Transmission apparatus, automatic cleaning device and cleaning robot system

Abstract

The present disclosure provides a transmission apparatus, an automatic cleaning device and a cleaning robot system. The transmission apparatus comprises a first cleaning assembly (130) and a first driving assembly (132); the first cleaning assembly (130) comprises a rotating arm (1301) and a first cleaning element (133); and the first driving assembly (132) is used for driving the first cleaning element (133) to rotate, and the first cleaning element (133) abuts against a surface to be cleaned, so as to drive, by means of friction force, the first cleaning element (133) swinging along with the rotating arm (1301) to move from a first operation position to a second operation position in a second direction. Thus, the first driving assembly (132) drives the first cleaning element (133) to rotate, and the first cleaning element (133) abuts against the surface to be cleaned, so that the first cleaning element (133) is switched from the first operation position to the second operation position, and then the first cleaning element (133) is moved to an operation position meeting the requirements of a corresponding cleaning range.

Description

Transmission device, automatic cleaning equipment and cleaning robot system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202322306868.1 filed on August 25, 2023, entitled “A transmission device, automatic cleaning equipment and cleaning robot system”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of smart home technology, and in particular to a transmission device, an automatic cleaning device, and a cleaning robot system. Background Art

[0004] With the iterative update and development of technology, self-cleaning equipment has entered the lives of ordinary families and has gradually become popular.

[0005] Among the current self-cleaning devices, there is one that has the function of mopping the floor. However, the transmission structure in the current self-cleaning device is simple in design and single in function, and can only drive the mop to rotate for cleaning. As a result, the position of the mop is relatively fixed and is located below the housing. It 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 in the corner, affecting the cleaning effect.

[0006] Summary of the Invention

[0007] This disclosure introduces a series of simplified concepts that will be further described in the detailed description. This section of the disclosure is not intended to limit the key features and essential features of the claimed technical solutions, nor is it intended to determine the scope of protection of the claimed technical solutions.

[0008] An embodiment of a first aspect of the present disclosure provides a transmission device, comprising:

[0009] a first cleaning assembly and a first driving assembly;

[0010] The first cleaning assembly includes a rotating arm and a first cleaning element, wherein the first cleaning element is connected to the rotating arm so that the first cleaning element moves with the rotating arm between a first operating position and a second operating position;

[0011] The first driving assembly is used to drive the first cleaning element to rotate in a first direction, the first cleaning element contacts the surface to be cleaned, and the first cleaning element is driven to move from the first operating position to the second operating position in a second direction through friction between the surface to be cleaned and the first cleaning element;

[0012] The first direction and the second direction are opposite.

[0013] In one embodiment, 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.

[0014] In one embodiment, one end of the rotating arm is rotatably connected to the machine body, and the other end is connected to the first cleaning element in one of a movable connection, a transmission connection and a fixed connection.

[0015] In one embodiment, the first driving assembly drives the first cleaning element to rotate in a second direction, and the first cleaning element contacts the surface to be cleaned, so that the friction between the surface to be cleaned and the first cleaning element drives the first cleaning element to move from the second operating position to the first operating position.

[0016] In one embodiment, the transmission device further includes a second drive assembly;

[0017] The second drive assembly is connected to the machine body for driving the first cleaning element to move from the second operating position and toward the first operating position.

[0018] In one embodiment, one end of the rotating arm is connected to a first cam, and the other end is connected to the first cleaning element. When the first cleaning element switches from the second operating position to the first operating position, the second driving assembly abuts against the first cam.

[0019] In one embodiment, when the first cam rotates along the first direction under the drive of the second driving assembly, the first cleaning element moves from the second operating position toward the first operating position.

[0020] In one embodiment, the second drive assembly includes a telescopic drive portion and a first transmission mechanism, the first cleaning element is connected to the first cam through the rotating arm, and the telescopic drive portion drives the rotating arm to rotate through the first transmission mechanism to drive the first cleaning element to move from the second operating position to the first operating position.

[0021] In one embodiment, the first transmission mechanism includes a second cam;

[0022] The second cam is arranged on the output end of the telescopic driving part, so that the telescopic driving part drives the second cam to rotate; or,

[0023] The output end of the telescopic driving part is transmission-connected to the second cam.

[0024] In one embodiment, the second cam includes an abutting portion, the abutting portion abuts against the first cam, and the first cam is coaxially arranged with the rotating arm.

[0025] In one embodiment, the second cam is connected to the telescopic drive portion so that the telescopic drive portion pushes the first cam to rotate through the abutment portion of the second cam, and synchronously rotates through the rotating arm to drive the first cleaning element to move from the second operating position to the first operating position.

[0026] In one embodiment, the first transmission mechanism further includes a gear;

[0027] The second cam also includes a sector-shaped tooth portion, the gear is connected to the telescopic drive portion, the gear is engaged with the sector-shaped tooth portion, the telescopic drive portion drives the gear to rotate along the first direction, and the second cam is driven to rotate along the second direction through the gear, and the second cam pushes the first cam to rotate along the first direction, and the first cleaning element is driven to move from the second operating position to the first operating position through the synchronous rotation of the rotating arm.

[0028] In one embodiment, a convex portion is provided on the first cam, at least a portion of which is located on the movement trajectory of the abutment portion, for abutting against the abutment portion when the first cleaning element moves from the second operating position to the first operating position.

[0029] In one embodiment, when the first cleaning element is located in the second operating position, the second cam is separated from the first cam.

[0030] In one embodiment, an anti-wear structure is provided on the second driving assembly and / or the first cam, and the second driving assembly abuts against the first cam via the anti-wear structure.

[0031] In one embodiment, the anti-wear structure includes a roller and / or a protective layer with a smooth outer surface.

[0032] In one embodiment, a protective layer with a smooth outer surface is provided on the outer wall of the convex portion of the first cam.

[0033] In one embodiment, a roller is provided on the convex portion of the first cam, and the convex portion abuts against the second driving assembly through the roller; or,

[0034] When the second driving assembly includes a second cam, a roller is provided on the second cam, and the second cam abuts against the first cam through the roller.

[0035] In one embodiment, the transmission device further includes a first limiting member provided on a side of the convex portion away from the abutting portion, wherein the first limiting member is configured to abut against the convex portion to limit the rotation of the first cam.

[0036] In one embodiment, the first driving assembly is used to drive the first cleaning element to rotate with its own central axis as the rotation center.

[0037] In one embodiment, the first driving assembly is further configured to drive the first cleaning element to vibrate and / or lift.

[0038] In one embodiment, the first drive assembly includes a lifting drive unit and a second transmission mechanism;

[0039] The second transmission mechanism is connected to the first cleaning element, and the lifting drive unit drives the first cleaning element to lift and rotate through the second transmission mechanism.

[0040] In one embodiment, the second transmission mechanism includes a power-connected worm, a gear set and a sleeve, the worm is power-connected to the lifting drive part, the gear set is arranged in the rotating arm, the sleeve is connected to the first cleaning element, and the worm drives the sleeve to lift and rotate through the gear set to drive the first cleaning element to lift and rotate.

[0041] In one embodiment, the gear set includes a turbine, a first sub-gear, a second sub-gear, a third sub-gear and a connecting cylinder;

[0042] In which, the turbine and the first sub-gear are coaxially arranged, the turbine is located outside the rotating arm and meshes with the worm, the first sub-gear, the second sub-gear and the third sub-gear are all located inside the rotating arm, the first sub-gear is meshed with the second sub-gear, the second sub-gear is meshed with the third sub-gear, the connecting tube and the third sub-gear are coaxially arranged and located outside the rotating arm, the connecting tube is threadedly connected to the sleeve, and the gear set rotates to cause the sleeve and the connecting tube to rotate relative to each other to drive the sleeve to rise or fall relative to the connecting tube.

[0043] In one embodiment, the wall of the connecting cylinder is provided with a guide portion arranged in a spiral direction;

[0044] The sleeve wall is provided with a slot for accommodating the connecting tube, and the slot wall is provided with a spiral guide groove for accommodating the guide portion;

[0045] Wherein, the guide portion is a spiral boss or a plurality of protrusions distributed at intervals.

[0046] In one embodiment, a retaining rib is provided on the slot wall near the opening, and the retaining rib is used to abut against the guide portion to limit the lifting movement of the sleeve relative to the connecting tube;

[0047] The guide portion abuts against the bottom of the slot to limit the lifting movement of the sleeve relative to the connecting tube.

[0048] In one embodiment, the inner wall of the sleeve is provided with a limiting plane matching the first cleaning element;

[0049] Wherein, the axial cross-section of the sleeve is hexagonal.

[0050] In one embodiment, the first cleaning element (133) does not rely on the elastic force of the elastic member during the movement from the first operating position to the second operating position or from the second operating position to the first operating position.

[0051] An automatic cleaning device comprises the transmission device described in any one of the above items.

[0052] In one embodiment, the automatic cleaning device further includes a first housing;

[0053] The telescopic driving part and the rotating arm are located outside the first shell, the first transmission mechanism is located inside the first shell, and the telescopic driving part is dynamically connected to the first transmission mechanism.

[0054] In one embodiment, the automatic cleaning device further includes a position detection device for detecting the rotation position of the second cam, and the telescopic driving part rotates or stops rotating according to the detection result of the position detection device.

[0055] In one embodiment, the position detection device includes a first photoelectric switch and a second photoelectric switch, which are distributed on both sides of the second cam. The second cam also includes a first baffle and a second baffle distributed on both sides of the abutment portion. The first baffle is suitable for being inserted into the first photoelectric switch to change the detection signal of the first photoelectric switch, and the second baffle is suitable for being inserted into the second photoelectric switch to change the detection signal of the second photoelectric switch.

[0056] In one embodiment, the position detection device includes a first photoelectric switch and a stop member, which are distributed on both sides of the second cam. The second cam also includes a first baffle plate arranged at the abutment portion close to the first photoelectric switch. The first baffle plate is suitable for being inserted into the first photoelectric switch so that the first photoelectric switch changes the detection signal. The stop member is located on the movement trajectory of the second cam to form a stop member.

[0057] In one embodiment, the automatic cleaning device further includes a rotation angle detection device, which is provided on the telescopic drive unit and is used to detect the rotation angle of the output shaft of the telescopic drive unit. The telescopic drive unit also rotates or stops rotating according to the detection result of the rotation angle detection device.

[0058] In one embodiment, the first drive assembly further includes a second housing;

[0059] Among them, one end of the second shell is open, the second shell is buckled with the first shell, the worm, turbine, rotating arm and connecting cylinder are located in the space enclosed by the first shell and the second shell, the bottom end of the sleeve is suitable for extending out of the opening of the second shell, the lifting drive part is located outside the second shell, and the worm is passed through the second shell and connected to the lifting drive part.

[0060] In one embodiment, the second housing is divided into a first mounting cavity and a second mounting cavity, the turbine is located in the first mounting cavity, the sleeve is located in the second mounting cavity, the rotating arm extends to the first mounting cavity and the second mounting cavity, and the shape of the second mounting cavity is adapted to the movement space of the rotating arm;

[0061] The second housing further includes a bottom plate, which is detachably connected to a cavity wall of the first installation cavity to enclose the turbine in the first installation cavity.

[0062] In one embodiment, the automatic cleaning device also includes a second cleaning component, and the second cleaning component and the first cleaning component are distributed on both sides of the longitudinal center line of the machine body. The second cleaning component includes a second cleaning element movably connected to the machine body, and the second cleaning element can be raised and lowered and rotated relative to the machine body.

[0063] In one embodiment, the relative position of the second cleaning element and the edge projection area of ​​the machine body is fixed.

[0064] A cleaning robot system comprises a base station; and an automatic cleaning device as described in any one of the above items, wherein the automatic cleaning device is suitable for docking on the base station.

[0065] The present disclosure provides a transmission device, an automatic cleaning device, and a cleaning robot system. The transmission device includes a first cleaning assembly and a first drive assembly. The first cleaning assembly includes a first cleaning element. The first drive assembly drives the first cleaning element to rotate. The rotating first cleaning element abuts against the surface to be cleaned and, through friction, drives the rotating arm to rotate, so that the first cleaning element switches between a first operating position and a second operating position. Thus, according to the cleaning range requirements of the automatic cleaning device, the first drive assembly can be used to drive the first cleaning element to switch between the first operating position and the second operating position, so as to move the first cleaning element to an operating position that meets the corresponding cleaning range requirements, thereby meeting the requirements of different mopping ranges, expanding the mopping range, and helping to improve the cleaning effect and enhance the user's cleaning experience.

[0066] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The following drawings of the present disclosure are used as part of the embodiments of the present disclosure for understanding the present disclosure. The embodiments of the present disclosure and their description are shown in the drawings to explain the principle of the present disclosure.

[0068] In the attached figure:

[0069] FIG1 is a structural schematic diagram of an automatic cleaning device according to an optional embodiment of the present disclosure when a first cleaning element is in a first operating position;

[0070] FIG2 is a structural schematic diagram of an automatic cleaning device according to an optional embodiment of the present disclosure when the first cleaning element is in a second operating position;

[0071] FIG3 is a partial structural schematic diagram of an automatic cleaning device according to an optional embodiment of the present disclosure when the first cleaning element is in a second operating position;

[0072] FIG4 is a partial structural schematic diagram of an automatic cleaning device according to another optional embodiment of the present disclosure when the first cleaning element is in a second operating position;

[0073] 5 is a schematic diagram of the rotation direction of the first cleaning element and the rotating arm when the first cleaning element switches from the first operating position to the second operating position according to an optional embodiment of the present disclosure;

[0074] 6 is a schematic diagram of the rotation direction of the first cleaning element and the rotating arm when the first cleaning element switches from the second operating position to the first operating position according to an optional embodiment of the present disclosure;

[0075] FIG7 is a schematic structural diagram of the embodiment shown in FIG2 from another perspective;

[0076] FIG8 is a partial structural diagram of a second driving assembly and a cleaning assembly when the first cleaning element is in a first operating position according to an optional embodiment of the present disclosure;

[0077] FIG9 is a partial structural diagram of the second driving assembly and the cleaning assembly from another perspective when the first cleaning element is in the second operating position according to an optional embodiment of the present disclosure;

[0078] FIG10 is a partial structural diagram of the first transmission mechanism and the cleaning assembly when the first cleaning element is in the second operating position according to an optional embodiment of the present disclosure;

[0079] FIG11 is a partial structural diagram of a first transmission mechanism and a cleaning assembly when the first cleaning element is in a first operating position according to an optional embodiment of the present disclosure;

[0080] FIG12 is a partial structural diagram of a first transmission mechanism and a cleaning assembly when the first cleaning element is in a second operating position according to another optional embodiment of the present disclosure;

[0081] FIG13 is a partial structural diagram of the first transmission mechanism and the cleaning assembly when the first cleaning element of the embodiment shown in FIG12 is in the first operating position;

[0082] FIG14 is a schematic structural diagram showing another perspective of the embodiment shown in FIG10 ;

[0083] FIG15 shows a cross-sectional view taken along the AA direction of the embodiment shown in FIG14 ;

[0084] FIG16 is a partial structural diagram of a first drive assembly according to an optional embodiment of the present disclosure;

[0085] FIG17 is a schematic structural diagram showing another perspective of the embodiment shown in FIG10 ;

[0086] FIG18 is a schematic structural diagram of a second housing according to an optional embodiment of the present disclosure;

[0087] FIG19 is a schematic structural diagram showing another perspective of the embodiment shown in FIG18 .

[0088] DESCRIPTION OF NUMERALS AND SIGNS: 100, automatic cleaning device; 110, machine body; 111, forward portion; 112, rearward portion; 120, sensing system; 121, determining device; 122, buffer; 130, first cleaning assembly; 131, second driving assembly; 1311, telescopic driving portion; 1312, first transmission mechanism; 1301, rotating arm; 1314, second cam; 1315, gear; 13151, sector-shaped tooth portion; 13152, abutting portion; 13153, first baffle; 13154, second baffle; 1302, first cam; 13021, protrusion; 13022, protective layer; 13023, roller; 1318, first housing; 1319, first stopper; 1320, second stopper; 132, first driving assembly; 1321. Lifting drive unit; 1322. Second transmission mechanism; 1323. Worm; 1324. Gear set; 13241. Turbine; 13242. First sub-gear; 13243. Second sub-gear; 13244. Third sub-gear; 13245. Rotating shaft; 13246. Connecting cylinder; 13247. Guide portion; 1325. Sleeve; 13251. Slot; 13252. Guide groove; 13253. Limiting plane; 1326. Second housing; 13261. First mounting cavity; 13262. Second mounting cavity; 13263. Bottom plate; 133. First cleaning element; 134. Position detection device; 1341. First photoelectric switch; 1342. Second photoelectric switch; 135. Stopper; 140. Second cleaning assembly; 141. Second cleaning element; 160. Third cleaning component; 161. Side brush; 162. Roller brush. DETAILED DESCRIPTION

[0089] In the following description, a number of specific details are given to provide a more thorough understanding of the technical solutions provided by the present disclosure. However, it is obvious to those skilled in the art that the technical solutions provided by the present disclosure can be implemented without one or more of these details.

[0090] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0091] Exemplary embodiments of the present disclosure will now be described in greater detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of this disclosure thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0092] As shown in FIG1 , FIG2 , FIG3 , FIG4 and FIG15 , the transmission device provided in the embodiment of the present disclosure includes:

[0093] a first cleaning assembly 130 and a first driving assembly 132;

[0094] The first cleaning assembly 130 includes a rotating arm 1301 and a first cleaning element 133. The first cleaning element 133 is connected to the rotating arm 1301 so that the first cleaning element 133 moves along with the rotating arm 1301 between a first operating position and a second operating position.

[0095] The first driving assembly 132 is used to drive the first cleaning element 133 to rotate in a first direction, so that the first cleaning element 133 contacts the surface to be cleaned, so that the first cleaning element 133 is driven to move from the first operating position to the second operating position in a second direction through the friction between the surface to be cleaned and the first cleaning element 133;

[0096] The first direction and the second direction are opposite.

[0097] In the prior art, when a cleaning element moves between a first operating position and a second operating position, it is usually necessary to use the elastic force of an elastic member (such as a spring, a tension spring, a torsion spring, etc.) to achieve the movement between the first operating position and the second operating position. However, the elastic member may occupy a relatively large space, which is not conducive to the miniaturization of the transmission device and has an adverse effect on the spatial layout of the various functional modules inside the sweeper. Compared with the prior art, the present disclosure omits the elastic member in the transmission device and only uses the friction between the surface to be cleaned and the first cleaning element to drive the first cleaning element to move along the second direction from the first operating position to the second operating position, thereby saving space.

[0098] As shown in Figure 5, the first driving component 132 drives the first cleaning element 133 to rotate in a first direction. The first cleaning element 133 rotating with itself as the axis collides with the surface to be cleaned to generate friction. At this time, the force applied by the first driving component 132 to the first cleaning element 133 is opposite to the direction of the force applied by the surface to be cleaned to the first cleaning element 133. Then, the friction force applied by the surface to be cleaned to the first cleaning element 133 pushes the rotating arm 1301 to rotate in a second direction with the end rotatably connected to the machine body 110 as the center, so as to drive the first cleaning element 133 to rotate by the first driving component 132 to realize the switching of the first cleaning element 133 from the first operating position to the second operating position.

[0099] It can be understood that during the process of the first cleaning element 133 rotating and cleaning the surface to be cleaned, if the first cleaning element 133 maintains a state of rotating in the first direction, the friction force in the second direction generated by the contact between the surface to be cleaned and the first cleaning element 133 pushes the rotating arm 1301 to rotate to the first extreme position, and relies on the friction force to keep the rotating arm 1301 locked to prevent the rotating arm 1301 from swinging. At this time, the first cleaning element 133 is in the second operating position to rotate and clean the surface to be cleaned in the first direction, thereby preventing the first cleaning element 133 from moving with the rotating arm 1301 during the cleaning process.

[0100] FIG1 shows a schematic structural diagram of the first cleaning element 133 in a first operating position, and FIG2 shows schematic structural diagrams of the first cleaning element 133 in a second operating position. The projections of the first cleaning element 133 in the first and second operating positions are located at different positions on the projection area of ​​the machine body 110. As shown in FIG1 , the projection of the first cleaning element 133 in the first operating position is within the projection area of ​​the machine body 110. As shown in FIG2 , 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. It can be understood that, in other embodiments, the projections of the first cleaning element 133 in the first operating position and the second operating position can both be located within the projection area of ​​the machine body 110, but the positions of the two are different; or, at least part of the projections of the first cleaning element 133 in the first operating position and the second operating position can both be located within the projection area of ​​the machine body 110, but the positions of the two are different, that is, at least part 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 part 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 larger than the area of ​​the first cleaning element in the first operating position outside the machine body 110 in the horizontal direction. Thus, according to the cleaning range requirements, specifically according to the wet cleaning range requirements, the first cleaning element 133 can be switched between the first operating position and the second operating position to move the first cleaning element 133 to an operating position that meets the corresponding cleaning range requirements, that is, the first cleaning element 133 can perform a mopping operation in the first operating position, and the first cleaning element 133 can also perform a mopping operation in the second operating position to meet the requirements of different mopping ranges, thereby expanding the mopping range, that is, expanding the cleaning range, improving the cleaning effect, and improving the user's cleaning experience.

[0101] As shown in Figures 2 to 4, in some possible embodiments provided by the present 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, as shown in Figures 2, 3, 4 and 7, that is, 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.

[0102] Among them, at least a part of the first cleaning element 133 in the second operating position is located outside the edge projection area of ​​the machine body 110, so that the cleaning range of the first cleaning element 133 in the second operating position can exceed the edge of the walking range of the machine body 110, thereby achieving comprehensive cleaning of the corners that the machine body 110 cannot fit, thereby increasing the cleaning range of the first cleaning element 133 and improving the cleaning effect.

[0103] The first cleaning element 133 in 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 , which may be set according to the specific structure.

[0104] Among them, the first cleaning element 133 in the first operating position can be located within the edge projection area of ​​the machine body 110, so that the cleaning range of the first cleaning element 133 in the first operating position can be located within the walking range of the machine body 110, thereby, the area within the walking range of the machine body 110 can be mopped, thereby reducing the possibility of the first cleaning element 133 protruding out of the machine body 110 and colliding with obstacles, which is conducive to improving the service life and reliability of the first cleaning element 133.

[0105] Furthermore, the first cleaning element 133 can be selectively driven to switch between the first operating position and the second operating position according to whether it is necessary to mop the corners, such as moving the first cleaning element 133 to the first operating position for conventional wet cleaning operations, and moving the first cleaning element 133 to the second operating position for wet cleaning operations of corners, thereby meeting different functional requirements and improving intelligence.

[0106] One end of the rotating arm 1301 is rotatably connected to the machine body 110 , and the other end is connected to the first cleaning element 133 in one of a movable connection, a transmission connection and a fixed connection.

[0107] During the switching process between the first operating position and the second operating position, the first cleaning element 133 swings along with the rotating arm 1301 with the end of the rotating arm 1301 connected to the machine body 110 as the center, thereby achieving switching between the first operating position and the second operating position.

[0108] The first drive assembly 132 drives the first cleaning element 133 to rotate in the second direction, causing the first cleaning element 133 to come into contact with the surface to be cleaned. The friction between the surface to be cleaned and the first cleaning element 133 drives the first cleaning element 133 to move from the second operating position to the first operating position. The elastic member is omitted from the transmission device, and the friction between the surface to be cleaned and the first cleaning element alone is used to drive the first cleaning element from the second operating position to the first operating position, thus saving space.

[0109] As shown in Figure 6, the principle is the same as that of switching the first cleaning element 133 from the first operating position to the second operating position. If the first driving component 132 drives the first cleaning element 133 to rotate in the second direction, the first cleaning element 133 rotating about itself will conflict with the surface to be cleaned to generate friction. At this time, the force applied by the first driving component 132 to the first cleaning element 133 is opposite to the direction of the force applied by the surface to be cleaned to the first cleaning element 133. Then, the friction force applied by the surface to be cleaned to the first cleaning element 133 pushes the rotating arm 1301 to rotate in the first direction with the end rotatably connected to the machine body 110 as the center, so as to drive the first cleaning element 133 to rotate in the opposite direction through the first driving component 132 to realize switching the first cleaning element 133 from the second operating position to the first operating position.

[0110] It can be understood that during the process of the first cleaning element 133 rotating and cleaning the surface to be cleaned, if the first cleaning element 133 maintains a state of rotating in the second direction, the friction force in the first direction generated by the contact between the surface to be cleaned and the first cleaning element 133 pushes the rotating arm 1301 to rotate to the second extreme position, and relies on the friction force to keep the rotating arm 1301 locked to prevent the rotating arm 1301 from swinging. At this time, the first cleaning element 133 is in the first operating position to rotate and clean the surface to be cleaned in the second direction, thereby preventing the first cleaning element 133 from moving with the rotating arm 1301 during the cleaning process.

[0111] As shown in Figure 6, during the process of switching the first cleaning element 133 from the second operating position to the first operating position, if the first cleaning element 133 rotates in the second direction, it is necessary to overcome the friction between the first cleaning element 133 and the surface to be cleaned during the retraction process. However, during the process of rotating the first cleaning element 133 in the second direction, the contact with the surface to be cleaned will apply a friction force in the first direction to the first cleaning element 133, and then apply a force in the first direction to the rotating arm 1301, so that the two forces are partially offset.

[0112] It can be understood that when the force applied by the surface to be cleaned to the first cleaning element 133 rotating along the second direction is large enough, the first cleaning element 133 can be moved from the second operating position to the first operating position without the need for the second driving component 131 to drive the rotating arm 1301 to rotate, thereby reducing the second driving component 131, greatly reducing the volume and simplifying the structure.

[0113] As shown in FIG7 and FIG8 , in some possible embodiments provided by the present disclosure, the transmission device further includes a second drive assembly 131 ;

[0114] The second driving assembly 131 is connected to the machine body 110 and is used to drive the first cleaning element 133 to move from the second operating position and toward the first operating position.

[0115] Wherein, it also includes a second driving component 131;

[0116] The second driving assembly 131 is connected to the first cleaning assembly 130 and is used to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0117] As shown in FIG. 6 , if the second driving assembly 131 drives the rotating arm 1301 to rotate in the first direction, the first cleaning element 133 can be moved from the second operating position to the first operating position.

[0118] As shown in FIG7 , one end of the rotating arm 1301 is connected to the first cam 1302 , and the other end is connected to the first cleaning element 133 . When the first cleaning element 133 switches from the second operating position to the first operating position, the second driving assembly 131 abuts against the first cam 1302 .

[0119] When the first cam 1302 rotates in the first direction under the drive of the second driving assembly 131 , the first cleaning element 133 moves from the second operating position toward the first operating position.

[0120] The second driving component 131 drives the first cam 1302 to rotate in the first direction. One end of the rotating arm 1301 is connected to the first cam 1302. The rotation of the first cam 1302 drives the rotating arm 1301 to rotate in the first direction, and then drives the first cleaning element 133 at the other end of the rotating arm 1301 along the first direction, thereby realizing switching from the second operating position to the first operating position.

[0121] As shown in Figure 9, the second drive assembly 131 includes a telescopic drive part 1311 and a first transmission mechanism 1312. The first cleaning element 133 is connected to the first cam 1302 through the rotating arm 1301. The telescopic drive part 1311 drives the rotating arm 1301 to rotate through the first transmission mechanism 1312 to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0122] As shown in Figure 9, the telescopic driving part 1311 is used to output power. The telescopic driving part 1311 can be a motor. During the movement of the first cleaning element 133 from the second operating position to the first operating position, the first transmission mechanism 1312 and the first cam 1302 abut against each other. The telescopic driving part 1311 pushes the first cam 1302 to rotate in the first direction through the first transmission mechanism 1312, and then drives the first cleaning element 133 to rotate in the first direction through the rotating arm 1301, thereby realizing the movement from the second operating position to the first operating position.

[0123] Wherein, the first transmission mechanism 1312 includes a second cam 1314;

[0124] The second cam 1314 is disposed on the output end of the telescopic driving portion 1311 , so that the telescopic driving portion 1311 drives the second cam 1314 to rotate; or, the output end of the telescopic driving portion 1311 is transmission-connected to the second cam 1314 .

[0125] The second cam 1314 is in contact with the first cam 1302, and the telescopic driving part 1311 can apply a force to the first cam 1302 through the rotation of the second cam 1314, so as to drive the first cam 1302 to rotate. One end of the rotating arm 1301 is connected to the first cam 1302, and the rotation of the first cam 1302 can drive the rotating arm 1301 to rotate, thereby driving the first cleaning element 133 at the other end of the rotating arm 1301 to switch from the second operating position to the first operating position.

[0126] The second cam 1314 includes a contact portion 13152 , which contacts the first cam 1302 , and the first cam 1302 is coaxially arranged with the rotating arm 1301 .

[0127] As shown in Figures 10, 11, 12, and 13, the abutment portion 13152 is arranged circumferentially of the rotating shaft of the second cam 1314, so that the rotation of the second cam 1314 can simultaneously drive the abutment portion 13152 to rotate. As a result, the telescopic drive unit 1311 drives the second cam 1314 to rotate in the first direction, thereby driving the abutment portion 13152 to rotate. The abutment portion 13152 abuts against the first cam 1302, which can push the first cam 1302 to rotate. Because the first cam 1302 is coaxially arranged with the rotating arm 1301, the rotating arm 1301 can rotate synchronously with the first cam 1302, thereby driving the first cleaning element 133 installed in the rotating arm 1301 to move from the second operating position to the first operating position.

[0128] As shown in Figures 12 and 13, the second cam 1314 is connected to the telescopic driving part 1311, so that the telescopic driving part 1311 pushes the first cam 1302 to rotate through the abutment part 13152 of the second cam 1314, and synchronously rotates through the rotating arm 1301 to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0129] The second cam 1314 is coaxially arranged with the output end of the telescopic driving part 1311, so that the telescopic driving part 1311 drives the second cam 1314 and the first cam 1302 to rotate, and then drives the rotating arm 1301 to rotate synchronously to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0130] If the first cleaning element 133 is lifted up without contacting the surface to be cleaned during the movement from the second operating position to the first operating position, no friction will be generated with the surface to be cleaned during the retraction process, and the torque requirement will be greatly reduced. The telescopic drive part 1311 can be used to directly connect to the second cam 1314. The telescopic drive part 1311 directly drives the second cam 1314 without the need for the sector tooth part 13151 and the gear 1315, thereby further reducing the volume and simplifying the structure.

[0131] As shown in FIG9 , FIG10 and FIG11 , the first transmission mechanism 1312 further includes a gear 1315 ;

[0132] The second cam 1314 also includes a sector-shaped tooth portion 13151, and the gear 1315 is connected to the telescopic drive portion 1311. The gear 1315 is engaged with the sector-shaped tooth portion 13151, and the telescopic drive portion 1311 drives the gear 1315 to rotate in the first direction, and the second cam 1314 is driven to rotate in the second direction through the gear 1315. The second cam 1314 pushes the first cam 1302 to rotate in the first direction, and the rotating arm 1301 rotates synchronously to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0133] The gear 1315 is coaxially arranged with the output end of the telescopic driving portion 1311 and meshes with the sector-shaped tooth portion 13151, so that the telescopic driving portion 1311 drives the gear 1315, the second cam 1314 and the first cam 1302 to rotate, and then drives the rotating arm 1301 to rotate synchronously to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0134] In this embodiment, the rotating first cleaning element 133 rubs against the surface to be cleaned, thereby pushing the rotating arm 1301 to rotate. The rotation of the rotating arm 1301 drives the first cleaning element 133 to move from the first operating position to the second operating position. There is no need for elastic parts or other devices to maintain the rotating arm 1301 in the second operating position, which reduces the volume of the second drive component 131, can further reduce the volume of the sweeping robot, streamline the structure, and do not need to consider the durability of the elastic parts, so the service life is longer and the failure rate is reduced.

[0135] In this embodiment, during the process of switching the first cleaning element 133 from the second operating position to the first operating position, if the first cleaning element 133 keeps rotating in the first direction, it is necessary to overcome the friction between the first cleaning element 133 moving from the second operating position to the first operating position and the surface to be cleaned, as well as the friction between the first cleaning element 133 and the surface to be cleaned when rotating, during the retraction process. The torque requirement is relatively large, so the gear 1315 is generally connected to the telescopic drive part 1311 through power, and the gear 1315 engages the second cam 1314 to push the cam to rotate, so that the rotating arm 1301 drives the first cleaning element 133 to move from the second operating position to the first operating position.

[0136] In this embodiment, during the process of switching the first cleaning element 133 from the second operating position to the first operating position, if the first cleaning element 133 does not rotate, during the retraction process, it is only necessary to overcome the friction between the first cleaning element 133 moving from the second operating position to the first operating position and the surface to be cleaned, further reducing the torque requirement.

[0137] As shown in Figures 10, 11, 12 and 13, a protrusion 13021 is provided on the first cam 1302, and at least a portion of the protrusion 13021 is located on the movement trajectory of the abutment portion 13152, which is used to abut against the abutment portion 13152 when the first cleaning element 133 moves from the second operating position to the first operating position.

[0138] The convex portion 13021 of the first cam 1302 is also the portion of the first cam 1302 that protrudes radially outward. When the second cam 1314 pushes the first cam 1302 to rotate, the abutting portion 13152 abuts against the convex portion 13021 .

[0139] As shown in FIG. 12 , when the first cleaning element 133 is located at the second operating position, the second cam 1314 is separated from the first cam 1302 .

[0140] The separation of the second cam 1314 from the first cam 1302 can eliminate the interaction force between the second cam 1314 and the first cam 1302, thereby preventing the swing arm from shaking and driving the first cam 1302 to rotate, and transmitting the force to the telescopic drive part 1311 through the first cam 1302 and the first gear 1315, which can protect the telescopic drive part 1311.

[0141] In which, when the first cleaning element 133 is in the second operating position, the abutment portion 13152 of the second cam 1314 and the convex portion 13021 of the first cam 1302 are separated by a gap in the circumferential direction, so that the convex portion 13021 of the second cam 1314 is separated from the convex portion 13021 of the first cam 1302.

[0142] The abutting portion 13152 is provided with a rotating wheel, and the first cam 1302 abuts against the second cam 1314 via the rotating wheel.

[0143] The rotating wheel realizes a rolling connection with the first cam 1302 , thereby reducing friction when the first cam 1302 and the second cam 1314 abut and move, reducing wear on the convex portion 13021 , and increasing the service life of the first cam 1302 and the second cam 1314 .

[0144] As shown in FIG9 , in some possible embodiments provided by the present disclosure, an anti-wear structure is provided on the second drive assembly 131 and / or the first cam 1302 , and the second drive assembly 131 and the first cam 1302 are in contact with each other through the anti-wear structure.

[0145] By providing an anti-wear structure on the second drive component 131 and / or the first cam 1302, and transmitting force between the second drive component 131 and the first cam 1302 through the anti-wear structure, the second drive component 131 and the first cam 1302 can be protected, the wear of the second drive component 131 and the first cam 1302 can be reduced, and a good service life can be ensured.

[0146] Among them, the anti-wear structure can be set on the second drive component 131, or on the convex part of the first cam 1302, or on the convex parts of the second drive component 131 and the first cam 1302 at the same time. When the second drive component 131 and the convex part of the first cam 1302 transmit force, that is, when the second drive component 131 and the first cam 1302 are squeezed, the anti-wear structure is located between the second drive component 131 and the convex part of the first cam 1302.

[0147] The anti-wear structure includes rollers 13023 and / or a protective layer 13022 with a smooth outer surface. The rollers 13023 ensure rolling friction between the second drive assembly 131 and the first cam 1302, which is lower than the sliding friction between the second drive assembly 131 and the first cam 1302. The smooth outer surface of the protective layer 13022 also reduces friction and protects the first cam 1302. If severe wear and tear occurs after prolonged use, only the protective layer 13022 needs to be replaced, resulting in lower maintenance costs.

[0148] As shown in Figure 9, in some possible embodiments provided by the present disclosure, a roller 13023 may be provided on the second drive component 131, and a protective layer 13022 with a smooth outer surface is provided on the convex portion of the first cam 1302. The second drive component 131 contacts the protective layer 13022 on the convex portion of the first cam 1302 through the roller 13023.

[0149] In some possible embodiments provided by the present disclosure, a roller 13023 may be provided on the convex portion of the first cam 1302, and a protective layer 13022 with a smooth outer surface is provided on the second drive component 131, and the first cam 1302 contacts the protective layer 13022 on the second drive component 131 through the roller 13023.

[0150] In some possible embodiments provided by the present disclosure, a protective layer 13022 with a smooth outer surface is provided on the protrusion of the first cam 1302 and the second driving assembly 131 , and the first cam 1302 and the second driving assembly 131 are in conflict with each other through the protective layer 13022 .

[0151] In some possible embodiments provided by the present disclosure, the protrusion of the first cam 1302 and the second drive assembly 131 may both be provided with rollers 13023, and the rollers 13023 on the protrusion of the first cam 1302 and the rollers 13023 on the second drive assembly 131 are staggered, that is, the two rollers 13023 do not abut against each other, the protrusion of the first cam 1302 abuts against the second drive assembly 131 through the roller 13023 thereon, and the second drive assembly 131 abuts against the protrusion of the first cam 1302 through the roller 13023 thereon.

[0152] As shown in FIG. 9 , in some possible embodiments provided by the present disclosure, a protective layer 13022 having a smooth outer surface is provided on the outer wall of the protrusion 13021 of the first cam 1302 .

[0153] By providing a protective layer 13022 with a smooth outer surface on the outer wall of the convex portion 13021 of the first cam 1302, the friction force when the convex portion 13021 of the first cam 1302 abuts against the second cam 1315 can be reduced, which can protect the first cam 1302 and the second cam 1315 and extend the service life of the first cam 1302 and the second cam 1315.

[0154] The protective layer 13022 may be a metal sheet, or may be replaced with other wear-resistant materials, including but not limited to PK and powder metallurgy.

[0155] Specifically, the metal sheet is provided on the contact surface between the protrusion 13021 and the second cam 1315 , that is, when the protrusion 13021 and the second cam 1315 interact with each other, the metal sheet is located between the protrusion 13021 and the second cam 1315 .

[0156] In some possible embodiments provided by the present disclosure, a roller 13023 is provided on the protrusion 13021 of the first cam 1302, and the protrusion 13021 is in contact with the second drive component 131 through the roller 13023, so that there is rolling friction between the protrusion 13021 and the second drive component 131, with a smaller friction force, thereby avoiding excessive wear of the protrusion 13021 and the second drive component 131, and ensuring that the first cam 1302 and the second drive component 131 have a longer service life.

[0157] The convex portion 13021 abuts against the abutting portion 13152 of the second cam 1315 via the roller 13023 .

[0158] The axis of the roller 13023 is substantially parallel to the contact surface between the protrusion 13021 and the second driving assembly 131 , thereby ensuring that the roller 13023 can roll stably on the first driving assembly.

[0159] As shown in Figure 10, in some possible embodiments provided by the present disclosure, a first limiting member 1319 and a second limiting member 1320 distributed on the circumferential side of the first cam 1302 are further provided in the first shell 1318, the first limiting member 1319 is located on the side of the protrusion 13021 away from the abutting portion 13152, and the first limiting member 1319 is used to abut with the protrusion 13021 to limit the rotation of the first cam 1302, and the second limiting member 1320 is located on the side of the protrusion 13021 away from the first limiting member 1319, and the second limiting member 1320 is used to abut with the protrusion 13021 to limit the rotation of the first cam 1302.

[0160] Thus, the rotation of the first cam 1302 can be limited. For example, after the first cam 1302 rotates to a suitable position, the protrusion 13021 of the first cam 1302 abuts the first limiting member 1319, preventing the first cam 1302 from moving further toward the first limiting member 1319. This allows the first cleaning element 133 to reliably and accurately maintain the first operating position. Simultaneously, after the first cam 1302 rotates to a suitable position, the protrusion 13021 of the first cam 1302 abuts the second limiting member 1320, preventing the first cam 1302 from moving further toward the second limiting member 1320. This allows the first cleaning element 133 to reliably and accurately maintain the second operating position.

[0161] It can be understood that under the action of the first limit member 1319 or the second limit member 1320, the first cam 1302 will not continue to rotate. Therefore, even when the position detection device 134 and the angle detection device fail, the first cleaning element 133 can be reliably maintained in the first operating position or the second operating position, achieving double confirmation and improving the accuracy and reliability of the first cleaning element 133 reaching the target operating position.

[0162] As shown in FIG. 5 and FIG. 6 , the first driving assembly 132 is used to drive the first cleaning element 133 to rotate about its own central axis.

[0163] It is understandable that the first driving assembly 132 drives the first cleaning element 133 in the first operating position or the second operating position to descend until it contacts and rotates with the surface to be cleaned, so as to achieve the mopping operation of the surface to be cleaned. After the mopping operation is completed, the first driving assembly 132 drives the first cleaning element 133 to rise, so that the first cleaning element 133 can be separated from the surface to be cleaned, and the first cleaning element 133 is stored so that the first cleaning element 133 does not contact the surface to be cleaned. This can avoid the situation where the first cleaning element 133 contacts the surface to be cleaned and causes secondary contamination of the surface to be cleaned in scenarios where mopping is not required, such as when the automatic cleaning device 100 travels back and forth between the base station or when performing carpet cleaning. This is conducive to improving the cleanliness of the automatic cleaning device 100, improving cleaning efficiency and user experience.

[0164] In other words, the first drive assembly 132 can drive the lifting and rotation operations of the first cleaning element 133 according to whether the first cleaning element 133 is in contact with the surface to be cleaned, that is, whether the first cleaning element 133 needs to perform a cleaning function or a storage function, so as to meet the different functional requirements of the first cleaning element 133, that is, it can realize the processing of the distinguishing strategy of cleaning or storage of the first cleaning element 133, thereby improving the cleaning performance of the self-cleaning device. It is understandable that when the first cleaning element 133 is in the first operating position, it can perform both the cleaning function and the storage function. When the first cleaning element 133 is in the second operating position, it can perform both the cleaning function and the storage function.

[0165] It is understandable that the first driving assembly 132 drives the first cleaning element 133 to descend to contact the surface to be cleaned and rotate, and the rotation direction of the first cleaning element 133 can achieve switching between the first operating position and the second operating position.

[0166] That is to say, the first driving component 132 can adjust the rotation direction of the first cleaning element 133 and the contact with the surface to be cleaned according to cleaning needs, and then adjust the first cleaning element 133 to the first operating position or the second operating position to meet the different functional requirements of the cleaning position of the first cleaning element 133, thereby improving the cleaning performance of the self-cleaning device.

[0167] The first driving assembly 132 is also used to drive the first cleaning element 133 to vibrate and / or rise and fall.

[0168] The first driving assembly 132 is further used to drive the first cleaning element 133 to vibrate, for example, in a horizontal direction, which can further improve the cleaning effect.

[0169] As shown in FIG14 and FIG15 , the first driving assembly 132 includes a lifting driving portion 1321 and a second transmission mechanism 1322 ;

[0170] The second transmission mechanism 1322 is connected to the first cleaning element 133 , and the lifting driving unit 1321 drives the first cleaning element 133 to rise and fall and rotate via the second transmission mechanism 1322 .

[0171] Thus, the transmission device provided by the embodiment of the present disclosure utilizes the first drive assembly 132 to drive the first cleaning element 133 to rotate and contact the surface to be cleaned from the first operating position to the second operating position, utilizes the first cleaning element 133 to reversely rotate and contact the surface to be cleaned from the second operating position to the first operating position, or utilizes the second drive assembly 131 to drive the first cleaning element 133 to switch from the second operating position to the first operating position, and utilizes the first drive assembly 132 to drive the first cleaning element 133 to rise, fall, vibrate, and rotate; the first drive assembly 132 can meet the wet cleaning operation for different wet cleaning ranges, or the first drive assembly 132 and the second drive assembly 131 can cooperate to meet the wet cleaning operation for different wet cleaning ranges, thereby expanding the cleaning range and improving the cleaning effect. At the same time, it can meet the requirement of whether the first cleaning element 133 needs to contact the surface to be cleaned, that is, it can meet the requirements of the first cleaning element 133 for cleaning or storing different functions, thereby improving the cleaning performance of the automatic cleaning device 100 and improving the user experience.

[0172] Among them, in this embodiment, a first driving component 132 can be used to drive the lifting and rotation of the first cleaning element 133. Compared with the related art that requires the use of two first driving components 132 to drive the lifting and rotation of the cleaning element respectively, the setting of a second driving component 131 is simplified. Therefore, it can meet the design requirements of the first cleaning component 130 with a compact structure and a small size, which is conducive to reducing the space occupied by the first cleaning component 130 and reducing costs, and is suitable for promotion and application.

[0173] As shown in Figures 15 and 16, the second transmission mechanism 1322 includes a power-connected worm 1323, a gear set 1324 and a sleeve 1325. The worm 1323 is power-connected to the lifting drive part 1321, the gear set 1324 is arranged in the rotating arm 1301, and the sleeve 1325 is connected to the first cleaning element 133. The worm 1323 drives the sleeve 1325 to rise and fall and rotate through the gear set 1324 to drive the first cleaning element 133 to rise and fall and rotate.

[0174] In this embodiment, since the second transmission mechanism 1322 is connected to the rotating arm 1301 and the first cleaning element 133, the second transmission mechanism 1322 can drive the first cleaning element 133 to rise and fall and rotate under the action of the lifting drive part 1321, and can drive the first cleaning element 133 to switch between the first operating position and the second operating position under the action of the rotating arm 1301.

[0175] In this embodiment, the second driving component 131 includes a lifting driving part 1321, which can drive the lifting and rotation of the first cleaning element 133 through the lifting driving part 1321. Compared with the related art that requires the use of two driving parts to drive the lifting and rotation of the cleaning element respectively, the setting of one driving part is simplified. Therefore, it can meet the design requirements of the first cleaning component 130 with a compact structure and a small size, which is conducive to reducing the space occupied by the first cleaning component 130 and reducing costs, and is suitable for promotion and application.

[0176] As shown in FIG14 , FIG15 and FIG16 , in the above embodiment, the gear set 1324 includes a turbine 13241 , a first sub-gear 13242 , a second sub-gear 13243 , a third sub-gear 13244 and a connecting cylinder 13246 ;

[0177] Among them, the turbine 13241 and the first sub-gear 13242 are coaxially arranged with the rotating shaft 13245 as the center, the turbine 13241 is located outside the rotating arm 1301 and meshes with the worm 1323, the first sub-gear 13242, the second sub-gear 13243 and the third sub-gear 13244 are all located inside the rotating arm 1301, the first sub-gear 13242 is meshed with the second sub-gear 13243, the second sub-gear 13243 is meshed with the third sub-gear 13244, the connecting tube 13246 is coaxially arranged with the third sub-gear 13244 and is located outside the rotating arm 1301, the connecting tube 13246 is threadedly connected to the sleeve 1325, and the gear set 1324 rotates to make the sleeve 1325 and the connecting tube 13246 rotate relative to each other to drive the sleeve 1325 to rise or fall relative to the connecting tube 13246.

[0178] Thus, the lifting drive unit 1321 rotates to drive the worm 1323. The engagement of the turbine 13241 with the worm 1323 drives the turbine 13241 to rotate, which in turn drives the first sub-gear 13242 coaxially disposed with the turbine 13241 to rotate. The engagement of the first sub-gear 13242 with the first gear plate drives the first gear plate and the second gear plate coaxially disposed with the first gear plate to rotate. The engagement of the second gear plate with the third sub-gear 13244 drives the third sub-gear 13244 to rotate, which in turn drives the connecting sleeve 13246 coaxially disposed with the third sub-gear 13244 to rotate. The threaded connection between the connecting sleeve 13246 and the sleeve 1325 allows the sleeve 1325 and the connecting sleeve 13246 to rotate relative to each other, driving the sleeve 1325 to rise or fall relative to the connecting unit, thereby driving the first cleaning element 133 mounted within the sleeve 1325 to rise and fall and rotate. This arrangement offers a simple structure and high transmission precision.

[0179] Among them, the first sub-gear 13242, the second sub-gear 13243, and the third sub-gear 13244 are all located inside the rotating arm 1301. Therefore, the rotating arm 1301 provides installation space and a certain degree of protection for the first sub-gear 13242, the second sub-gear 13243, and the third sub-gear 13244, which can extend the service life of the first sub-gear 13242, the second sub-gear 13243, and the third sub-gear 13244, thereby improving the reliability of the second driving component 131. At the same time, it can meet the design requirements of the first cleaning component 130 with a compact structure and a small size.

[0180] It can be understood that the rotating shaft connecting the first sub-gear 13242 and the turbine 13241 is passed through the rotating arm 1301, and the rotating shaft connecting the third sub-gear 13244 and the connecting cylinder 13246 is passed through the rotating arm 1301, so as to transmit the power of the lifting drive part 1321 from the outside of the rotating arm 1301 to the inside of the rotating arm 1301 through the worm 1323 and the turbine 13241, and then transmit it to the outside of the rotating arm 1301 again through the connecting cylinder 13246, and drive the lifting and rotation of the first cleaning element 133 through the sleeve 1325.

[0181] As shown in Figures 16 and 17, in some possible embodiments provided by the present disclosure, the wall of the connecting cylinder 13246 is provided with a guide portion 13247 arranged in a spiral direction; the wall of the sleeve 1325 is provided with a slot 13251 for accommodating the connecting cylinder 13246, and the groove wall of the slot 13251 is provided with a spiral guide groove 13252 for accommodating the guide portion 13247.

[0182] In this embodiment, a slot 13251 is provided at the top of the sleeve 1325, and the slot 13251 of the sleeve 1325 is inserted into the wall of the connecting tube 13246, so that the guide portion 13247 on the wall of the connecting tube 13246 is accommodated in the guide groove 13252 of the slot 13251. Since the guide portion 13247 is arranged in a spiral shape and the guide groove 13252 is spiral, the guide portion 13247 moves in a spiral shape along the guide groove 13252, so that the sleeve 1325 can be rotated and lifted relative to the connecting tube 13246, that is, the connection method between the sleeve 1325 and the connecting tube 13246 can be regarded as a connection method of a screw nut. This setting has a simple structure and is easy to implement, and can use a set of structures to realize the lifting and rotation of the sleeve 1325, which is beneficial to reducing the volume of the first drive component 132.

[0183] Further, as shown in Figures 16 and 17, the guide portion 13247 is arranged on the outer wall of the connecting tube 13246, and the guide groove 13252 is arranged on the groove wall of the slot 13251 away from the inside of the sleeve 1325, or the guide portion 13247 is arranged on the inner wall of the connecting tube 13246, and the guide groove 13252 is arranged on the groove wall of the slot 13251 close to the inside of the sleeve 1325.

[0184] Among them, the guide part 13247 is a spiral boss. If the guide part 13247 is an outward-convex thread, it is beneficial to improve the accuracy and reliability of the mutual limitation and guidance of the guide part 13247 and the guide groove 13252, so as to improve the stability of the sleeve 1325 in the lifting and rotating relative to the connecting tube 13246.

[0185] Alternatively, as shown in FIG16 , the guide portion 13247 may be a plurality of protrusions spaced apart, that is, the protrusions are spaced apart along a spiral. This simplifies the structure of the guide portion 13247, helps reduce the material used for the guide portion 13247, and saves manufacturing costs. Specifically, the number of protrusions may be two, three, four, or another number.

[0186] In some possible embodiments provided by the present disclosure, a retaining rib is provided on the wall of the slot 13251 near the opening. The retaining rib is used to abut against the guide portion 13247 to limit the lifting and lowering movement of the sleeve 1325 relative to the connecting tube 13246. That is, the retaining rib cooperates with the guide portion 13247 to limit the lowering limit of the sleeve 1325 relative to the connecting tube 13246. This prevents the guide portion 13247 from disengaging from the guide slot 13252, thereby separating the sleeve 1325 and the connecting tube 13246, thereby ensuring that the sleeve 1325 can be securely connected to the connecting tube 13246. At the same time, the first cleaning element 133 connected to the sleeve 1325 can reliably and fully contact the surface to be cleaned.

[0187] The guide portion 13247 abuts against the bottom of the slot 13251 to limit the lifting movement of the sleeve 1325 relative to the connecting tube 13246. That is, the guide portion 13247 cooperates with the bottom of the slot 13251 to limit the maximum position of the sleeve 1325 relative to the connecting tube 13246. This prevents the first cleaning element 133 from continuing to rise after reaching the maximum position and damaging the first drive assembly 132, thereby improving the reliability of the first cleaning assembly 130. At the same time, a certain distance is maintained between the first cleaning element 133 at the maximum position of the rise and the surface to be cleaned, thereby reducing the impact on the self-propelled cleaning device climbing slopes and overcoming obstacles, as well as the impact on secondary contamination of the surface to be cleaned.

[0188] As shown in Figure 17, in some possible embodiments provided by the present disclosure, the inner wall of the sleeve 1325 is provided with a limiting plane 13253 that matches the first cleaning element 133. The setting of the limiting plane 13253 can ensure that the first cleaning element 133 rotates with the rotation of the sleeve 1325, and the first cleaning element 133 does not rotate relative to the sleeve 1325, so as to ensure that the first cleaning element 133 has good cleaning ability.

[0189] The axial cross-section of the sleeve 1325 is hexagonal, that is, the inner wall of the sleeve 1325 is provided with six planes. It is understood that these six planes can all be limiting planes 13253, or some of the six planes can be limiting planes 13253. Specifically, the portion where the first cleaning element 133 connects to the sleeve 1325 can be configured as a hexagonal prism structure. Thus, the hexagonal prism structure cooperates with the six planes on the inner wall of the sleeve 1325 to limit the rotation of the first cleaning element 133 relative to the sleeve 1325. This has a simple structure, is easy to process, and provides reliable limiting.

[0190] As shown in Figures 1 to 13 and Figure 15, the present disclosure also provides an automatic cleaning device 100, including the transmission device of any one of the above items, and the automatic cleaning device 100 also includes a first shell 1318; the telescopic drive part 1311 and the rotating arm 1301 are located outside the first shell 1318, and the first transmission mechanism 1312 is located inside the first shell 1318, and the telescopic drive part 1311 is power-connected to the first transmission mechanism 1312.

[0191] Among them, the gear 1315, the second cam 1314, and the first cam 1302 are all located in the first housing 1318. Therefore, the first housing 1318 plays a good protective role, which is beneficial to extending the service life and reliability, and at the same time, is beneficial to ensuring good transmission accuracy.

[0192] Specifically, the first housing 1318 may include a detachably connected first upper housing and a first lower housing, thereby facilitating assembly and disassembly of the first housing 1318, and also facilitating assembly and disassembly of the gear 1315, the second cam 1314, and the first cam 1302, thereby facilitating assembly and disassembly of the second drive assembly 131. Specifically, the first upper housing and the first lower housing may be detachably connected by at least one of screws, a snap-fit ​​structure, a mortise and tenon structure, and a magnetic structure.

[0193] As shown in Figure 8, in some possible embodiments provided by the present disclosure, the automatic cleaning device 100 also includes: a position detection device 134, which is arranged in the shell and is used to detect the rotation position of the second cam 1314, and the telescopic driving part 1311 rotates or stops rotating according to the detection result of the position detection device 134.

[0194] The position detection device 134 may include a photoelectric switch, a mechanical switch, or other detection mechanisms that meet the requirements.

[0195] In the above embodiment, as shown in Figure 8, the position detection device 134 includes a first photoelectric switch 1341 and a second photoelectric switch 1342, which are distributed on both sides of the second cam 1314. The second cam 1314 also includes a first baffle 13153 and a second baffle 13154 distributed on both sides of the abutment portion 13152. The first baffle 13153 is suitable for being inserted into the first photoelectric switch 1341 to enable 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 enable the second photoelectric switch 1342 to change the detection signal.

[0196] In this embodiment, a first photoelectric switch 1341 and a second photoelectric switch 1342 are respectively provided on both sides of the second cam 1314, so that the two photoelectric switches are used to respectively detect whether the first cleaning element 133 has reached the first operating position and the second operating position. This can improve the accuracy of detecting whether the first cleaning element 133 has reached the target operating position.

[0197] The photoelectric switch generally includes a light emitting part and a light receiving part. Whether the light receiving part can receive the light signal of the light emitting part can change the detection signal of the photoelectric switch. By arranging the first baffle 13153 and the second baffle 13154 on the second cam 1314, the rotation of the second cam 1314 can drive the first baffle 13153 and the second baffle 13154 to rotate synchronously. The first baffle 13153 and the second baffle 13154 are distributed on both sides of the abutment portion 13152. When the second cam 1314 rotates to a suitable position, the first baffle 13153 is inserted into the first photoelectric switch 1341 to change the detection signal of the first photoelectric switch 1341. For example, the first baffle 13153 is located between the light emitting part and the light receiving part of the first photoelectric switch 1341 to prevent the light receiving part from receiving the light signal emitted by the light emitting part, so that the first photoelectric switch 1341 changes the detection signal, indicating that the first cam 1302 rotates to a suitable position, so that the first cleaning element 133 is in the first operating position. At this time, the first driving component 132 and the second driving component 131 can stop rotating according to the detection signal of the first photoelectric switch 1341, so that the first cleaning element 133 is maintained in the first operating position.

[0198] When the second cam 1314 rotates to a suitable position, the second baffle 13154 is inserted into the second photoelectric switch 1342 to make the second photoelectric switch 1342 change the detection signal. For example, the second baffle 13154 is located between the light emitting part and the light receiving part of the second photoelectric switch 1342 to prevent the light receiving part from receiving the light signal emitted by the light emitting part, so that the second photoelectric switch 1342 changes the detection signal, indicating that the first cam 1302 rotates to a suitable position and the second cleaning element 141 is in the second operating position.

[0199] In another embodiment provided, as shown in FIG10 and FIG11 , the position detection device 134 includes:

[0200] The first photoelectric switch 1341 and the stopper 135 are distributed on both sides of the second cam 1314. The second cam 1314 also includes a first baffle 13153 arranged on the abutment portion 13152 close to the first photoelectric switch 1341. The first baffle 13153 is suitable for being inserted into the first photoelectric switch 1341 to enable the first photoelectric switch 1341 to change the detection signal. The stopper 135 is located on the movement trajectory of the second cam 1314 to form a stopper.

[0201] In this embodiment, a first photoelectric switch 1341 and a stopper 135 are respectively provided on both sides of the second cam 1314, so that the first photoelectric switch 1341 is used to detect whether the first cleaning element 133 has reached the first operating position, and the stopper 135 is used to limit the first cleaning element 133 from reaching the second operating position, thereby improving the accuracy of detecting whether the first cleaning element 133 has reached the target operating position.

[0202] In some possible embodiments provided by the present disclosure, the automatic cleaning device 100 also includes: a rotation angle detection device, which is arranged on the telescopic drive part 1311, and is used to detect the rotation angle of the output shaft of the telescopic drive part 1311. The telescopic drive part 1311 also rotates or stops rotating according to the detection result of the rotation angle detection device.

[0203] The rotation angle detection device is configured to detect the rotation angle of the output shaft of the telescopic drive unit 1311, thereby determining the rotation angles of the gear 1315 and the second cam 1314, and thus the rotation angle of the first cam 1302. Thus, when the first cam 1302 rotates to a desired angle, such as when the first cam 1302 rotates to move the first cleaning element 133 to the first operating position via the rotating arm 1301, the telescopic drive unit 1311 stops rotating based on the detection result of the rotation angle detection device, maintaining the first cleaning element 133 in the first operating position and accurately switching from the second operating position to the first operating position. It will be appreciated that if the first cam 1302 rotates but fails to move the first cleaning element 133 from the second operating position to the first operating position via the rotating arm 1301, the telescopic drive unit 1311 can continue rotating based on the detection result of the rotation angle detection device to drive the first cleaning element 133 toward the target operating position, such as the first operating position.

[0204] As shown in Figures 14, 15, 17 and 18, in some possible embodiments provided by the present disclosure, the second drive assembly 131 also includes a second shell 1326 with an opening at one end. When the automatic cleaning device 100 includes a first shell 1318, the second shell 1326 is engaged with the first shell 1318, and the worm 1323, the turbine 13241, the rotating arm 1301 and the connecting tube 13246 are located in the space enclosed by the second shell 1326 and the first shell 1318. The opening of the second shell 1326 is located on the side away from the first shell 1318, and the bottom end of the sleeve 1325 is suitable for extending out of the opening of the second shell 1326. The lifting drive part 1321 is located outside the second shell 1326, and the worm 1323 is passed through the second shell 1326 and is connected to the lifting drive part 1321.

[0205] Among them, the bottom end of the sleeve 1325 is suitable for extending out of the opening of the second shell 1326 to ensure that the first cleaning element 133 connected to the sleeve 1325 can be lowered to contact the surface to be cleaned. At the same time, the bottom end of the second shell 1326 can be kept at a certain distance from the surface to be cleaned to avoid the influence of the second shell 1326 on the self-moving cleaning equipment climbing and overcoming obstacles.

[0206] Among them, the lifting drive unit 1321 is located outside the second shell 1326, and the worm 1323 is passed through the second shell 1326 and connected to the lifting drive unit 1321, thereby enabling the power of the lifting drive unit 1321 to be transmitted from the outside of the second shell 1326 to the inside of the second shell 1326.

[0207] As shown in Figures 17, 18 and 19, in the above embodiment, the second shell 1326 is divided into a first mounting cavity 13261 and a second mounting cavity 13262, the turbine 13241 is located in the first mounting cavity 13261, the sleeve 1325 is located in the second mounting cavity 13262, the rotating arm 1301 extends to the first mounting cavity 13261 and the second mounting cavity 13262, the first sub-gear 13242 in the rotating arm 1301 is coaxially arranged with the turbine 13241 in the first mounting cavity 13261, and the sleeve 1325 in the second mounting cavity 13262 is connected to the connecting tube 13246 on the rotating arm 1301, thereby enabling the power of the lifting drive unit 1321 to be transmitted to the sleeve 1325 via the first mounting cavity 13261 and the second mounting cavity 13262 to drive the first cleaning element 133 to rise and fall and rotate.

[0208] Among them, the shape of the second installation cavity 13262 is adapted to the movement space of the rotating arm 1301, so that the cavity wall of the second installation cavity 13262 will not hinder the movement of the rotating arm 1301. At the same time, it plays a good protective role for the rotating arm 1301 and reduces the volume of the first drive component 132 as much as possible to meet the design requirements of the automatic cleaning equipment 100 with a compact structure and small size.

[0209] Among them, the second shell 1326 also includes a base plate 13263, which is detachably connected to the cavity wall of the first installation cavity 13261 to enclose the turbine 13241 in the first installation cavity 13261. The setting of the base plate 13263 plays a good protective role for the turbine 13241, and can reduce the contamination of the turbine 13241 by dirty liquid, thereby increasing the service life of the turbine 13241 and improving the reliability of the first drive assembly 132.

[0210] Specifically, the bottom plate 13263 can be detachably connected to the cavity wall of the first installation cavity 13261 by means of screws, a snap-fit ​​structure, a mortise and tenon structure, a magnetic structure, etc.

[0211] As shown in Figure 7, in some possible embodiments provided by the present disclosure, the automatic cleaning device 100 also includes: a second cleaning component 140, the second cleaning component 140 and the first cleaning component 130 are distributed on both sides of the longitudinal center line of the machine body 110, and the second cleaning component 140 includes a second cleaning element 141 movably connected to the machine body 110, and the second cleaning element 141 can be raised and lowered and rotated relative to the machine body 110.

[0212] The second cleaning component 140 is a wet cleaning component, and the second cleaning element 141 can generally be a flexible, absorbent material such as fabric or a sponge. In this embodiment, the second cleaning element 141 can be a self-rotating cleaning element, a vibrating cleaning element, or a fixed cleaning element. Specifically, the second cleaning element 141 can be a tray, and the second cleaning element 141 removes stains from the floor through rotation. Specifically, the second cleaning element 141 has the same structure as the first cleaning element 133, and the first cleaning element 133 can be a self-rotating cleaning element or a vibrating and rotating cleaning element.

[0213] Among them, the second cleaning component 140 and the first cleaning component 130 are distributed on both sides of the longitudinal center line of the machine body 110. Therefore, during the movement of the automatic cleaning device 100, the first cleaning component 130 and the second cleaning component 140 will be used to clean the surface to be cleaned at the same time to expand the cleaning range, or, the first cleaning component 130 and the second cleaning component 140 can be selectively used to perform cleaning operations to clean the designated surface to be cleaned in a targeted manner, so that the cleaning operation can be flexibly selected to enhance the user's cleaning experience.

[0214] In this embodiment, the second cleaning element 141 can be raised and lowered and rotated relative to the machine body 110. Specifically, the second cleaning component 140 also includes a third second driving component 131. The third second driving component 131 drives the second cleaning element 141 to be raised and lowered and rotated. Thus, according to whether the second cleaning element 141 needs to contact the surface to be cleaned, the second cleaning element 141 can be driven to be raised and lowered and rotated, so that the second cleaning element 141 can be lowered to contact the surface to be cleaned and rotate to realize the mopping operation of the surface to be cleaned. Alternatively, after the mopping operation is completed, the third second driving assembly 131 is used to drive the second cleaning element 141 to rise so as to separate the second cleaning element 141 from the surface to be cleaned, and the second cleaning element 141 is stored so that the second cleaning element 141 will not contact the surface to be cleaned during the movement of the automatic cleaning device 100. This can avoid the situation where the second cleaning element 141 contacts the surface to be cleaned and causes secondary contamination of the surface to be cleaned in scenarios where mopping is not required, such as when the automatic cleaning device 100 travels back and forth between the base station or when cleaning carpets. This is beneficial to improving the cleanliness of the automatic cleaning device 100, and improving cleaning efficiency and user experience.

[0215] That is to say, the third second drive assembly 131 can drive the lifting and rotation operations of the second cleaning element 141 according to whether the second cleaning element 141 is in contact with the surface to be cleaned, that is, the second cleaning element 141 needs to realize the cleaning function or the storage function, so as to meet the different functional requirements of the second cleaning element 141, that is, it can realize the processing of the distinguishing strategy of cleaning or storage of the second cleaning element 141, thereby improving the cleaning performance of the self-cleaning device. It is understandable that the third second drive assembly 131 of the second cleaning assembly 140 can be the same as the structure of the second second drive assembly 131 of the first cleaning assembly 130, which will not be repeated here. Alternatively, the third second drive assembly 131 can also be different from the structure of the second second drive assembly 131, but it can meet the lifting and rotation of the second cleaning element 141.

[0216] It can be understood that, in some embodiments, the second cleaning component 140 may also include a fourth second drive component 131, and the fourth second drive component 131 and the third second drive component 131 of the second cleaning component 140 correspond to the first second drive component 131 and the second second drive component 131 of the first cleaning component 130, that is, the second cleaning component 140 and the first cleaning component 130 have the same structure, thereby further expanding the cleaning function, meeting the needs of different cleaning ranges, and improving the cleaning effect.

[0217] As shown in FIG. 7 , in the above embodiment, the relative position of the second cleaning element 141 and the edge projection area of ​​the machine body 110 is fixed, and at least a portion of the second cleaning element 141 is located within the edge projection area of ​​the machine body 110 .

[0218] In this embodiment, the relative position of the second cleaning element 141 and the edge projection area of ​​the machine body 110 is fixed. That is, in the horizontal direction, the second cleaning element 141 cannot be extended or retracted relative to the machine body 110, so that the second cleaning element 141 can clean a designated area within the range of motion 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 can simplify the structure of the second cleaning assembly 140 to a certain extent, thereby simplifying the structure of the entire automatic cleaning device 100, reducing costs, expanding the cleaning range, and ensuring a good cleaning effect.

[0219] Among them, at least a portion of the second cleaning element 141 is 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. This can reduce the possibility of the second cleaning element 141 colliding with obstacles, which is conducive to increasing the service life of the second cleaning element 141. Alternatively, a portion of the second cleaning element 141 may be located outside the edge projection area of ​​the machine body 110, and another portion of the second cleaning element 141 may be located within the edge projection area of ​​the machine body 110, so as to achieve cleaning of the area outside the machine body 110 and expand the cleaning range.

[0220] Thus, when the automatic cleaning device 100 is not operating along the edge, the control system of the automatic cleaning device 100 can control the first cleaning element 133 of the first cleaning assembly 130 to perform a cleaning operation in the first operating position, and / or control the second cleaning element 141 of the second cleaning assembly 140 to perform a cleaning operation. When the automatic cleaning device 100 is operating along the edge, the control system of the automatic cleaning device 100 can control the first cleaning element 133 of the first cleaning assembly 130 to perform a cleaning operation in the second operating position, and / or control the second cleaning element 141 of the second cleaning assembly 140 to perform a cleaning operation, and use the first cleaning element 133 in the second operating position to clean the corners that the machine body 110 cannot fit, and then use the first cleaning element 133 to cooperate with the cleaning head and / or the second cleaning element 141 to achieve comprehensive cleaning, expand the cleaning range, and ensure a good cleaning effect.

[0221] It can be understood that in some possible embodiments, the control system of the automatic cleaning device 100 can control the first cleaning component 130 and the second cleaning component 140 to work individually, or partially in conjunction, or all together, to meet the needs of different cleaning ranges, different cleaning efficiencies, and different cleaning costs.

[0222] The cleaning head is fixed relative to the edge projection area of ​​the machine body 110, that is, in the horizontal direction, the cleaning head cannot be extended or retracted relative to the machine body 110, so that the cleaning head can clean a designated area within the range of motion of the machine body 110. In some possible embodiments provided by the present disclosure, in the lateral direction of the machine body 110, the cleaning head is arranged relative to a portion of the first cleaning element 133 that is extended to the second operating position.

[0223] Among them, the horizontal direction can be understood as the left and right direction of the machine body 110, and the longitudinal direction passes through the center of the machine body 110 and is perpendicular to the horizontal direction. The longitudinal direction can be understood as the front and back direction of the machine body 110.

[0224] In the lateral direction of the machine body 110, the cleaning head is arranged relative to a part of the first cleaning element 133 in the second operating position, so that when the first cleaning element 133 is in the second operating position, during the forward movement of the machine body 110, part of the cleaning range of the first cleaning element 133 can be covered by the cleaning range of the cleaning head. Therefore, during the rotation of the first cleaning element 133, the first cleaning element 133 can be used to move the dirt in the boundary area closer to the area where the cleaning head is located, so as to move the dirt into the cleaning area of ​​the cleaning head, that is, the first cleaning component 130 plays a role similar to the side brush 161.

[0225] It is understood that the second cleaning component 140 may also include a drive unit that movably connects the machine body 110 and the cleaning head, and is used to drive the cleaning head to vibrate, that is, to reciprocate along the target surface. The cleaning head is used to clean at least a portion of the surface to be cleaned, and the drive unit is used to drive the cleaning head to reciprocate substantially along the target surface, and the target surface is a portion of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, and a cleaning cloth or a cleaning plate is provided on the contact surface between the cleaning head and the surface to be cleaned, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing stains on the surface to be cleaned.

[0226] Among them, the higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to that of sound waves, and the cleaning effect will be much better than that of rotational friction cleaning at dozens of revolutions per minute. On the other hand, the tufts on the surface of the cleaning head will extend more uniformly in the same direction under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, rather than simply applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. Downward pressure alone will not cause the tufts to extend in a direction close to the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no messy water stains are left.

[0227] The reciprocating motion can be a repeated motion along any one or more directions within the operating surface, or a vibration perpendicular to the operating surface, and there is no strict restriction on this. Optionally, the reciprocating motion direction of the cleaning head is roughly perpendicular to the machine's travel direction, because the reciprocating motion direction parallel to the machine's travel direction will cause instability to the machine itself in motion, because the thrust and resistance in the travel direction will make the drive wheel easy to slip. The impact of slipping is more obvious in the case of a wet cleaning module, because the wetness of the operating surface increases the possibility of slipping. In addition to affecting the smooth travel and cleaning of the machine, slipping will cause inaccurate ranging of sensors such as odometers and gyroscopes, resulting in the navigation-type automatic cleaning device 100 being unable to accurately locate and draw maps. In the case of frequent slipping, the impact on SLAM will not be negligible, so it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the cleaning head movement component in the machine's travel direction causes the machine to be constantly pushed forward and backward while traveling, so the machine's walking will be unstable and smooth.

[0228] In some possible embodiments provided by the present disclosure, the side brush 161 of the third cleaning component 160 and the first cleaning component 130 are located on the same side of the machine body 110 and are arranged front to back. Thus, when the machine body 110 moves along the edge, the side brush 161 can perform dry cleaning on the corners, and the first cleaning component in the second operating position can perform wet cleaning on the corners, so as to ensure the operation of sucking first and then mopping, and ensure a good cleaning effect.

[0229] As shown in FIG. 1 to FIG. 19 , an embodiment of the present disclosure provides an automatic cleaning device 100 and a cleaning robot system, wherein the cleaning robot system includes the automatic cleaning device 100 and a base station, that is, the base station is used in conjunction with the automatic cleaning device 100 .

[0230] 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 a human-computer interaction system. It is understandable that the automatic cleaning device 100 may be a self-mobile cleaning device or other automatic cleaning device 100 that meets the requirements. The automatic cleaning device 100 is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. Among them, when the automatic cleaning device 100 starts working, the automatic cleaning device 100 starts from the base station to perform the cleaning task. When the automatic cleaning device 100 completes the cleaning task or other situations require the termination of the cleaning task, the self-mobile automatic cleaning device 100 can return to the base station for charging, and / or water replenishment, and / or cleaning, and / or dust collection and other operations.

[0231] As shown in Figures 2 and 3, the machine body 110 includes a forward part 111 and a rearward part 112, which have an approximately circular shape with both the front and the back being circular. It may also have other shapes, including but not limited to an approximately D-shaped shape with a front and a back circular shape and a rectangular or square shape with both the front and the back being circular.

[0232] As shown in Figures 2 and 3 , the perception system 120 includes a position determination device 121 located on the machine body 110, a collision sensor and a proximity sensor located on the bumper 122 of the forward portion 111 of the machine body 110, a cliff sensor located below the machine body 110, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer located within the machine body 110. These sensors provide the control module with various machine position and motion status information. Position determination device 121 includes, but is not limited to, a camera and a laser distance sensor (LDS).

[0233] As shown in Figures 1 and 2, the forward part 111 of the machine body 110 can carry a buffer 122. During the cleaning process, when the driving wheel module propels the automatic cleaning device 100 to walk on the ground, the buffer 122 detects one or more events in the driving path of the automatic cleaning device 100 through a sensor system provided thereon, such as an infrared sensor. The automatic cleaning device 100 can control the driving wheel module to respond to the event, such as an obstacle or a wall, through the event detected by the buffer 122.

[0234] The control module is located on a circuit board within the machine body 110 and includes a computing processor, such as a central processing unit (CPU) or an application processor, that communicates with non-transitory memory, such as a hard disk, flash memory, or random access memory. The application processor utilizes a positioning algorithm, such as SLAM (Simultaneous Localization and Mapping), based on obstacle information fed back by the laser rangefinder to create a real-time map of the environment in which the automatic cleaning device 100 is located. Furthermore, the application processor combines distance and speed information fed back by sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers, and other sensing devices installed on the buffer 122 to comprehensively determine the current operating state and location of the automatic cleaning device 100, as well as its current posture, such as when the device is crossing a threshold, on a carpet, on a cliff, stuck above or below, when the dust box is full, or when it has been lifted up. Specific next-step action strategies are also provided for different situations, ensuring that the automatic cleaning device 100 has better cleaning performance and user experience.

[0235] The drive system can manipulate the machine body 110 to travel across the ground based on a drive command with distance and angle information, such as x, y and θ components. The drive system includes a drive wheel module, which can control the left and right wheels at the same time. In order to more accurately control the movement of the machine, the drive wheel module preferably includes a left drive wheel module and a right drive wheel module respectively. The left and right drive wheel modules are arranged along the transverse axis defined by the machine body 110. In order for the automatic cleaning device 100 to be able to move more stably or have stronger mobility on the ground, the automatic cleaning device 100 may include one or more driven wheels, including but not limited to universal wheels. The drive wheel module includes a travel wheel and a drive motor and a control circuit for controlling the drive motor. The drive wheel module can also be connected to a circuit and an odometer for measuring the drive current. The drive wheel can have a biased drop-down suspension system, fastened in a movably manner, for example, attached to the machine body 110 in a rotatable manner, and receive a spring bias that is 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 certain ground force, while the cleaning elements of the automatic cleaning device 100 also contact the ground with a certain pressure.

[0236] The energy system includes rechargeable batteries, such as nickel-metal hydride and lithium-ion batteries. These batteries are connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to the microcontroller control circuit. The main unit is charged via charging electrodes located on the side or bottom of the device, connected to a charging station.

[0237] The human-machine interaction system includes buttons on the main unit panel for users to select functions; a display screen and / or indicator lights and / or a speaker to display the current machine status or function options to the user; and a mobile client program. For a route-guidance-type automatic cleaning device 100, the mobile client can display a map of the device's environment and the device's location to the user, providing users with a richer and more user-friendly set of functions.

[0238] The cleaning system includes a wet cleaning system, that is, the automatic cleaning device 100 can be a mop, or the cleaning system includes a wet cleaning system and a dry cleaning system, that is, the automatic cleaning device 100 is a sweeping and mopping machine.

[0239] As shown in Figure 7, 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 degree of contact with the ground surface. The roller brush 162 sweeps up debris from the ground and carries it to the front of the dust collection port between the roller brush 162 and the dust box. The dust box is then drawn into the dust box by the suction force generated by the fan and passing through the dust box. The third cleaning assembly 160 may also include a side brush 161 having a rotating shaft 13245. The side brush 161 is angled relative to the ground surface to move debris into the area of ​​the roller brush 162 of the cleaning system.

[0240] As shown in Figures 2 and 7, the wet cleaning system may include: a first cleaning component 130, a water supply mechanism, a liquid storage tank, etc. The cleaning liquid inside the liquid storage tank is transmitted to the first cleaning component 130 via the water supply mechanism, so that the first cleaning component 130 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank can also be sprayed directly onto the surface to be cleaned, and the first cleaning component 130 cleans the surface by evenly applying the cleaning liquid. Specifically, the driving part of the water supply mechanism can be a peristaltic pump or other power mechanism.

[0241] 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. Thus, they are controlled separately by different water supply drive units. For example, the water supply drive units can be peristaltic pumps, water pumps, or other structures. One end of one water supply drive unit is connected to the liquid storage tank through a pipeline, and the other end is connected to the first cleaning element 133 to transport the cleaning liquid in the liquid storage tank to the first cleaning element 133, thereby supplying water to the first cleaning element 133. Another water supply drive unit has one end connected to the liquid storage tank through a pipeline, and the other end is connected to the second cleaning element 141 to transport the cleaning liquid in the liquid storage tank to the second cleaning element 141, thereby supplying water to the second cleaning element 141. Yet another water supply drive unit has one end connected to the liquid storage tank through a pipeline, and the other end is connected to the cleaning head to transport the cleaning liquid in the liquid storage tank to the cleaning head, thereby supplying water to the cleaning head.

[0242] Among them, when the automatic cleaning device 100 is a sweeping and mopping machine, along the movement direction of the automatic cleaning device 100, the roller brush 162 and the dust suction port of the third cleaning component 160 are located in front of the first cleaning component 130, wherein the side brush 161 can also be located in front of the first cleaning component 130 to ensure that the machine body 110 realizes the cleaning order of sweeping first and then wiping during the movement process.

[0243] The present disclosure has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present disclosure to the described embodiments. In addition, it will be understood by those skilled in the art that the present disclosure is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present disclosure, all of which fall within the scope of protection claimed by the present disclosure. The scope of protection of the present disclosure is defined by the appended claims and their equivalents.

Claims

1. A transmission device, comprising: A first cleaning assembly (130) and a first driving assembly (132); The first cleaning assembly (130) comprises a rotating arm (1301) and a first cleaning element (133), wherein the first cleaning element (133) is connected to the rotating arm (1301) so that the first cleaning element (133) moves along with the rotating arm (1301) between a first operating position and a second operating position; The first driving assembly (132) is used to drive the first cleaning element (133) to rotate along a first direction, the first cleaning element (133) being in conflict with the surface to be cleaned, so as to drive the first cleaning element (133) to move from the first operating position to the second operating position along a second direction through the friction force between the surface to be cleaned and the first cleaning element (133); The first direction and the second direction are opposite.

2. The transmission device according to claim 1, wherein: 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. The area of ​​the first cleaning element (133) in the second operating position outside the machine body (110) in the horizontal direction is greater than the area of ​​the first cleaning element (133) in the first operating position outside the machine body (110) in the horizontal direction.

3. The transmission device according to claim 2, wherein: One end of the rotating arm (1301) is rotatably connected to the machine body (110), and the other end is movably connected, transmission-connected, or fixedly connected to the first cleaning element (133).

4. The transmission device according to claim 1, wherein: The first driving assembly (132) drives the first cleaning element (133) to rotate in a second direction, and the first cleaning element (133) comes into contact with the surface to be cleaned, so as to drive the first cleaning element (133) to move from the second operating position to the first operating position through the friction force between the surface to be cleaned and the first cleaning element (133).

5. The transmission device according to claim 1, further comprising: A second drive assembly (131); The second driving assembly (131) is connected to the machine body (110) and is used to drive the first cleaning element (133) to move from the second operating position and toward the first operating position.

6. The transmission device according to claim 5, wherein: One end of the rotating arm (1301) is connected to the first cam (1302), and the other end is connected to the first cleaning element (133). When the first cleaning element (133) switches from the second operating position to the first operating position, the second driving component (131) abuts against the first cam (1302).

7. The transmission device according to claim 6, wherein: The first cam (1302) rotates along the first direction under the drive of the second drive assembly (131). When the cleaning element (133) is activated, it moves from the second operating position to the first operating position.

8. The transmission device according to claim 6, wherein: The second driving assembly (131) comprises: A telescopic driving part (1311) and a first transmission mechanism (1312), wherein the first cleaning element (133) is connected to the first cam (1302) via the rotating arm (1301), and the telescopic driving part (1311) drives the rotating arm (1301) to rotate via the first transmission mechanism (1312) to drive the first cleaning element (133) to move from the second operating position to the first operating position.

9. The transmission device according to claim 8, wherein: The first transmission mechanism (1312) comprises: A second cam (1314); The second cam (1314) is arranged on the output end of the telescopic driving part (1311), so that the telescopic driving part (1311) drives the second cam (1314) to rotate; or, The output end of the telescopic driving part (1311) is transmission-connected to the second cam (1314).

10. The transmission device according to claim 9, wherein: The second cam (1314) includes an abutment portion (13152), the abutment portion (13152) abuts against the first cam (1302), and the first cam (1302) is coaxially arranged with the rotating arm (1301).

11. The transmission device according to claim 10, wherein: The second cam (1314) is connected to the telescopic driving part (1311) so that the telescopic driving part (1311) pushes the first cam (1302) to rotate through the abutment part (13152) of the second cam (1314), and synchronously rotates through the rotating arm (1301) to drive the first cleaning element (133) to move from the second operating position to the first operating position.

12. The transmission device according to claim 10, wherein: The first transmission mechanism (1312) further comprises: Gear(1315); The second cam (1314) also includes a sector-shaped tooth portion (13151), the gear (1315) is connected to the telescopic driving portion (1311), the gear (1315) is meshed with the sector-shaped tooth portion (13151), the telescopic driving portion (1311) drives the gear (1315) to rotate along the first direction, and the second cam (1314) is driven to rotate along the second direction through the gear (1315), the second cam (1314) pushes the first cam (1302) to rotate along the first direction, and the first cleaning element (133) is driven to move from the second operating position to the first operating position through the synchronous rotation of the rotating arm (1301).

13. The transmission device according to claim 11 or 12, wherein: A convex portion (13021) is provided on the first cam (1302), and at least a portion of the convex portion (13021) is located on the movement trajectory of the abutment portion (13152), and is used for abutting against the abutment portion (13152) when the first cleaning element (133) moves from the second operating position to the first operating position.

14. The transmission device according to claim 10, wherein: When the first cleaning element (133) is located at the second operating position, the second cam (1314) is separated from the first cam (1302).

15. The transmission device according to claim 6, wherein: The second driving component (131) and / or the first cam (1302) are provided with an anti-wear structure, and the second driving component (131) and the first cam (1302) are in contact with each other via the anti-wear structure.

16. The transmission device according to claim 15, wherein: The anti-wear structure includes a roller (13023) and / or a protective layer (13022) with a smooth outer surface.

17. The transmission device according to claim 13, wherein: A protective layer (13022) having a smooth outer surface is provided on the outer wall of the convex portion (13021) of the first cam (1302).

18. The transmission device according to claim 13, wherein: A roller (13023) is provided on the convex portion (13021) of the first cam (1302), and the convex portion (13021) is in contact with the second driving component (131) via the roller (13023); or, When the second driving assembly (131) includes a second cam (1314), a roller (13023) is provided on the second cam (1314), and the second cam (1314) abuts against the first cam (1302) via the roller (13023).

19. The transmission device according to claim 13, further comprising: The first limiting member (1319) is arranged on a side of the convex portion (13021) away from the abutting portion (13152), and the first limiting member (1319) is used to abut against the convex portion (13021) to limit the rotation of the first cam (1302).

20. The transmission device according to claim 1, wherein: The first driving assembly (132) is used to drive the first cleaning element (133) to rotate with its own central axis as the rotation center.

21. The transmission device according to claim 20, wherein: The first driving component (132) is also used to drive the first cleaning element (133) to vibrate and / or rise and fall.

22. The transmission device according to claim 20, wherein: The first drive assembly (132) comprises: A lifting drive unit (1321) and a second transmission mechanism (1322); The second transmission mechanism (1322) is connected to the first cleaning element (133), and the lifting drive unit (1321) drives the first cleaning element (133) to lift and rotate via the second transmission mechanism (1322).

23. The transmission device according to claim 22, wherein: The second transmission mechanism (1322) comprises: The worm (1323), the gear set (1324) and the sleeve (1325) are connected in a power manner, wherein the worm (1323) is connected in a power manner to the lifting drive unit (1321), the gear set (1324) is arranged in the rotating arm (1301), the sleeve (1325) is connected to the first cleaning element (133), and the worm (1323) is connected in a power manner to the lifting drive unit (1321). The gear set (1324) drives the sleeve (1325) to rise and fall and rotate, thereby driving the first cleaning element (133) to rise and fall and rotate.

24. The transmission device according to claim 23, wherein: The gear set (1324) includes: A turbine (13241), a first sub-gear (13242), a second sub-gear (13243), a third sub-gear (13244) and a connecting cylinder (13246); The turbine (13241) and the first sub-gear (13242) are coaxially arranged, the turbine (13241) is located outside the rotating arm (1301) and meshes with the worm (1323), the first sub-gear (13242), the second sub-gear (13243) and the third sub-gear (13244) are all located inside the rotating arm (1301), the first sub-gear (13242) is meshed with the second sub-gear (13243), and the second sub-gear (13244) is meshed with the second sub-gear (13244). 13243) is meshed with the third sub-gear (13244), the connecting tube (13246) is coaxially arranged with the third sub-gear (13244) and is located outside the rotating arm (1301), the connecting tube (13246) is threadedly connected to the sleeve (1325), and the gear set (1324) rotates to make the sleeve (1325) and the connecting tube (13246) rotate relative to each other to drive the sleeve (1325) to rise or fall relative to the connecting tube (13246).

25. The transmission device according to claim 24, wherein: The wall of the connecting cylinder (13246) is provided with a guide portion (13247) arranged in a spiral direction; The sleeve (1325) has a wall formed with a slot (13251) for accommodating the connecting sleeve (13246), and the slot wall of the slot (13251) has a spiral guide groove (13252) for accommodating the guide portion (13247); Wherein, the guide portion (13247) is a spiral boss or a plurality of protrusions distributed at intervals.

26. The transmission device according to claim 25, wherein: A retaining rib is provided on the slot wall of the slot (13251) near the opening, and the retaining rib is used to abut against the guide portion (13247) to limit the lifting and lowering movement of the sleeve (1325) relative to the connecting tube (13246); The guide portion (13247) abuts against the bottom of the slot (13251) to limit the lifting and lowering movement of the sleeve (1325) relative to the connecting tube (13246).

27. The transmission device according to claim 26, wherein: The inner wall of the sleeve (1325) is provided with a limiting plane (13253) matching the first cleaning element (133); Wherein, the axial cross-section of the sleeve (1325) is hexagonal.

28. The transmission device according to claim 1 or 4, wherein: The first cleaning element (133) does not rely on the elastic force of the elastic member during the movement from the first operating position to the second operating position or from the second operating position to the first operating position.

29. An automatic cleaning device comprising the transmission device according to any one of claims 1 to 28.

30. The automatic cleaning device according to claim 29, further comprising: A first housing (1318); The telescopic driving part (1311) and the rotating arm (1301) are located outside the first shell (1318), the first transmission mechanism (1312) is located inside the first shell (1318), and the telescopic driving part (1311) is dynamically connected to the first transmission mechanism (1312).

31. The automatic cleaning device according to claim 29, further comprising: The position detection device (134) is used to detect the rotation position of the second cam (1314), and the telescopic driving part (1311) rotates or stops rotating according to the detection result of the position detection device (134).

32. The automatic cleaning device according to claim 31, wherein: The position detection device (134) comprises: The first photoelectric switch (1341) and the second photoelectric switch (1342) are distributed on both sides of the second cam (1314); the second cam (1314) further comprises a first baffle (13153) and a second baffle (13154) distributed on both sides of the abutment portion (13152); the first baffle (13153) is suitable for being inserted into the first photoelectric switch (1341) so that the first photoelectric switch (1341) changes the detection signal; the second baffle (13154) is suitable for being inserted into the second photoelectric switch (1342) so that the second photoelectric switch (1342) changes the detection signal.

33. The automatic cleaning device according to claim 31, wherein: The position detection device (134) comprises: The first photoelectric switch (1341) and the stopper (135) are distributed on both sides of the second cam (1314); the second cam (1314) further comprises a first baffle (13153) arranged at the abutment portion (13152) close to the first photoelectric switch (1341); the first baffle (13153) is suitable for being inserted into the first photoelectric switch (1341) so as to change the detection signal of the first photoelectric switch (1341); the stopper (135) is located on the movement trajectory of the second cam (1314) to form a stopper.

34. The automatic cleaning device of claim 29, further comprising: The rotation angle detection device is arranged on the telescopic driving part (1311) and is used to detect the rotation angle of the output shaft of the telescopic driving part (1311). The telescopic driving part (1311) also rotates or stops rotating according to the detection result of the rotation angle detection device.

35. The automatic cleaning device according to claim 30, wherein: The first drive assembly (132) further includes: A second housing (1326); Among them, one end of the second shell (1326) is open, the second shell (1326) is engaged with the first shell (1318), the worm gear (1323), the turbine (13241), the rotating arm (1301) and the connecting tube (13246) are located in the space enclosed by the first shell (1318) and the second shell (1326), the bottom end of the sleeve (1325) is suitable for extending out of the opening of the second shell (1326), the lifting drive part (1321) is located outside the second shell (1326), and the worm gear (1323) is penetrated through the second shell (1326) and connected with the lifting drive part (1321).

36. The automatic cleaning device according to claim 35, wherein: The second housing (1326) is divided into a first installation cavity (13261) and a second installation cavity (13262); the turbine (13241) is located in the first installation cavity (13261); the sleeve (1325) is located in the second installation cavity (13262); the rotating arm (1301) extends to the first installation cavity (13261) and the second installation cavity (13262); and the shape of the second installation cavity (13262) is adapted to the movement space of the rotating arm (1301); The second shell (1326) also includes a bottom plate (13263), and the bottom plate (13263) is detachably connected to the cavity wall of the first installation cavity (13261) so as to enclose the turbine (13241) in the first installation cavity (13261).

37. The automatic cleaning device of claim 29, further comprising: A second cleaning component (140), wherein the second cleaning component (140) and the first cleaning component (130) are distributed on both sides of the longitudinal center line of the machine body (110), and the second cleaning component (140) includes a second cleaning element (141) movably connected to the machine body (110), and the second cleaning element (141) can be raised and lowered and rotated relative to the machine body (110).

38. The automatic cleaning device according to claim 37, wherein: The relative position of the second cleaning element (141) and the edge projection area of ​​the machine body (110) is fixed.

39. A cleaning robot system, comprising: Base station; as well as The automatic cleaning device according to any one of claims 29 to 38, wherein the automatic cleaning device (100) is suitable for docking on the base station.

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