinder. An insertion groove for accommodating the connecting cylinder is provided in the cylindrical wall of the sleeve, and a spiral guide groove for accommodating the guide portion is provided in the groove wall of the insertion groove. The guide portion is either a spiral boss or a plurality of spaced-apart projections.

[0037] Selectively, stopper ribs are installed near the opening of the groove wall of the insertion groove, and these stopper ribs are used to contact the guide portion and restrict the vertical movement of the sleeve relative to the connecting cylinder. The guide portion abuts against the bottom of the insertion groove to restrict the vertical movement of the sleeve relative to the connecting cylinder.

[0038] Selectively, a position-regulating plane that matches the first cleaning element is provided on the inner wall of the sleeve. Of these, the axial cross-section of the sleeve is hexagonal.

[0039] Selectively, the second drive assembly further includes a second housing having an open end, and if the automatic cleaning device includes a first housing, the second housing engages with the first housing, the worm, the worm wheel, the rotating arm, and the connecting cylinder are located in a space enclosed by the second housing and the first housing, the opening of the second housing is located away from the first housing, the bottom end of the sleeve is suitable for extending outside the opening of the second housing, the lifting drive unit is located outside the second housing, and the worm is drilled into the second housing and connected to the lifting drive unit.

[0040] Selectively, the second housing is partitioned into a first mounting cavity and a second mounting cavity, the worm wheel is located in the first mounting cavity, the sleeve is located in the second mounting cavity, the rotating arm extends to the first and second mounting cavities, and the shape of the second mounting cavity is adapted to the movement space of the rotating arm. The second housing further includes a bottom plate, which is detachably connected to the cavity wall of the first mounting cavity to enclose the worm wheel within the first mounting cavity.

[0041] Selectively, the automatic cleaning device further includes a second cleaning element movably connected to the machine body, wherein the second cleaning element and the first cleaning element are distributed on both sides of the longitudinal centerline of the machine body, and the second cleaning element is vertically movable and rotatable relative to the machine body.

[0042] Selectively, the relative position between the second cleaning element and the edge projection region of the machine body is fixed.

[0043] Embodiments of a second aspect of the present disclosure provide an automatic cleaning device comprising a transmission device, the automatic cleaning device comprising a machine body, wherein at least a portion of the first cleaning element in the second operating position is located outside the machine body in the horizontal direction, and at least a portion of the first cleaning element in the first operating position is located inside the machine body in the horizontal direction, and the area of ​​the first cleaning element in the second operating position outside the machine body in the horizontal direction is greater than the area of ​​the first cleaning element in the first operating position outside the machine body in the horizontal direction.

[0044] Embodiments of a third aspect of the present disclosure provide a cleaning robot system comprising the aforementioned transmission device, or comprising a base station and the aforementioned automatic cleaning device, wherein the automatic cleaning device is suitable for stopping at the base station.

[0045] The foregoing description is merely an overview of the proposed technology of this disclosure. To provide a clearer understanding of the technical means of this disclosure and to enable implementation in accordance with the specifications, and to provide a clearer understanding of the aforementioned and other purposes, features, and advantages of this disclosure, the following are examples of modes for carrying out the invention of this disclosure. [Brief explanation of the drawing]

[0046] The following drawings of this disclosure are used to understand this disclosure as part of embodiments of this disclosure. The drawings illustrate embodiments of this disclosure and their descriptions and are used to interpret the principles of this disclosure.

[0047] In the drawing, [Figure 1] This is a schematic diagram of the structure of an automatic cleaning device when the first cleaning element is in a first operating position, according to one selectable embodiment of the present disclosure. [Figure 2] This is a schematic diagram of the structure of an automatic cleaning device when the first cleaning element is in a second operating position, according to one selectable embodiment of the present disclosure. [Figure 3]This is a schematic diagram of a partial structure of an automatic cleaning device when the first cleaning element is in a second operating position, according to one selectable embodiment of the present disclosure. [Figure 4] This is a schematic diagram of a partial structure of an automatic cleaning device when the first cleaning element is in a second operating position, according to another selectable embodiment of the present disclosure. [Figure 5] Figure 2 is a schematic diagram of the structure of the embodiment shown in Figure 2 from a different viewpoint. [Figure 6] This is a schematic diagram of the structure when the first cleaning element is in a first operating position, according to one of the selectable embodiments of the present disclosure. [Figure 7] This is a schematic diagram of the structure when the first cleaning element is in a second operating position, according to one of the selectable embodiments of the present disclosure. [Figure 8] Figure 7 shows a schematic diagram of the structure of the embodiment from a different perspective. [Figure 9] Figure 7 shows a schematic diagram of the structure of the embodiment from yet another viewpoint. [Figure 10] Figure 9 shows a cross-sectional view in the AA direction of the embodiment shown. [Figure 11] This is a schematic diagram of the structure of a second drive assembly according to one of the selectable embodiments of the present disclosure. [Figure 12] Figure 7 shows a schematic diagram of the structure of the embodiment from yet another viewpoint. [Figure 13] This is a schematic diagram of the structure of a second housing according to one of the selectable embodiments of the present disclosure. [Figure 14] Figure 13 shows a schematic diagram of the embodiment from yet another viewpoint. [Figure 15] This is a schematic diagram of a structure in which a protective layer is installed on the first cam according to one of the selectable embodiments of the present disclosure. [Figure 16] This is a schematic diagram of the structure in which a roller is installed on the contact portion, according to one of the selectable embodiments of the present disclosure. [Explanation of Symbols]

[0048] 100, Automatic cleaning device; 110, Machine body; 111, Forward section; 112, Rearward section; 120, Sensing system; 121, Identification device; 122, Buffer; 130, First cleaning assembly; 131, First drive assembly; 1311, Telescopic drive member; 1313, Rotating arm; 1314, First gear; 1315, Second cam; 13151, Sector-shaped tooth section; 13152, Contact section; 13153, First baffle; 13154, Second baffle; 1316, First cam; 13161, Protrusion; 13162, Connecting part; 1317, Elastic member; 1318, First housing; 13181, First position regulating member; 13182, Second position regulating member; 13191, Protective layer; 13192, Roller; 132, Second drive assembly; 1321, Lifting drive unit; 1322, Transmission unit; 1323 , Worm; 1324, Gear set; 13241, Worm wheel; 13242, First sub-gear; 13243, First gear plate; 13244, Second gear plate; 13245, Third sub-gear; 13246, Connecting cylinder; 13247, Guide section; 1325, Sleeve; 13251, Insertion groove; 13252, Guide groove; 13253, Position regulating plane; 1326, Second housing; 13 261, first mounting cavity; 13262, second mounting cavity; 13263, base plate; 133, first cleaning element; 134, position detection device; 1341, first photoelectric switch; 1342, second photoelectric switch; 140, second cleaning assembly; 141, second cleaning element; 160, third cleaning assembly; 161, side brush; 162, roller brush. [Modes for carrying out the invention]

[0049] The following description provides many specific details in order to better understand the proposed technology provided in this disclosure. However, as will be apparent to those skilled in the art, the proposed technology provided in this disclosure can be implemented without requiring one or more of these details.

[0050] It should be noted that the terms used herein are for the sole purpose of describing specific embodiments and are not intended to limit the exemplary embodiments provided herein. Unless otherwise explicitly stated in the context, singular terms used herein are intended to include plural forms. It should also be understood that where the terms “contains” and / or “includes” are used herein, they indicate the presence of features, wholes, processes, operations, elements and / or assemblies, but do not exclude the presence or addition of one or more other features, wholes, processes, operations, elements, assemblies and / or combinations thereof.

[0051] The exemplary embodiments described herein will be described in more detail below with reference to the drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure thorough and complete and to fully convey the concepts of these exemplary embodiments to those skilled in the art.

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

[0053] Furthermore, as shown in Figures 1, 2, and 3, the automatic cleaning device 100 may include a machine body 110, a sensing system 120, a control module, a drive system, a cleaning system, an energy system, and human-computer interaction. To make it clear, the automatic cleaning device 100 may be a self-propelled cleaning device or any other automatic cleaning device 100 that meets the requirements. The automatic cleaning device 100 is a device that automatically performs cleaning operations within a cleaning target area without user intervention. Once the automatic cleaning device 100 starts operating, it departs from its base station and performs the cleaning task. When the automatic cleaning device 100 has completed the cleaning task or needs to stop the cleaning task, the self-propelled automatic cleaning device 100 can return to its base station to perform operations such as recharging, and / or replenishing water, and / or washing, and / or dust collection.

[0054] As shown in Figures 2 and 3, the machine body 110 includes a front portion 111 and a rear portion 112, and has a substantially circular shape with both the front and rear being circular. It may also have other shapes, including, but is not limited to, a substantially D-shape with a square front and a circular rear, and a shape with both the front and rear being rectangular or square.

[0055] As shown in Figures 1 and 2, the sensing system 120 includes a positioning device 121 positioned on the machine body 110, a collision sensor and proximity sensor on a buffer 122 installed on the forward portion 111 of the machine body 110, a cliff sensor installed on the bottom of the machine body 110, and sensor devices such as a magnetometer, accelerometer, gyroscope, and odometer installed inside the machine body 110, and is used to provide the control module with various position information and movement state information of the machine. The positioning device 121 includes, but is not limited to, a camera and a laser distance measuring device (LDS), collectively referred to as a Laser Distance Sensor.

[0056] As shown in Figures 1 and 2, the forward portion 111 of the machine body 110 can carry a buffer 122. When the drive wheel module presses the automatic cleaning device 100 against the ground during the cleaning process, the buffer 122 detects one or more events in the travel path of the automatic cleaning device 100 via a sensor system installed on it, such as an infrared sensor. The automatic cleaning device 100 controls the drive wheel module based on the events detected by the buffer 122, such as an obstacle or a wall, so that the automatic cleaning device 100 can respond to the event, for example, by moving away from an obstacle.

[0057] The control module is installed on a circuit board within the machine body 110 and includes non-temporary memory such as a hard disk, flash memory, and random access memory, as well as a communicating computing processor such as a central processing unit and an application processor. The application processor uses a position estimation algorithm, such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back from the laser rangefinder, to create a real-time map of the environment in which the automatic cleaning device 100 is located. Furthermore, based on distance and speed information fed back from sensor devices such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers installed in the buffer 122, the system comprehensively determines the current operating state, location, and current state of the automatic cleaning device 100, such as whether it has crossed a threshold, is on a carpet, is located on a cliff, is clogged above or below, has a full dustbin, or has been lifted. The system also provides specific next action strategies according to different situations, enabling the automatic cleaning device 100 to have superior cleaning performance and user experience.

[0058] The drive system can be operated to cause the machine body 110 to travel across the ground based on drive commands having distance and angular information, for example, x, y, and θ components. The drive system includes a drive wheel module, which can control the left wheel and the right wheel simultaneously, and preferably includes a left drive wheel module and a right drive wheel module, respectively, for more precise control of the machine's movement. The left and right drive wheel modules are installed along the lateral axis defined by the machine body 110. To enable the automatic cleaning device 100 to move more stably on the ground or to have a stronger mobility, the automatic cleaning device 100 may include one or more driven wheels, which include, but are not limited to, swivel wheels. The drive wheel module includes a travel wheel, a drive motor, and a control circuit for controlling the drive motor, and the drive wheel module may further be connected to a circuit for measuring the drive current and an odometer. The drive wheel may have a bias-drop suspension system that is movably clamped to the machine body 110, for example, rotatably mounted, and receives a spring bias biased downward and away from the machine body 110. The spring bias allows the drive wheel to maintain contact and traction with the ground with a constant landing force, while at the same time allowing the cleaning element of the automatic cleaning device 100 to contact the ground with a constant pressure.

[0059] The energy system includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. A charging control circuit, a battery pack charging temperature detection circuit, and a battery low voltage monitoring circuit may be connected to the rechargeable batteries, and these circuits may be further connected to a single-chip microcontroller control circuit. The main unit is connected to a charging stand via charging electrodes located on the side or bottom of the unit for charging.

[0060] Human-computer interaction includes buttons on the main panel, which the user uses to select functions, and may further include a display screen and / or indicator lights and / or speakers, the display screen, indicator lights and speakers displaying the current machine status or function selection items to the user, and may further include a mobile phone client program. For the route navigation type automatic cleaning device 100, the mobile phone client can display to the user a map of the environment in which the device is located and the location of the device, providing the user with richer and more user-friendly functions.

[0061] The cleaning system includes a wet cleaning system, meaning the automatic cleaning device 100 may be a mopping machine, or the cleaning system includes a wet cleaning system and a dry cleaning system, meaning the automatic cleaning device 100 is a wet / dry vacuum cleaner.

[0062] As shown in Figure 5, the dry cleaning system may include a third cleaning assembly 160, a dust box, a fan, and an air outlet. The third cleaning assembly 160 may include a roller brush 162, which has a certain interference with the ground, sweeps up debris from the ground and draws it into the dust collection opening between the roller brush 162 and the dust box, and then sucks it into the dust box by a suction gas generated by the fan and passed through the dust box. The third cleaning assembly 160 may further include a rotatable side brush 161, which is used to move debris to the area of ​​the roller brush 162 of the cleaning system by forming a certain angle with respect to the ground.

[0063] As shown in Figures 2 and 5, the wet cleaning system may include a first cleaning assembly 130, a water supply mechanism, a liquid storage tank, and the like. The cleaning liquid inside the liquid storage tank is transferred to the first cleaning assembly 130 by the water supply mechanism, so that the first cleaning assembly 130 performs wet cleaning on the surface to be cleaned. In other embodiments of this disclosure, the cleaning liquid inside the liquid storage tank may be sprayed directly onto the surface to be cleaned, and the first cleaning assembly 130 uniformly applies the cleaning liquid to achieve cleaning of the surface. Specifically, the drive unit of the water supply mechanism may be a peristaltic pump or other power mechanism.

[0064] Of these, the first cleaning assembly 130 includes the first cleaning element 133, that is, the first cleaning element 133 is part of the first cleaning assembly 130.

[0065] In the case where the automatic cleaning device 100 is a wet / dry vacuum cleaner, the roller brush 162 and dust collection port of the third cleaning assembly 160 are located in front of the first cleaning assembly 130 along the direction of movement of the automatic cleaning device 100, and the side brush 161 is also located in front of the first cleaning assembly 130, thereby ensuring that the machine body 110 can perform a cleaning sequence of cleaning followed by wiping during its travel.

[0066] As shown in Figures 1, 2, 3, and 4, the transmission device provided by the embodiment of the present disclosure is applied to an automatic cleaning device, the automatic cleaning device comprising a machine body 110 and a first cleaning element 133, the transmission device comprising a first drive assembly 131, a rotating arm 1313 and an elastic member 1317, the rotating arm 1313 being rotatably connected to the machine body 110, the first end of the elastic member 1317 being connected to the rotating arm 1313 and the second end of the elastic member 1317 being fixed relative to the machine body 110, the first cleaning element 133 being mounted on the rotating arm 1313, and the first drive assembly 131 being used in cooperation with the elastic member 1317 to drive the rotating arm 1313 to rotate the first cleaning element 133 so as to switch between a first operating position and a second operating position.

[0067] By installing a first drive assembly 131, a rotating arm 1313, and an elastic member 1317, and by installing a first cleaning element 133 on the rotating arm 1313, the first cleaning element can be driven to switch between a first operating position and a second operating position using the first drive assembly and the elastic member 1317 according to the cleaning range needs of the automatic cleaning device. This allows the first cleaning element to be moved to an operating position that satisfies the corresponding cleaning range needs, thereby meeting the needs of different mopping ranges, expanding the mopping range, which is advantageous for improving cleaning effectiveness and enhancing the user's cleaning experience.

[0068] Furthermore, the connection of the first end of the elastic member 1317 to the rotating arm 1313 includes both direct connection and indirect connection by other members, and both direct and indirect connections between the first end of the elastic member 1317 and the rotating arm 1313 are within the scope of protection of this disclosure.

[0069] As shown in Figure 6, the first drive assembly drives the first cleaning element 133 to move to a first operating position by the rotating arm 1313. At this time, the force applied by the first drive assembly to the rotating arm 1313 and the force applied by the elastic member 1317 to the rotating arm 1313 are in opposite directions. Furthermore, the rotating arm 1313 is fixed by these two opposing forces, preventing it from swinging, and also preventing the first cleaning element 133 from moving along with the rotating arm 1313 during the cleaning process.

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

[0071] Of these, when the first cleaning element 133 is in the first or second operating position, both elastic members are in a deformed state and can maintain the force applied to the rotating arm 1313.

[0072] The first cleaning element 133 may be a flexible, absorbent material such as a fabric or sponge. In this solution, the first cleaning element 133 may be a rotating cleaning element, a vibrating cleaning element, or a fixed cleaning element. Specifically, the first cleaning element 133 may be a tray, and the first cleaning element 133 removes dirt from the ground by rotational movement.

[0073] Figure 1 shows a schematic diagram of the structure of the automatic cleaning device 100 when the first cleaning element 133 is in the first operating position, and Figures 2, 3, 4, and 5 show schematic diagrams of the structure of the automatic cleaning device 100 when the first cleaning element 133 is in the second operating position. The projections of the first cleaning element 133 in the first and second operating positions are located in different positions within the projection area of ​​the machine body 110. As shown in Figure 1, the projection of the first cleaning element 133 in the first operating position is within the projection area of ​​the machine body 110, and as shown in Figure 2, at least a portion of the projection of the first cleaning element 133 in the second operating position is outside the projection area of ​​the machine body 110. As can be understood, in other embodiments, the first cleaning element 133 in the first and second operating positions Both projections of the cleaning element 133 can be within the projection area of ​​the machine body 110, but their positions are different, or at least a portion of the projection of the first cleaning element 133 at the first operating position and the second operating position can both be within the projection area of ​​the machine body 110, but their positions are different, that is, at least a portion of the first cleaning element 133 at the second operating position is located outside the machine body 110 in the horizontal direction, and at least a portion of the first cleaning element 133 at the first operating position is located inside the machine body 110 in the horizontal direction, and the area of ​​the first cleaning element at the second operating position outside the horizontal direction of the machine body 110 is greater than the area of ​​the first cleaning element at the first operating position outside the horizontal direction of the machine body 110.This allows the first cleaning element 133 to be moved to an operating position that satisfies the corresponding cleaning range needs, specifically the wet cleaning range needs, by using the first drive assembly 131 to drive the first cleaning element 133 to switch between a first operating position and a second operating position, based on the cleaning range needs of the automatic cleaning device 100, and specifically based on the wet cleaning range needs. In other words, the first cleaning element 133 performs a mopping operation at the first operating position and then performs a mopping operation again at the second operating position, thereby satisfying different mopping range needs, expanding the mopping range, i.e., expanding the cleaning range of the automatic cleaning device 100, improving the cleaning effect, and enhancing the user's cleaning experience.

[0074] Furthermore, if the first cleaning element 133 in the first operating position is entirely located within the machine body 110 in the horizontal direction, the area of ​​the first cleaning element in the first operating position outside the machine body 110 in the horizontal direction is zero. In this case, the area of ​​the first cleaning element in the second operating position outside the machine body 110 in the horizontal direction is still larger than the area of ​​the first cleaning element in the first operating position outside the machine body 110 in the horizontal direction.

[0075] As shown in Figures 2 to 5, in some feasible embodiments provided by this disclosure, at least a portion of the first cleaning element 133 in the second operating position is located outside the machine body 110 in the horizontal direction, i.e., at least a portion of the first cleaning element 133 in the second operating position is located outside the edge projection area of ​​the machine body 110.

[0076] Of these, at least a portion of the first cleaning element 133 at the second operating position is located outside the edge projection area of ​​the machine body 110. As a result, the cleaning range of the first cleaning element 133 at the second operating position can extend beyond the periphery of the machine body 110's travel range. This allows for comprehensive cleaning of corner positions that the machine body 110 cannot reach, thereby increasing the cleaning range of the first cleaning element 133 and improving the cleaning effect of the automatic cleaning device 100.

[0077] Of these, the first cleaning element 133 located at the second operating position may be entirely located outside the edge projection area of ​​the machine body 110, or partially located outside the edge projection area of ​​the machine body 110, and may be set according to the specific structure.

[0078] Of these, since the majority of the first cleaning element 133 in the first operating position is located within the edge projection area of ​​the machine body 110, the cleaning range of the first cleaning element 133 in the first operating position can be located within the travel range of the machine body 110. This allows mopping operations to be performed on areas within the travel range of the machine body 110, thereby reducing the possibility of the first cleaning element 133 protruding outside the machine body 110 and colliding with obstacles, which is advantageous for improving the service life and reliability of the first cleaning element 133.

[0079] Furthermore, the automatic cleaning device 100 can selectively drive the first cleaning element 133 to switch between a first operating position and a second operating position based on whether or not it needs to mop corners. For example, the first cleaning element 133 can be moved to the first operating position to perform a normal wet cleaning operation, and the first cleaning element 133 can be moved to the second operating position to perform a wet cleaning operation on corners, thereby meeting different functional needs of the automatic cleaning device 100 and improving its intelligence.

[0080] In some feasible embodiments provided by this disclosure, the first drive assembly 131 contacts the rotating arm 1313 during the process of switching the first cleaning element 133 between a first operating position and a second operating position, thereby ensuring that the rotating arm 1313 rotates and is driven stably to rotate, and further ensuring that the first cleaning element 133 is stably switched between the first operating position and the second operating position.

[0081] Of these, the first drive assembly 131 can directly contact the rotating arm 1313 and can also directly drive the rotating arm 1313 to rotate by the rotation of the first drive assembly 131.

[0082] Specifically, the first drive assembly 131 may include a cam or other eccentric rotating mechanism that contacts the outer wall of the rotating arm 1313 and directly presses the rotating arm 1313 to rotate by driving the cam or other eccentric rotating mechanism to rotate on its own axis.

[0083] In some feasible embodiments provided by this disclosure, a rotating arm 1313 has a first cam 1316 connected to one end and a first cleaning element 133 connected to the other end, and in the process of switching the first cleaning element 133 between a first operating position and a second operating position, a first drive assembly 131 contacts a protrusion 13161 of the first cam 1316 to rotate the rotating arm 1313.

[0084] Of these, the protrusion of the first cam 1316 is the portion that protrudes outward along the radial direction within the first cam 1316.

[0085] The first drive assembly contacts the protrusion of the first cam 1316, and the first drive assembly can apply force to the protrusion of the first cam 1316, thereby enabling the first drive assembly to drive the first cam 1316 to rotate. The first cam 1316 is connected to one end of the rotating arm 1313, and the rotation of the first cam drives the rotating arm to rotate. Furthermore, the first cleaning element at the other end of the rotating arm is driven to switch between a first operating position and a second operating position.

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

[0087] In this embodiment, the elastic member is an example of a tension spring. One end of the elastic member 1317 may be indirectly or directly fixedly connected to the machine body, that is, to ensure relative stationary position with respect to the machine body. The other end may be connected to the first cam 1316 alone, to the rotating arm 1313, or to both the first cam 1316 and the rotating arm 1313 simultaneously. For example, if the elastic member has a Y-shaped structure, it is possible to connect it to both the first cam 1316 and the rotating arm 1313 simultaneously. Naturally, simultaneous connection to both the first cam 1316 and the rotating arm 1313 can also be achieved by connecting members such as connecting wires.

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

[0089] In this configuration, the elastic member 1317 is used as a tension spring, and the first end of the tension spring is connected to the first cam 1316, while the second end of the tension spring is fixed relative to the machine body 110. This allows for a stable supply of elastic force, thereby enabling the first cleaning element 133 to be switched from a first operating position to a second operating position.

[0090] In some feasible embodiments provided by this disclosure, the elastic member 1317 is a torsion spring, which is mounted on the axis of rotation of the first cam 1316.

[0091] The torsion spring may be installed coaxially with the rotation axis of the first cam 1316, that is, the torsion spring may be fitted to the outer circumference of the rotation axis of the first cam 1316, and one end of the torsion spring may be connected to the first cam 1316, and the second end of the torsion spring may be fixed relative to the machine body 110, so as to be able to stably provide elastic force so that the first cleaning element 133 can be switched from a first operating position to a second operating position.

[0092] In some feasible embodiments provided by this disclosure, the elastic member 1317 is an elastic piece, the first end of which is connected to the first cam 1316, and the second end of which is fixed relative to the machine body 110.

[0093] Of these, the first end of the elastic piece is connected to the first cam 1316, and the second end is fixed relative to the machine body 110, allowing the first cleaning element 133 to be stably driven to switch from the first operating position to the second operating position by the elastic force generated after deformation.

[0094] To make it clear, the elastic member 1317 may also be an elastic member other than a tension spring, torsion spring, and elastic piece, and can provide an elastic force that allows the first cleaning element 133 to be switched from a first operating position to a second operating position.

[0095] The rotating arm 1313 is rotatably connected to the machine body 110, and the first cleaning element 133 is movably, electrically, or fixedly connected to the rotating arm 1313.

[0096] Of these, one end of the rotating arm 1313 is rotatably connected to the machine body 110, enabling the rotating arm 1313 to swing on the machine body 110, and further enabling the first cleaning element to be driven to switch between a first operating position and a second operating position.

[0097] Of these, the first cleaning element 133 is movably, electrically, or fixedly connected to the rotating arm 1313, and the first cleaning element 133 is brought into contact with the surface to be cleaned to perform the cleaning operation.

[0098] The elastic member 1317 may be connected to the protrusion 13161 of the first cam 1316. In this embodiment, a connecting portion 13162 is provided on the circumferential side of the first cam 1316, and the connecting portion 13162 is used to connect to the elastic member 1317, thereby increasing the distance between the elastic member 1317 and the first drive assembly and avoiding interference.

[0099] Of these, the connecting portion 13162 can protrude outward along the radial direction of the first cam, and the elastic member 1317 is connected to the end of the connecting portion 13162 in order to obtain a greater torque.

[0100] Of these, the connecting portion 13162 may be manufactured integrally with the other parts of the cam.

[0101] Specifically, the first drive assembly is used to switch the first cleaning element 133 from a second operating position to a first operating position by driving the first cam 1316 to rotate along a first direction. The elastic member 1317 is used to switch the first cleaning element 133 from a first operating position to a second operating position by driving the first cam 1316 to rotate along a second direction.

[0102] Of these, the first direction and the second direction are two opposite directions. For example, the first direction is the counterclockwise direction in Figure 6, and the second direction is the clockwise direction in Figure 6.

[0103] When the first cleaning element 133 is in the first operating position, the elastic member 1317 is in a tensile state, which drives the first cam 1316 to rotate along the second direction, thereby switching the first cleaning element 133 from the first operating position to the second operating position. When the first cleaning element 133 is in the second operating position, the elastic member 1317 is also in a tensile state, and the rotating arm can be locked by the elastic force.

[0104] Specifically, the first drive assembly stores elastic energy by driving the elastic member 1317 to deform with the first cam 1316. The elastic member 1317 releases the elastic energy to drive the first cleaning element 133 from a first operating position to a second operating position.

[0105] The first drive assembly includes a first drive unit and a second cam 1315, the first drive unit being used to drive the second cam 1315 to rotate, and the second cam 1315 being used to contact the first cam 1316 and rotate the first cam 1316.

[0106] Of these, the second cam 1315 includes a contact portion, which is the part of the second cam 1315 that extends outward along the radial direction. The contact portion of the second cam 1315 contacts the protrusion of the first cam 1316, thereby enabling power transmission.

[0107] Of these, the first drive unit is used to output power and to drive the second cam 1315 and the first cam 1316 to rotate.

[0108] The second cam is installed directly at the output terminal of the first drive unit, so that the first drive unit can directly drive the second cam to rotate it.

[0109] The output terminal of the first drive unit may also be power-driven to the second cam, and can similarly drive the second cam to rotate.

[0110] As shown in Figures 6, 7, and 8, the second cam 1315 includes a fan-shaped tooth portion 13151 and a contact portion 13152, the first gear 1314 is power-connected to the telescopic drive member 1311 and meshes with the fan-shaped tooth portion 13151, the contact portion 13152 contacts the first cam 1316, and the first cam 1316 is installed coaxially with the rotating arm 1313.

[0111] Of these, the fan-shaped teeth 13151 and the contact portion 13152 are distributed at intervals in the circumferential direction of the rotation axis of the second cam 1315, thereby simultaneously driving the second cam 1315 to rotate and the fan-shaped teeth 13151 and the contact portion 13152 to rotate. As a result, as shown in Figure 6, the telescopic drive member 1311 rotates along one direction, for example clockwise or counterclockwise, driving the first gear 1314 to rotate. Because the fan-shaped teeth 13151 and the first gear 1314 mesh, the fan-shaped teeth 13151 can drive the second cam 1315 to rotate, and further drive the contact portion 13152 to rotate. The contact portion 13152 contacts the first cam 1316, which can press and rotate the first cam 1316. Since the first cam 1316 and the rotating arm 1313 are installed coaxially, the rotating arm 1313 rotates in sync with the first cam 1316, and the first cleaning element 133 mounted inside the rotating arm 1313 can be driven to move from the second operating position to the first operating position.

[0112] The first drive unit includes an extendable drive member 1311 and a first gear 1314. The extendable drive member 1311 is connected to the first gear 1314, and the first gear 1314 meshes with a sector-shaped tooth portion 13151. The extendable drive member 1311 is driven by the first gear 1314 and the sector-shaped tooth portion 13151 so that the contact portion 13152 presses against the first cam 1316, causing it to rotate. The rotating arm 1313 rotates synchronously, driving the first cleaning element 133 to move from the second operating position to the first operating position.

[0113] Of these, the telescopic drive member 1311 is used to output power, and the telescopic drive member 1311 may be a motor. The first gear 1314 is installed coaxially with the output end of the telescopic drive member 1311 and meshes with the fan-shaped teeth 13151, thereby driving the telescopic drive member 1311 to rotate the first gear 1314, the second cam 1315 and the first cam 1316, and further driving the rotating arm 1313 to rotate synchronously, thereby driving the first cleaning element 133 to move from the second operating position to the first operating position.

[0114] When the first cleaning element 133 moves from the first operating position to the second operating position, the rotation direction of the contact portion 13152 is opposite to the rotation direction of the contact portion 13152 when the first cleaning element 133 moves in the direction returning to the machine body 110. Therefore, the contact portion 13152 does not apply a pressing force to the first cam 1316, and as a result, the action of the elastic member 1317 causes the first cam 1316 to press against the first cleaning element 133. The first cam 1316 rotates in the opposite direction to the first cam 1316 during the process of moving back into the machine body 110, and the contact portion 13152 can be pressed and rotated. Since the first cam 1316 is installed coaxially with the rotating arm 1313, the rotating arm 1313 rotates in sync with the first cam 1316, and the first cleaning element 133 mounted inside the rotating arm 1313 can be driven to move from the first operating position to the second operating position.

[0115] When the first cleaning element is in the second operating position, the second cam is separated from the first cam.

[0116] By separating the second cam 1315 and the first cam 1316, an interaction force between the second cam and the first cam can be eliminated. This prevents the force from being transmitted to the telescopic drive member 1311 by the first cam 1316 and the first gear 1314 when the first cam 1316 is driven to rotate due to the swing of the swing arm, thereby providing protection to the telescopic drive member 1311.

[0117] When the first cleaning element is in the second operating position, the contact portion of the second cam and the protrusion of the first cam are separated by a circumferential gap between them.

[0118] As shown in Figures 7 and 8, in some feasible embodiments provided by this disclosure, the automatic cleaning device 100 further includes a first housing 1318, the telescopic drive member 1311 and the rotating arm 1313 are located outside the first housing 1318, the first gear 1314, the second cam 1315, the first cam 1316 and the elastic member 1317 are all located inside the first housing 1318, the first gear 1314 is power-connected to the telescopic drive member 1311 by drilling through the first housing 1318, and the second end of the elastic member 1317 is connected to the first housing 1318.

[0119] Of these, the first gear 1314, the second cam 1315, the first cam 1316, and the elastic member 1317 are all located within the first housing 1318. This allows the first housing 1318 to provide good protection, which is advantageous for extending service life and improving reliability, and at the same time, for ensuring good transmission accuracy.

[0120] Specifically, the first housing 1318 may include a detachably connected first upper housing and a first lower housing, which facilitates the attachment and detachment of the first housing 1318, and at the same time facilitates the attachment and detachment of the first gear 1314, the second cam 1315, the first cam 1316, and the elastic member 1317, thereby facilitating the attachment and detachment of the first drive assembly 131. Specifically, the first upper housing and the first lower housing can be detachably connected by at least one of screws, locking structures, tenon structures, and magnetic attraction structures.

[0121] As shown in Figures 6 and 7, in some feasible embodiments provided by this disclosure, the automatic cleaning device 100 further includes a position detection device 134 installed in a housing and used to detect the rotational position of a second cam 1315, wherein the telescopic drive member 1311 rotates or stops rotating based on the detection results of the position detection device 134.

[0122] In addition, by installing the position detection device 134, the rotational position of the second cam 1315 can be detected, and the rotational position of the first cam 1316 can also be determined. As a result, when the first cam 1316 rotates to an appropriate position, for example, when the first cam 1316 rotates so that the rotating arm 1313 drives the first cleaning element 133 to move to the first or second operating position, the telescopic drive member 1311 stops rotating based on the detection result of the position detection device 134 at this time, and holds the first cleaning element 133 in the first or second operating position, thereby enabling accurate switching between the first and second operating positions. To understand this, if the first cam 1316 rotates and drives the rotating arm 1313 so that the first cleaning element 133 does not move to the first or second operating position, the telescopic drive member 1311 can continue to rotate based on the detection result of the position detection device 134 at this time, thereby driving the first cleaning element 133 to move further in the direction toward the target operating position, for example, the first or second operating position.

[0123] Among these, the position detection device 134 may include a photoelectric switch, a mechanical switch, or other detection mechanism that meets the requirements.

[0124] In the above embodiment, as shown in Figures 6 and 7, the position detection device 134 includes a first photoelectric switch 1341 and a second photoelectric switch 1342 distributed on both sides of the second cam 1315, and the second cam 1315 further includes a first baffle 13153 and a second baffle 13154 distributed on both sides of the contact portion 13152, the first baffle 13153 being suitable for being inserted into the first photoelectric switch 1341 to cause the first photoelectric switch 1341 to change the detection signal, and the second baffle 13154 being suitable for being inserted into the second photoelectric switch 1342 to cause the second photoelectric switch 1342 to change the detection signal.

[0125] In this embodiment, by installing the first photoelectric switch 1341 and the second photoelectric switch 1342 on both sides of the second cam 1315, the two photoelectric switches can be used to detect whether the first cleaning element 133 has reached the first operating position and the second operating position, respectively. This improves the accuracy of detecting whether the first cleaning element 133 has reached the target operating position.

[0126] In this configuration, a photoelectric switch typically includes a light-emitting unit and a light-receiving unit, and the change in the detection signal of the photoelectric switch depends on whether the light-receiving unit can receive the light signal from the light-emitting unit. By placing the first baffle 13153 and the second baffle 13154 on the second cam 1315, the rotation of the second cam 1315 can drive the first baffle 13153 and the second baffle 13154 to rotate synchronously, with the first baffle 13153 and the second baffle 13154 distributed on both sides of the contact portion 13152, and when the second cam 1315 rotates to the appropriate position, the first baffle 13153 is inserted into the first photoelectric switch 1341, thereby changing the detection signal of the first photoelectric switch 1341. For example, if the first baffle 13153 is positioned between the light-emitting and light-receiving parts of the first photoelectric switch 1341, it prevents the light-receiving part from receiving the light signal from the light-emitting part, causing the first photoelectric switch 1341 to change its detection signal, which indicates that the first cam 1316 has rotated to the appropriate position, moving the first cleaning element 133 to the first operating position. At this time, the telescopic drive member 1311 can maintain the first cleaning element 133 in the first operating position by stopping its rotation in response to the detection signal from the first photoelectric switch 1341.

[0127] When the second cam 1315 rotates to the appropriate position, the second baffle 13154 is inserted into the second photoelectric switch 1342, causing the second photoelectric switch 1342 to change its detection signal. For example, the second baffle 13154 is positioned between the light-emitting and light-receiving parts of the second photoelectric switch 1342, preventing the light-receiving part from receiving the light signal from the light-emitting part. This changes the detection signal of the second photoelectric switch 1342, indicating that the first cam 1316 has rotated to the appropriate position, moving the second cleaning element 141 to the second operating position. At this time, the telescopic drive member 1311 stops rotating in response to the detection signal from the second photoelectric switch 1342, thereby maintaining the second cleaning element 141 in the second operating position.

[0128] In some feasible embodiments provided by this disclosure, the automatic cleaning device 100 includes a rotation angle detection device installed on a telescopic drive member 1311 and used to detect the rotation angle of the output shaft of the telescopic drive member 1311, wherein the telescopic drive member 1311 further includes a rotation angle detection device that rotates or stops rotating based on the detection result of the rotation angle detection device.

[0129] By installing the rotation angle detection device, the rotation angle of the output shaft of the telescopic drive member 1311 can be detected. This allows us to determine the rotation angle of the first gear 1314, the rotation angle of the second cam 1315, and further, the rotation angle of the first cam 1316. As a result, when the first cam 1316 rotates to an appropriate angle, for example, when the first cam 1316 rotates so that the rotating arm 1313 drives the first cleaning element 133 to move to the first or second operating position, the telescopic drive member 1311 stops rotating based on the detection result of the rotation angle detection device at that time, and holds the first cleaning element 133 in the first or second operating position, thereby enabling accurate switching between the first and second operating positions. To understand this, if the first cam 1316 rotates and drives the rotating arm 1313 so that the first cleaning element 133 does not move to the first or second operating position, the telescopic drive member 1311 can continue to rotate based on the detection result of the rotation angle detection device at this time, thereby driving the first cleaning element 133 to move further in the direction toward the target operating position, for example, the first or second operating position.

[0130] As shown in Figure 8, in some feasible embodiments provided by this disclosure, a first position restricting member 13181 and a second position restricting member 13182 are further installed within the first housing 1318, distributed around the first cam 1316, wherein the first position restricting member 13181 is located away from the contact portion 13152 of the protrusion 13161 and is used to abut against the protrusion 13161 to restrict the rotation of the first cam 1316, and the second position restricting member 13182 is located away from the contact portion 13152 of the connection portion 13162 and is used to abut against the connection portion 13162 to restrict the rotation of the first cam 1316.

[0131] This allows the rotation of the first cam 1316 to be restricted. For example, after the first cam 1316 rotates to the appropriate position, the protrusion 13161 of the first cam 1316 comes into contact with the first position restricting member 13181, preventing the first cam 1316 from continuing to move toward the first position restricting member 13181, thus reliably and accurately maintaining the first cleaning element 133 in the first operating position. At the same time, after the first cam 1316 rotates to the appropriate position, the connecting portion 13162 of the first cam 1316 comes into contact with the second position restricting member 13182, preventing the first cam 1316 from continuing to move toward the second position restricting member 13182, thus reliably and accurately maintaining the first cleaning element 133 in the second operating position.

[0132] To make it clear, in this state, even if the telescopic drive member 1311 continues to rotate, the first cam 1316 will not continue to rotate due to the action of the first position regulating member 13181 or the second position regulating member 13182. Therefore, even in the event of a failure of the position detection device 134 and the rotation angle detection device, the first cleaning element 133 can be reliably maintained in the first or second operating position, achieving double verification and improving the accuracy and reliability of the first cleaning element 133 reaching the target operating position.

[0133] In some feasible embodiments provided by this disclosure, the first drive assembly 131 and / or the first cam 1316 are fitted with a wear-resistant structure, and the first drive assembly 131 and the first cam 1316 are in contact with each other by the wear-resistant structure.

[0134] By installing a wear-resistant structure on the first drive assembly 131 and / or the first cam 1316, and by having the wear-resistant structure transmit force between the first drive assembly 131 and the first cam 1316, a protective effect is achieved on the first drive assembly 131 and the first cam 1316, reducing wear on the first drive assembly 131 and the first cam 1316 and ensuring a good service life.

[0135] In this configuration, the wear-resistant structure may be installed on the first drive assembly 131, on the protrusion of the first cam 1316, or simultaneously on the protrusions of both the first drive assembly 131 and the first cam 1316. When the first drive assembly 131 and the protrusion of the first cam 1316 transmit force, that is, when the first drive assembly 131 and the first cam 1316 are crushed against each other, the wear-resistant structure is located between the first drive assembly 131 and the protrusion of the first cam 1316.

[0136] The wear-resistant structure includes a roller 13192 and / or a protective layer 13191 with a smooth outer surface. By installing the roller 13192, the frictional force between the first drive assembly 131 and the first cam 1316 can be reduced to rolling friction, which is even smaller than the sliding frictional force between the first drive assembly 131 and the first cam 1316. By installing the protective layer 13191 with a smooth outer surface, the frictional force can be reduced, and at the same time, it provides protection to the first cam 1316. If damage due to friction becomes severe after prolonged use, only the protective layer 13191 needs to be replaced, resulting in relatively low maintenance costs.

[0137] As shown in Figure 16, in some feasible embodiments provided by this disclosure, the first drive assembly 131 may be fitted with a roller 13192, and a protective layer 13191 with a smooth outer surface is fitted to the protrusion of the first cam 1316, and the first drive assembly 131 contacts the protective layer 13191 on the protrusion of the first cam 1316 by the roller 13192.

[0138] In some feasible embodiments provided by this disclosure, a roller 13192 can be mounted on a protrusion of a first cam 1316, a protective layer 13191 with a smooth outer surface is mounted on a first drive assembly 131, and the first cam 1316 contacts the protective layer 13191 on the first drive assembly 131 by the roller 13192.

[0139] In some feasible embodiments provided by this disclosure, the protrusion of the first cam 1316 and the first drive assembly 131 are fitted with a protective layer 13191 having a smooth outer surface, and the first cam 1316 and the first drive assembly 131 are in contact with each other by the protective layer 13191.

[0140] In some feasible embodiments provided by this disclosure, rollers 13192 can be mounted on both the protrusion of the first cam 1316 and the first drive assembly 131, wherein the rollers 13192 on the protrusion of the first cam 1316 and the rollers 13192 on the first drive assembly 131 are offset from each other, i.e., the two rollers 13192 do not contact each other, the protrusion of the first cam 1316 contacts the first drive assembly 131 by the rollers 13192 on it, and the first drive assembly 131 contacts the protrusion of the first cam 1316 by the rollers 13192 on it.

[0141] As shown in Figure 15, in some feasible embodiments provided by this disclosure, a protective layer 13191 with a smooth outer surface is provided on the outer wall of the protrusion 13161 of the first cam 1316.

[0142] By installing a protective layer 13191 with a smooth outer surface on the outer wall of the protrusion 13161 of the first cam 1316, the frictional force when the protrusion 13161 of the first cam 1316 contacts the second cam 1315 can be reduced, thereby protecting the first cam 1316 and the second cam 1315 and extending their service life.

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

[0144] Specifically, the metal sheet is placed on the contact surface between the protrusion 13161 and the second cam 1315, that is, when the protrusion 13161 and the second cam 1315 interact, the metal sheet is positioned between the protrusion 13161 and the second cam 1315.

[0145] In some feasible embodiments provided by this disclosure, a roller 13192 is mounted on a protrusion 13161 of the first cam 1316, and the protrusion 13161 is brought into contact with the first drive assembly 131 by the roller 13192, thereby allowing rolling friction between the protrusion 13161 and the first drive assembly 131, having a relatively small frictional force, avoiding excessive wear of the protrusion 13161 and the first drive assembly 131, and ensuring that the first cam 1316 and the first drive assembly 131 have a relatively long service life.

[0146] Of these, the protrusion 13161 contacts the contact portion 13152 of the second cam 1315 by the roller 13192.

[0147] The axis of the roller 13192 is substantially parallel to the contact surface between the protrusion 13161 and the first drive assembly 131, further ensuring that the roller 13192 can roll stably on the first drive assembly.

[0148] In some feasible embodiments provided by this disclosure, if the first drive assembly 131 includes a second cam 1315, the second cam 1315 is fitted with a roller 13192, and the second cam 1315 contacts the first cam 1316 by the roller 13192, so that rolling friction can occur between the protrusion 13161 and the first drive assembly 131, having a relatively small frictional force, avoiding excessive wear between the protrusion 13161 and the first drive assembly 131, and ensuring that the first cam 1316 and the second cam 1315 have a relatively long service life.

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

[0150] As shown in Figures 4 and 11, in some feasible embodiments provided by this disclosure, the transmission further includes a second drive assembly 132, which is connected to the first cleaning element 133 and used to drive the first cleaning element 133 to move up and down.

[0151] The second drive assembly 132 is further used to drive the first cleaning element 133 to vibrate and / or rotate about its own central axis as the center of rotation.

[0152] This allows the first cleaning element 133, which is in the first or second operating position, to be driven to descend and rotate until it contacts the surface to be cleaned, thereby enabling a mopping operation on the surface to be cleaned. After the mopping operation is completed, the first cleaning element 133 can be driven to rise using the second drive assembly 132, that is, the first cleaning element 133 can be separated from the surface to be cleaned and retracted. This prevents the first cleaning element 133 from contacting the surface to be cleaned during the movement of the automatic cleaning device 100. This prevents the first cleaning element 133 from contacting the surface to be cleaned and causing secondary contamination of the surface in situations where mopping is not required, such as when the automatic cleaning device 100 is moving back and forth between the base station or performing carpet cleaning. This is advantageous for improving the cleaning performance, cleaning efficiency, and user experience of the automatic cleaning device 100.

[0153] In other words, the second drive assembly 132 can drive the lifting and rotating operations of the first cleaning element 133 based on the need for the first cleaning element 133 to contact the surface to be cleaned, i.e., whether the first cleaning element 133 needs to perform a cleaning function or a storage function, thereby meeting the different functional needs of the first cleaning element 133, i.e., realizing the processing of a cleaning or storage distinction strategy for the first cleaning element 133, and improving the cleaning performance of the self-cleaning device. To understand this, i.e., the first cleaning element 133 may perform a cleaning function or a storage function in a first operating position.

[0154] The second drive assembly 132 is further used to vibrate the first cleaning element 133, and by vibrating it, for example, in the horizontal direction, the cleaning effect can be further improved.

[0155] The automatic cleaning device 100 provided by the embodiments of this disclosure utilizes a first drive assembly 131 to drive a first cleaning element 133 to switch between a first operating position and a second operating position, and utilizes a second drive assembly 132 to drive the first cleaning element 133 to move up and down, vibrate and rotate. The cooperation of the first drive assembly 131 and the second drive assembly 132 can satisfy wet cleaning operations with different wet cleaning ranges, expanding the cleaning range of the automatic cleaning device 100 and improving the cleaning effect. Furthermore, it can satisfy the need whether or not the first cleaning element 133 needs to contact the surface to be cleaned, i.e., it can satisfy the need for different functions of the first cleaning element 133, such as cleaning or housing, improving the cleaning performance of the automatic cleaning device 100 and enhancing the user experience.

[0156] In this embodiment, the lifting and rotation of the first cleaning element 133 can be driven by using one second drive assembly 132. Compared to related technologies where two second drive assemblies are required to drive the lifting and rotation of the cleaning element separately, this simplifies the installation of a single drive assembly, thereby meeting the design needs for a compact structure and relatively small volume, which is advantageous in reducing the occupied space, lowering costs, and making it suitable for widespread adoption.

[0157] As shown in Figures 10 and 11, in some feasible embodiments provided by this disclosure, the second drive assembly 132 includes a lifting drive unit 1321 and a transmission unit 1322, at least a portion of which is installed in a rotating arm 1313 and connected to a first cleaning element 133, and the lifting drive unit 1321 drives the first cleaning element 133 to move up and down and rotate by the transmission unit 1322.

[0158] In this embodiment, since the transmission unit 1322 is connected to the rotating arm 1313 and the first cleaning element 133, the transmission unit 1322 can drive the first cleaning element 133 to move up and down and rotate through the action of the lifting drive unit 1321, and can drive the first cleaning element 133 to switch between a first operating position and a second operating position through the action of the rotating arm 1313.

[0159] Of these, the second drive assembly 132 includes one lifting drive unit 1321, which can drive the lifting and rotation of the first cleaning element 133. Compared to related technologies where two drive units are required to drive the lifting and rotation of the cleaning element, this simplifies the installation of a single drive unit, thereby meeting the design needs for a compact structure and relatively small volume, which is advantageous in reducing the occupied space, lowering costs, and making it suitable for widespread adoption.

[0160] As shown in Figures 10 and 11, in some feasible embodiments provided by this disclosure, the transmission unit 1322 includes a lifting drive unit 1321, the transmission unit 1322, at least a portion of which is installed in a rotating arm 1313 and connected to a first cleaning element 133, and the lifting drive unit 1321 drives the transmission unit 1322 to move up and down and rotate the first cleaning element 133.

[0161] This allows the worm 1323 to transmit power from the lifting drive unit 1321 to the gear set 1324, which in turn drives the sleeve 1325 to move up and down and rotate, thereby driving the first cleaning element 133 to move up and down and rotate. The worm 1323 works in cooperation with the gear set 1324, and its mechanical structure is compact, small in volume, and transmits power accurately, which is advantageous in reducing the volume of the transmission unit 1322 and further reducing the volume of the second drive assembly 132, thus meeting the design needs for a compact structure and relatively small volume.

[0162] As shown in Figures 10, 11, and 12, in the above embodiment, the gear set 1324 is It includes a worm wheel 13241, a first subgear 13242, a second subgear, a third subgear 13245, and a connecting cylinder 13246, of which, The worm wheel 13241 and the first subgear 13242 are mounted coaxially, and the worm wheel 13241 is located outside the rotating arm 1313 and meshes with the worm 1323, and the first subgear 13242, the second subgear and the third subgear 13245 are all located inside the rotating arm 1313, and the second subgear includes the first gear plate 13243 and the second gear plate 13244 which are mounted coaxially, and the first subgear 13242 is the first gear The first gear plate 13243 engages with the second gear plate 13244, the second gear plate 13244 engages with the third subgear 13245, and the connecting cylinder 13246 is mounted coaxially with the third subgear 13245 and located outside the rotating arm 1313. The connecting cylinder 13246 is screw-connected to the sleeve 1325, and as the gear set 1324 rotates, the sleeve 1325 and the connecting cylinder 13246 rotate relative to each other, driving the sleeve 1325 to move up or down relative to the connecting cylinder 13246.

[0163] As a result, the lifting drive unit 1321 rotates, driving the worm 1323 to rotate, which causes the worm wheel 13241 and the worm 1323 to mesh, driving the worm wheel 13241 to rotate, which in turn drives the first sub-gear 13242, which is installed coaxially with the worm wheel 13241, to rotate, which causes the first sub-gear 13242 and the first gear plate 13243 to mesh, which drives the first gear plate 13243 and the second gear plate 13244, which is installed coaxially with the first gear plate 13243, to rotate, which causes the second gear plate 13244 and the third sub-gear 13245 to mesh, which drives the third sub-gear 13245 to rotate, and in turn drives the connecting cylinder 13246, which is installed coaxially with the third sub-gear 13245, to rotate. Since the connecting cylinder 13246 and the sleeve 1325 are connected by screws, rotating the sleeve 1325 and the connecting cylinder 13246 relative to each other drives the sleeve 1325 to move up or down relative to the connecting part 13162, and further drives the first cleaning element 133 installed inside the sleeve 1325 to move up and down and rotate. Such an installation is simple in structure and has high transmission accuracy.

[0164] Of these, the first subgear 13242, the second subgear, and the third subgear 13245 are all located inside the rotating arm 1313. This allows the rotating arm 1313 to be used to provide mounting space and a certain degree of protection for the first subgear 13242, the second subgear, and the third subgear 13245, thereby extending their service life, improving the reliability of the second drive assembly 132, and simultaneously meeting the design needs of a compact structure with a relatively small volume. To make it easier to understand, a rotating shaft connecting the first subgear 13242 and the worm wheel 13241 is drilled in the rotating arm 1313, and a rotating shaft connecting the third subgear 13245 and the connecting cylinder 13246 is drilled in the rotating arm 1313. This transmits power from the lifting drive unit 1321 from outside the rotating arm 1313 through the worm 1323 and worm wheel 13241 to the inside of the rotating arm 1313, and then retransmits it from the connecting cylinder 13246 to the outside of the rotating arm 1313, driving the lifting and rotation of the first cleaning element 133 by the sleeve 1325.

[0165] As shown in Figures 10 and 11, in some feasible embodiments provided by this disclosure, a spirally arranged guide portion 13247 is provided on the cylindrical wall of the connecting cylinder 13246, an insertion groove 13251 for accommodating the connecting cylinder 13246 is provided on the cylindrical wall of the sleeve 1325, and a spiral guide groove 13252 for accommodating the guide portion 13247 is provided on the groove wall of the insertion groove 13251.

[0166] In this embodiment, an insertion groove 13251 is provided at the top end of the sleeve 1325, and the insertion groove 13251 of the sleeve 1325 is inserted into the cylindrical wall of the connecting cylinder 13246. The guide portion 13247 of the cylindrical wall of the connecting cylinder 13246 is housed in the guide groove 13252 of the insertion groove 13251. Since the guide portion 13247 is arranged in a spiral shape and the guide groove 13252 is spiral, the guide portion 13247 moves spirally along the guide groove 13252, enabling rotation and lifting of the sleeve 1325 relative to the connecting cylinder 13246. In other words, the connection method between the sleeve 1325 and the connecting cylinder 13246 can be considered as a lead screw nut connection method. Such an installation is structurally simple, easy to implement, and allows for lifting and rotation of the sleeve 1325 using a single set of structures, which is advantageous in reducing the volume of the second drive assembly.

[0167] Furthermore, as shown in Figures 10 and 11, the guide portion 13247 is installed on the outer wall of the connecting cylinder 13246 and the guide groove 13252 is installed on the groove wall away from the inside of the sleeve 1325 of the insertion groove 13251, or the guide portion 13247 is installed on the inner wall of the connecting cylinder 13246 and the guide groove 13252 is installed on the groove wall close to the inside of the sleeve 1325 of the insertion groove 13251.

[0168] Of these, the guide portion 13247 is a helical boss, for example, the guide portion 13247 is a screw that protrudes outward, which is advantageous in improving the stability of the connecting cylinder 13246 of the sleeve 1325 against vertical rotation by regulating the relative position of the guide portion 13247 and the guide groove 13252, and improving the accuracy and reliability of the guide.

[0169] Alternatively, as shown in Figure 11, the guide portion 13247 is a plurality of projections distributed at intervals, that is, the multiple projections are distributed at intervals in a spiral pattern, which simplifies the structure of the guide portion 13247 and is advantageous in reducing the amount of material used for the guide portion 13247 and lowering manufacturing costs. Specifically, the number of projections may be two, three, four, or any other number.

[0170] In some feasible embodiments provided by this disclosure, a stopper rib is installed near the opening of the groove wall of the insertion groove 13251, and the stopper rib is used to abut against the guide portion 13247 to restrict the vertical movement of the sleeve 1325 relative to the connecting cylinder 13246. That is, the stopper rib and the guide portion 13247 work together to restrict the lowering limit position of the sleeve 1325 relative to the connecting cylinder 13246. This prevents the guide portion 13247 from detaching from the guide groove 13252 and separating the sleeve 1325 from the connecting cylinder 13246, and further ensures that the sleeve 1325 is securely connected to the connecting cylinder 13246. At the same time, the first cleaning element 133 connected to the sleeve 1325 can be reliably and sufficiently brought into contact with the surface to be cleaned.

[0171] In this configuration, the guide portion 13247 contacts the bottom of the insertion groove 13251, restricting the vertical movement of the sleeve 1325 relative to the connecting cylinder 13246. Specifically, the cooperation between the guide portion 13247 and the bottom of the insertion groove 13251 limits the maximum position to which the sleeve 1325 can rise relative to the connecting cylinder 13246. This prevents the first cleaning element 133 from continuing to rise after reaching its limit position and damaging the second drive assembly, thereby improving reliability. At the same time, a constant distance is maintained between the first cleaning element 133 at its limit position and the surface to be cleaned, reducing the impact on the self-propelled cleaning device's climbing ability, obstacle overcoming, and secondary contamination of the surface to be cleaned.

[0172] As shown in Figure 12, in some feasible embodiments provided by this disclosure, a position regulating plane 13253 that matches the first cleaning element 133 is installed on the inner wall of the sleeve 1325, and the installation of the position regulating plane 13253 ensures that the first cleaning element 133 rotates with the rotation of the sleeve 1325 and does not rotate relative to the sleeve 1325, thereby ensuring that the first cleaning element 133 has good cleaning ability.

[0173] Of these, the axial cross-section of sleeve 1325 is hexagonal, meaning that six planes are installed on the inner wall of sleeve 1325. As can be understood, all six of these planes are position-restricting planes 13253, or some of the six planes are position-restricting planes 13253. Specifically, the portion of the first cleaning element 133 connected to sleeve 1325 can be installed as a hexagonal prism structure. By utilizing this hexagonal prism structure in cooperation with the six planes on the inner wall of sleeve 1325, the rotation of the first cleaning element 133 relative to sleeve 1325 can be restricted. The structure is simple, easy to manufacture, and provides reliable position restriction.

[0174] As shown in Figures 10, 11, and 12, in some feasible embodiments provided by this disclosure, the second drive assembly 132 further includes a second housing 1326 with one end open, and if the automatic cleaning device includes a first housing 1318, the second housing 1326 engages with the first housing 1318, and the worm 1323, worm wheel 13241, rotating arm 1313 and connecting cylinder 13246 are second The second housing 1325 is located within the space enclosed by the housing 1326 and the first housing 1318, with the opening of the second housing 1326 located on the side away from the first housing 1318, the bottom end of the sleeve 1325 being suitable for extending outside the opening of the second housing 1326, the lifting drive unit 1321 being located outside the second housing 1326, and the worm 1323 being drilled into the second housing 1326 and connected to the lifting drive unit 1321.

[0175] Of these, the bottom end of the sleeve 1325 extends outside the opening of the second housing 1326, which is suitable for the first cleaning element 133 connected to the sleeve 1325 to descend until it contacts the surface to be cleaned. At the same time, by maintaining a certain distance between the bottom end of the second housing 1326 and the surface to be cleaned, the influence of the second housing 1326 on the climbing and obstacle-crossing of the self-propelled cleaning device can be avoided.

[0176] Of these, the lifting drive unit 1321 is located outside the second housing 1326, and the worm 1323 is drilled into the second housing 1326 and connected to the lifting drive unit 1321, thereby enabling the power of the lifting drive unit 1321 to be transmitted from outside the second housing 1326 to inside the second housing 1326.

[0177] As shown in Figures 12, 13, and 14, in the above embodiment, the second housing 1326 is divided into a first mounting cavity 13261 and a second mounting cavity 13262, the worm wheel 13241 is located in the first mounting cavity 13261, the sleeve 1325 is located in the second mounting cavity 13262, the rotating arm 1313 extends to the first mounting cavity 13261 and the second mounting cavity 13262, and the first in the rotating arm 1313 The subgear 13242 and the worm wheel 13241 in the first mounting cavity 13261 are mounted coaxially, and the sleeve 1325 in the second mounting cavity 13262 is connected to the connecting cylinder 13246 on the rotating arm 1313, thereby driving the first cleaning element 133 to move up and down and rotate by transmitting power from the lifting drive unit 1321 through the first mounting cavity 13261 and the second mounting cavity 13262 to the sleeve 1325.

[0178] The shape of the second mounting cavity 13262 is matched to the movement space of the rotating arm 1313, so that the cavity walls of the second mounting cavity 13262 do not obstruct the movement of the rotating arm 1313, while simultaneously providing good protection for the rotating arm 1313, and by reducing the volume of the second drive assembly 132 as much as possible, the structure is compact and meets the design needs of a relatively small volume.

[0179] The second housing 1326 further includes a bottom plate 13263, which is detachably connected to the cavity wall of the first mounting cavity 13261, surrounding the worm wheel 13241 within the first mounting cavity 13261. The installation of the bottom plate 13263 provides good protection for the worm wheel 13241, reducing contamination of the worm wheel 13241 by contaminants, thereby extending the service life of the worm wheel 13241 and improving the reliability of the second drive assembly 132.

[0180] Specifically, the base plate 13263 may be detachably connected to the cavity wall of the first mounting cavity 13261 by means of screws, locking structures, mortise structures, magnetic attraction structures, or the like.

[0181] As shown in Figure 5, in some feasible embodiments provided by this disclosure, the automatic cleaning device further includes a second cleaning assembly 140, the second cleaning assembly 140 may include a second cleaning element 141, i.e., the second cleaning element 141 is part of the second cleaning assembly 140.

[0182] The second cleaning element 141 is movably connected to the machine body 110, and the second cleaning element 141 and the first cleaning element 133 are distributed on both sides of the longitudinal centerline of the machine body 110, and the second cleaning element 141 is vertically movable and rotatable relative to the machine body 110.

[0183] Of these, the second cleaning assembly 140 is a wet cleaning member, and the second cleaning element 141 may be a flexible material with water absorption properties, such as a textile or sponge. In this solution, the second cleaning element 141 may be a rotating cleaning element, a vibrating cleaning element, or a fixed cleaning element. Specifically, the second cleaning element 141 may be a tray, and the second cleaning element 141 removes dirt from the ground by rotational movement. Specifically, the second cleaning element 141 and the first cleaning element 133 have similar structures.

[0184] Of these, the second cleaning assembly 140 and the first cleaning assembly 130 are distributed on both sides of the vertical centerline of the machine body 110. This allows the cleaning range to be expanded by simultaneously cleaning the target surface using the first cleaning assembly 130 and the second cleaning assembly 140 during the movement process of the automatic cleaning device 100, or by selectively using the first cleaning assembly 130 and the second cleaning assembly 140 to perform cleaning operations and selectively clean the designated target surface, thereby flexibly selecting the cleaning operation and improving the user's cleaning experience.

[0185] In this embodiment, the second cleaning element 141 is movable up and down and rotatable relative to the machine body 110. Specifically, the second cleaning assembly 140 further includes a third drive assembly, the third drive assembly drives the second cleaning element 141 to move up and down and rotate, thereby enabling the second cleaning element 141 to rotate in contact with the surface to be cleaned, depending on the need for the second cleaning element 141 to contact the surface to be cleaned, and thus enabling a mopping operation on the surface to be cleaned. Alternatively, after the mopping operation is completed, the second cleaning element 141 can be driven to rise using the third drive assembly to separate the second cleaning element 141 from the surface to be cleaned and to retract the second cleaning element 141. This prevents the second cleaning element 141 from coming into contact with the surface to be cleaned during the movement of the automatic cleaning device 100. This avoids situations where the second cleaning element 141 comes into contact with the surface to be cleaned and causes secondary contamination of the surface in situations where mopping is not required, such as when the automatic cleaning device 100 is moving back and forth between the base station or performing carpet cleaning. This is advantageous for improving the cleaning performance, cleaning efficiency, and user experience of the automatic cleaning device 100.

[0186] In other words, the third drive assembly can drive the lifting and rotating operations of the second cleaning element 141 based on the need for the second cleaning element 141 to contact the surface to be cleaned, i.e., the need for the second cleaning element 141 to perform a cleaning function or a storage function, thereby satisfying the different functional needs of the second cleaning element 141, i.e., realizing the processing of a distinguishing strategy for cleaning or storage of the second cleaning element 141, and improving the cleaning performance of the self-cleaning device. To make it understandable, i.e., the third drive assembly of the second cleaning assembly 140 may have the same structure as the second drive assembly 132 of the first cleaning assembly 130, and the explanation of that is omitted here. Alternatively, the third drive assembly may have a different structure from the second drive assembly 132, as long as it can satisfy the lifting and rotating of the second cleaning element 141.

[0187] To make it clear, in some embodiments, the second cleaning assembly 140 may also include a fourth drive assembly, and the fourth and third drive assemblies of the second cleaning assembly 140 correspond to the first drive assembly 131 and the second drive assembly 132 of the first cleaning assembly 130, meaning that the structure of the second cleaning assembly 140 and the first cleaning assembly 130 are the same, thereby further expanding the cleaning function, meeting the needs of different cleaning ranges and improving the cleaning effect.

[0188] As shown in Figure 5, in the above embodiment, the relative position between the second cleaning element 141 and the edge projection region of the machine body 110 is fixed, and at least a portion of the second cleaning element 141 is located within the edge projection region of the machine body 110.

[0189] In this embodiment, the relative position between the second cleaning element 141 and the edge projection area of ​​the machine body 110 is fixed, meaning that the second cleaning element 141 cannot extend or retract relative to the machine body 110 in the horizontal direction. As a result, the second cleaning element 141 can perform cleaning operations on a designated area within the movement range of the machine body 110. At the same time, the second cleaning assembly 140 and the first cleaning assembly 130 can have different structures. This simplifies the structure of the second cleaning assembly 140 to some extent, further simplifies the overall structure of the automatic cleaning device 100, reduces costs, expands the cleaning range, and ensures a good cleaning effect.

[0190] Of these, at least a portion of the second cleaning element 141 may be located within the edge projection area of ​​the machine body 110, and the entire second cleaning element 141 may be located within the edge projection area of ​​the machine body 110, thereby reducing the possibility of the second cleaning element 141 colliding with an obstacle, which is advantageous for extending the service life of the second cleaning element 141. Alternatively, by having a portion of the second cleaning element 141 located outside the edge projection area of ​​the machine body 110 and the other portion of the second cleaning element 141 located within the edge projection area of ​​the machine body 110, cleaning of a portion of the area outside the machine body 110 can be achieved, thereby expanding the cleaning range.

[0191] In some feasible embodiments provided by this disclosure, the side brush 161 of the third cleaning assembly 160 and the first cleaning assembly 130 are located on the same side of the machine body 110 and are positioned front to back, thereby ensuring that when the machine body 110 moves along the edge, the side brush 161 performs dry cleaning on corner positions, and the first cleaning assembly in the second operating position performs wet cleaning on corner positions, thereby ensuring a vacuum-and-mopping operation and a good cleaning effect.

[0192] Furthermore, the water supply mechanism can simultaneously supply water to the first cleaning element 133, the second cleaning element 141, and the cleaning head. The water supply mechanism includes water supply drive units connected to the first cleaning element 133, the second cleaning element 141, and the cleaning head, respectively, and each is controlled by a different water supply drive unit. For example, the water supply drive unit may be a peristaltic pump, a water pump, or other structure. One water supply drive unit has one end connected to a liquid storage tank by a pipeline and the other end connected to the first cleaning element 133, thereby transporting the cleaning liquid in the liquid storage tank to the first cleaning element 133 and supplying water to the first cleaning element 133. The other water supply drive unit has one end connected to a liquid storage tank by a pipeline and the other end connected to the second cleaning element 141, thereby transporting the cleaning liquid in the liquid storage tank to the second cleaning element 141 and supplying water to the second cleaning element 141. Furthermore, another water supply drive unit has one end connected to a liquid storage tank via a pipeline and the other end connected to a cleaning head, thereby transporting the cleaning liquid from the liquid storage tank to the cleaning head and supplying water to the cleaning head.

[0193] The present disclosure provides a transmission device, an automatic cleaning device, and a cleaning robot system, the transmission device being applied to an automatic cleaning device, the automatic cleaning device comprising a machine body and a first cleaning element, the transmission device comprising a first drive assembly, a rotating arm and an elastic member, the rotating arm being rotatably connected to the machine body, the first end of the elastic member being connected to the rotating arm and the second end of the elastic member being fixed relative to the machine body, the first cleaning element being mounted on the rotating arm, and the first drive assembly being used in cooperation with the elastic member to drive the rotating arm to rotate, thereby switching the first cleaning element between a first operating position and a second operating position. By installing a first drive assembly, a rotating arm, and an elastic member, and by installing a first cleaning element on the rotating arm, the first cleaning element can be driven to switch between a first operating position and a second operating position using the first drive assembly and the elastic member according to the cleaning range needs of the automatic cleaning device. This allows the first cleaning element to be moved to an operating position that satisfies the corresponding cleaning range needs, thereby meeting the needs of different mopping ranges, expanding the mopping range, which is advantageous for improving cleaning effectiveness and enhancing the user's cleaning experience.

[0194] Although this disclosure has been illustrated by the embodiments described above, it should be understood that these embodiments are for illustrative and explanatory purposes only and are not intended to limit this disclosure to the scope of the embodiments described. Furthermore, as will be understood by those skilled in the art, this disclosure is not limited to the embodiments described above, and many more variations and modifications can be made based on the teachings of this disclosure, all of which fall within the scope of protection claimed by this disclosure. The scope of protection of this disclosure is defined by the appended claims and their equivalent scope.

Claims

1. A transmission device, applied to an automatic cleaning device, the automatic cleaning device includes a machine body (110) and a first cleaning element (133), the transmission device includes a first drive assembly (131), a rotating arm (1313) and an elastic member (1317), the rotating arm (1313) being rotatably connected to the machine body (110), the first end of the elastic member (1317) being connected to the rotating arm (1313), the second end of the elastic member (1317) being fixed relative to the machine body (110), the first cleaning element (133) being mounted on the rotating arm (1313), and the first drive assembly (131) being used in cooperation with the elastic member (1317) to drive the rotating arm (1313) to rotate the first cleaning element (133) so as to switch between a first operating position and a second operating position. A transmission device characterized by the following:

2. The transmission device according to claim 1, characterized in that, in the process of switching the first cleaning element (133) between a first operating position and a second operating position, the first drive assembly (131) contacts the rotating arm (1313) to rotate the rotating arm (1313).

3. The transmission device according to claim 1, characterized in that the rotating arm (1313) has a first cam (1316) connected to one end and the other end connected to the first cleaning element (133), and in the process of switching the first cleaning element (133) between a first operating position and a second operating position, the first drive assembly (131) contacts the convex portion (13161) of the first cam (1316) to rotate the rotating arm (1313).

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

5. The elastic member (1317) is a tension spring, the first end of the tension spring is connected to the first cam (1316), and the second end of the tension spring is fixed relative to the machine body (110). Alternatively, the elastic member (1317) is a torsion spring, the torsion spring is installed on the rotation axis of the first cam (1316), the first end of the torsion spring is connected to the first cam (1316), and the second end of the torsion spring is fixed relative to the machine body (110). Alternatively, the transmission device according to claim 4, wherein the elastic member (1317) is an elastic piece, the first end of the elastic piece is connected to the first cam (1316), and the second end of the elastic piece is fixed relative to the machine body (110).

6. The transmission device according to claim 1, characterized in that the first cleaning element (133) is movably connected, power-driven, or fixedly connected to the rotating arm (1313).

7. The transmission device according to claim 3, wherein the first drive assembly (131) is used to switch the first cleaning element (133) from a second operating position to a first operating position by driving the first cam (1316) to rotate along a first direction.

8. The transmission device according to claim 3, characterized in that the elastic member (1317) is used to switch the first cleaning element (133) from a first operating position to a second operating position by driving the first cam (1316) to rotate along a second direction.

9. The transmission device according to claim 3, characterized in that the first drive assembly (131) stores elastic energy by deforming the elastic member (1317) with the first cam (1316).

10. The transmission device according to claim 3, characterized in that the elastic member (1317) releases elastic energy to switch the first cleaning element (133) from a first operating position to a second operating position by driving the first cam (1316) to rotate along a second direction.

11. The transmission device according to claim 3, wherein the first drive assembly (131) includes a first drive unit and a second cam (1315), the first drive unit being used to drive the second cam (1315) to rotate, and the second cam (1315) being used to contact the first cam (1316) and to rotate the first cam (1316).

12. The second cam (1315) is installed at the output terminal of the first drive unit so that the first drive unit drives the second cam (1315) to rotate. or The transmission device according to claim 11, characterized in that the output terminal of the first drive unit is transmitted to the second cam (1315).

13. The transmission device according to claim 11, wherein the second cam (1315) includes a fan-shaped tooth portion (13151) and a contact portion (13152), the first drive portion meshes with the fan-shaped tooth portion (13151), the contact portion (13152) contacts the first cam (1316), and the first cam (1316) is installed coaxially with the rotating arm (1313).

14. The transmission device according to claim 13, characterized in that a connecting portion (13162) is provided on the circumferential side of the first cam (1316), and the connecting portion (13162) is used to connect to the first end of the elastic member (1317).

15. The transmission device according to claim 13, wherein the first drive unit includes an extendable drive member (1311) and a first gear (1314), the extendable drive member (1311) is connected to the first gear (1314), and the first gear (1314) meshes with the fan-shaped teeth (13151), thereby driving the extendable drive member (1311) by the first gear (1314) and the fan-shaped teeth (13151) such that the contact portion (13152) presses against and rotates the first cam (1316), and the rotating arm (1313) rotates synchronously, thereby driving the first cleaning element (133) to move from the second operating position to the first operating position.

16. The transmission device according to claim 11, characterized in that when the first cleaning element (133) is in the second operating position, the second cam (1315) separates from the first cam (1316).

17. The transmission device according to claim 15, wherein the automatic cleaning device (100) further includes a first housing (1318), the telescopic drive member (1311) and the rotating arm (1313) are located outside the first housing (1318), the first gear (1314), the second cam (1315), the first cam (1316), and the elastic member (1317) are located inside the first housing (1318), the first gear (1314) is power-connected to the telescopic drive member (1311) through the first housing (1318), and the second end of the elastic member (1317) is connected to the first housing (1318).

18. The transmission device according to claim 15, further comprising a position detection device (134) used to detect the rotational position of the second cam (1315), wherein the telescopic drive member (1311) rotates or stops rotating based on the detection result of the position detection device (134).

19. The transmission device according to claim 18, wherein the position detection device (134) includes a first photoelectric switch (1341) and a second photoelectric switch (1342) distributed on both sides of the second cam (1315), the second cam (1315) further includes a first baffle (13153) and a second baffle (13154) distributed on both sides of the contact portion (13152), the first baffle (13153) is suitable for being inserted into the first photoelectric switch (1341) to cause the first photoelectric switch (1341) to change the detection signal, and the second baffle (13154) is suitable for being inserted into the second photoelectric switch (1342) to cause the second photoelectric switch (1342) to change the detection signal.

20. A rotation angle detection device installed on the telescopic drive member (1311) and used to detect the rotation angle of the output shaft of the telescopic drive member (1311), wherein the telescopic drive member (1311) further includes a rotation angle detection device that rotates or stops rotating based on the detection result of the rotation angle detection device, as described in claim 15.

21. A first position restricting member (13181) and a second position restricting member (13182) are installed on the circumferential side of the first cam (1316), the first position restricting member (13181) is located on the side of the protrusion (13161) away from the contact portion (13152), and the first position restricting member (13181) is used to restrict the rotation of the first cam (1316) by contacting the protrusion (13161), the second position restricting member (13182) is located on the side of the connecting portion (13162) away from the contact portion (13152), and the second position restricting member (13182) is used to restrict the rotation of the first cam (1316) by contacting the connecting portion (13162), the transmission device according to claim 14.

22. The transmission device according to claim 3, characterized in that the first drive assembly (131) and / or the first cam (1316) are provided with a wear-resistant structure, and the first drive assembly (131) and the first cam (1316) are in contact with each other by the wear-resistant structure.

23. The transmission device according to claim 22, characterized in that the wear-resistant structure includes a roller (13192) and / or a protective layer (13191) having a smooth outer surface.

24. The transmission device according to claim 3, characterized in that a protective layer (13191) with a smooth outer surface is installed on the outer wall of the protrusion (13161) of the first cam (1316).

25. A roller (13192) is installed on the protrusion (13161) of the first cam (1316), and the protrusion (13161) contacts the first drive assembly (131) by the roller (13192). or The transmission device according to claim 3 or 11, wherein the first drive assembly (131) includes a second cam (1315), and a roller (13192) is installed on the second cam (1315), and the second cam (1315) contacts the first cam (1316) by the roller (13192).

26. The transmission device according to claim 1, characterized in that the first cleaning element (133) is a rotating mop or a vibrating mop.

27. The transmission device according to any one of claims 1 to 24 or claim 26, further comprising a second drive assembly (132), the second drive assembly (132) being connected to the first cleaning element (133) and used to drive the first cleaning element (133) to move up and down.

28. The transmission device according to claim 27, further characterized in that the second drive assembly (132) is used to drive the first cleaning element (133) to vibrate and / or rotate about its own central axis as the center of rotation.

29. The second drive assembly (132) is The transmission device according to claim 27, comprising a lifting drive unit (1321) and a transmission unit (1322), wherein at least a portion of the transmission unit (1322) is installed in the rotating arm (1313) and connected to the first cleaning element (133), and the lifting drive unit (1321) drives the first cleaning element (133) to move up and down and rotate by the transmission unit (1322).

30. The aforementioned transmission unit (1322) is The transmission device according to claim 29, comprising a power-connected worm (1323), a gear set (1324), and a sleeve (1325), wherein the worm (1323) is power-connected to the lifting drive unit (1321), the gear set (1324) is installed in the rotating arm (1313), the sleeve (1325) is connected to the first cleaning element (133), and the worm (1323) is driven by the gear set (1324) to cause the sleeve (1325) to move up and down and rotate, thereby driving the first cleaning element (133) to move up and down and rotate.

31. The aforementioned gear set (1324) is It includes a worm wheel (13241), a first subgear (13242), a second subgear, a third subgear (13245), and a connecting cylinder (13246), of which, The worm wheel (13241) and the first subgear (13242) are installed coaxially, the worm wheel (13241) is located outside the rotating arm (1313) and meshes with the worm (1323), the first subgear (13242), the second subgear, and the third subgear (13245) are all located inside the rotating arm (1313), the second subgear includes a coaxially installed first gear plate (13243) and a second gear plate (13244), and the first subgear (13242) is connected to the first gear plate (13243) and The transmission device according to claim 30, characterized in that the second gear plate (13244) meshes with the third subgear (13245), the connecting cylinder (13246) is installed coaxially with the third subgear (13245) and located outside the rotating arm (1313), the connecting cylinder (13246) is screw-connected to the sleeve (1325), and the rotation of the gear set (1324) causes the sleeve (1325) and the connecting cylinder (13246) to rotate relative to each other, driving the sleeve (1325) to move up or down relative to the connecting cylinder (13246).

32. Guide portions (13247) arranged in a spiral direction are installed on the cylindrical wall of the connecting cylinder (13246). An insertion groove (13251) for accommodating the connecting cylinder (13246) is provided in the cylindrical wall of the sleeve (1325), and a spiral guide groove (13252) for accommodating the guide portion (13247) is provided in the groove wall of the insertion groove (13251). The transmission device according to claim 31, characterized in that the guide portion (13247) is a spiral boss or a plurality of spaced-apart projections.

33. A stopper rib is installed near the opening of the groove wall of the insertion groove (13251), and the stopper rib is used to contact the guide portion (13247) and restrict the vertical movement of the sleeve (1325) relative to the connecting cylinder (13246). The transmission device according to claim 32, characterized in that the guide portion (13247) abuts against the bottom of the insertion groove (13251) to restrict the vertical movement of the sleeve (1325) relative to the connecting cylinder (13246).

34. A position regulating plane (13253) that matches the first cleaning element (133) is provided on the inner wall of the sleeve (1325). The transmission device according to claim 33, characterized in that the axial cross-section of the sleeve (1325) is hexagonal.

35. The second drive assembly (132) further includes a second housing (1326) with one end open, and if the automatic cleaning device (100) includes a first housing (1318), the second housing (1326) engages with the first housing (1318), and the worm (1323), the worm wheel (13241), the rotating arm (1313), and the connecting cylinder (13246) are connected by the second housing (1326) and the first housing (1318). The transmission device according to claim 33, characterized in that it is located within an enclosed space, the opening of the second housing (1326) is located away from the first housing (1318), the bottom end of the sleeve (1325) is suitable for extending outside the opening of the second housing (1326), the lifting drive unit (1321) is located outside the second housing (1326), and the worm (1323) is drilled into the second housing (1326) and connected to the lifting drive unit (1321).

36. The second housing (1326) is divided into a first mounting cavity (13261) and a second mounting cavity (13262), the worm wheel (13241) is located in the first mounting cavity (13261), the sleeve (1325) is located in the second mounting cavity (13262), the rotating arm (1313) extends to the first mounting cavity (13261) and the second mounting cavity (13262), and the shape of the second mounting cavity (13262) is adapted to the movement space of the rotating arm (1313). The transmission device according to claim 35, wherein the second housing (1326) further includes a bottom plate (13263), the bottom plate (13263) being detachably connected to the cavity wall of the first mounting cavity (13261) to enclose the worm wheel (13241) within the first mounting cavity (13261).

37. The automatic cleaning device is The transmission device according to claim 1, further comprising a second cleaning element (141) movably connected to a machine body (110), wherein the second cleaning element (141) and the first cleaning element (133) are distributed on both sides of the vertical centerline of the machine body (110), and the second cleaning element (141) is vertically movable and rotatable relative to the machine body (110).

38. The transmission device according to claim 37, characterized in that the relative position between the second cleaning element (141) and the edge projection region of the machine body (110) is fixed.

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

40. The elastic member (1317) is a tension spring, the first end of the tension spring is connected to a rotating arm, and the second end of the tension spring is fixed relative to the machine body (110). Alternatively, the elastic member (1317) is a torsion spring, the torsion spring is installed on the rotation axis of the rotating arm, the first end of the torsion spring is connected to the rotating arm, and the second end of the torsion spring is fixed relative to the machine body (110). Alternatively, the transmission device according to claim 39, wherein the elastic member (1317) is an elastic piece, the first end of the elastic piece is connected to the rotating arm, and the second end of the elastic piece is fixed relative to the machine body (110).

41. The transmission device according to claim 2, wherein the first drive assembly includes a first drive unit and a second cam, the first drive unit being used to drive the second cam to rotate, the second cam contacting the outer wall of the rotating arm and further pressing the rotating arm to rotate it.

42. The second cam (1315) is installed at the output terminal of the first drive unit so that the first drive unit drives the second cam (1315) to rotate. or The transmission device according to claim 41, characterized in that the output terminal of the first drive unit is transmitted to the second cam (1315).

43. The transmission device according to claim 41, further comprising a position detection device (134) used to detect the rotational position of the second cam (1315), wherein the telescopic drive member (1311) rotates or stops rotating based on the detection result of the position detection device (134).

44. The transmission device according to claim 43, wherein the position detection device (134) includes a first photoelectric switch (1341) and a second photoelectric switch (1342) distributed on both sides of the second cam (1315), the second cam (1315) further includes a first baffle (13153) and a second baffle (13154) distributed on both sides of the contact portion (13152), the first baffle (13153) is suitable for being inserted into the first photoelectric switch (1341) to cause the first photoelectric switch (1341) to change the detection signal, and the second baffle (13154) is suitable for being inserted into the second photoelectric switch (1342) to cause the second photoelectric switch (1342) to change the detection signal.

45. An automatic cleaning device comprising a transmission device according to any one of claims 1 to 44, wherein the automatic cleaning device comprises a machine body (110), at least a portion of the first cleaning element (133) in the second operating position is located outside the machine body (110) in the horizontal direction, and at least a portion of the first cleaning element (133) in the first operating position is located inside the machine body (110) in the horizontal direction, and the area of ​​the first cleaning element in the second operating position outside the machine body (110) in the horizontal direction is greater than the area of ​​the first cleaning element in the first operating position outside the machine body (110) in the horizontal direction. An automatic cleaning device characterized by the following features.

46. A cleaning robot system comprising a transmission device according to any one of claims 1 to 44, or The system includes a base station and the automatic cleaning device described in claim 45, wherein the automatic cleaning device (100) is suitable for stopping at the base station. A cleaning robot system characterized by the following features.

Images