Transmission device, automatic cleaning apparatus, and cleaning robot system

Abstract

Provided in the present disclosure are a transmission device, an automatic cleaning apparatus and a cleaning robot system. The transmission device is applied to an automatic cleaning apparatus which comprises a main body and a first cleaning element. The transmission device comprises a first driving assembly, a rotating arm and an elastic member, wherein the rotating arm is rotatably connected to the main body, a first end of the elastic member is connected to the rotating arm, a second end of the elastic member is fixed relative to the main body, the first cleaning element is arranged on the rotating arm, and the first driving assembly is configured to cooperate with the elastic member to drive the rotating arm to rotate to switch the first cleaning element between a first operating position and a second operating position.

Description

Transmission devices, automatic cleaning equipment and cleaning robot systems

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311091088.8 filed on August 25, 2023. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as part of this application. Technical Field

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

[0004] Current self-cleaning devices generally have a mopping function. However, the transmission devices in these devices are simple in design and have a single function. They can only drive the mop to rotate for cleaning, which results in a relatively fixed position of the mop and a limited cleaning range. For example, the mop is located below the housing and is horizontally blocked by the housing. Due to the limitation of the housing, current self-cleaning devices cannot clean corners of the surface to be cleaned, affecting the cleaning effect.

[0005] Summary of the Invention

[0006] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. 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.

[0007] An embodiment of the first aspect of the present disclosure provides a transmission device, which is applied to an automatic cleaning device. The automatic cleaning device includes a machine body and a first cleaning element. The transmission device includes a first drive assembly, a rotating arm and an elastic member. The rotating arm is rotatably connected to the machine body, the first end of the elastic member is connected to the rotating arm, and the second end of the elastic member is relatively fixed to the machine body. The first cleaning element is arranged on the rotating arm, and the first drive assembly is used to cooperate with the elastic member to rotate the rotating arm to drive the first cleaning element to switch between a first operating position and a second operating position.

[0008] Optionally, during the switching process of the first cleaning element between the first operating position and the second operating position, the first driving assembly abuts against the rotating arm to rotate the rotating arm.

[0009] Optionally, one end of the rotating arm is connected to a first cam, and the other end is connected to the first cleaning element. During the switching process of the first cleaning element between the first operating position and the second operating position, the first driving assembly abuts against the convex portion of the first cam to rotate the rotating arm.

[0010] Optionally, the first end of the elastic member is connected to the first cam;

[0011] and / or

[0012] The first end of the elastic member is connected to the rotating arm.

[0013] Optionally, the elastic member is a tension spring, a first end of the tension spring is connected to the first cam, and a second end of the tension spring is fixed relative to the machine body;

[0014] Alternatively, the elastic member is a torsion spring, which is arranged at the rotating shaft of the first cam, with a first end of the torsion spring connected to the first cam and a second end of the torsion spring fixed relatively to the machine body;

[0015] Alternatively, the elastic member is an elastic sheet, a first end of the elastic sheet is connected to the first cam, and a second end of the elastic sheet is fixed relative to the machine body.

[0016] Optionally, the first cleaning element is movably connected, transmission-connected, or fixedly connected to the rotating arm.

[0017] Optionally, the first driving assembly is used to drive the first cam to rotate along a first direction, so that the first cleaning element switches from the second operating position to the first operating position.

[0018] Optionally, the elastic member is used to drive the first cam to rotate along the second direction, so that the first cleaning element switches from the first operating position to the second operating position.

[0019] Optionally, the first driving assembly deforms the elastic member through the first cam to accumulate elastic potential energy.

[0020] Optionally, the elastic member releases elastic potential energy to drive the first cam to rotate along the second direction, so that the first cleaning element switches from the first operating position to the second operating position.

[0021] Optionally, the first driving assembly includes a first driving portion and a second cam, the first driving portion is used to drive the second cam to rotate, and the second cam abuts against the first cam to rotate the first cam.

[0022] Optionally, the second cam is provided on the output end of the first driving part, so that the first driving part drives the second cam to rotate;

[0023] or,

[0024] The output end of the first driving part is drivingly connected to the second cam.

[0025] Optionally, the second cam includes a sector-shaped tooth portion and an abutment portion, the first driving portion is engaged with the sector-shaped tooth portion, the abutment portion abuts against the first cam, and the first cam is coaxially arranged with the rotating arm.

[0026] Optionally, a connecting portion is provided on a circumferential side of the first cam, and the connecting portion is used to be connected to the first end of the elastic member.

[0027] Optionally, the first driving part includes a telescopic driving member and a first gear, the telescopic driving member is connected to the first gear, and the first gear is engaged with the sector-shaped tooth portion, so that the telescopic driving member drives the abutment portion to push the first cam to rotate through the first gear and the sector-shaped tooth portion, and drives the first cleaning element to move from the second operating position to the first operating position through the synchronous rotation of the rotating arm.

[0028] Optionally, when the first cleaning element is in the second operating position, the second cam is separated from the first cam.

[0029] Optionally, the automatic cleaning device also includes a first shell, the telescopic drive member and the rotating arm are located outside the first shell, the first gear, the second cam, the first cam and the elastic member are located inside the first shell, the first gear passes through the first shell and is power-connected to the telescopic drive member, and the second end of the elastic member is connected to the first shell.

[0030] Optionally, the transmission device further includes:

[0031] A position detection device is used to detect the rotation position of the second cam, and the telescopic driving member rotates or stops rotating according to the detection result of the position detection device.

[0032] Optionally, the position detection device includes a first photoelectric switch and a second photoelectric switch distributed on both sides of the second cam, and the second cam also includes a first baffle and a second baffle distributed on both sides of the abutting portion, the first baffle is suitable for being inserted into the first photoelectric switch so that the first photoelectric switch changes the detection signal, and the second baffle is suitable for being inserted into the second photoelectric switch so that the second photoelectric switch changes the detection signal.

[0033] Optionally, the transmission device further includes:

[0034] The rotation angle detection device is provided on the telescopic driving member and is used to detect the rotation angle of the output shaft of the telescopic driving member. The telescopic driving member also rotates or stops rotating according to the detection result of the rotation angle detection device.

[0035] Optionally, a first limiting member and a second limiting member are provided on the circumferential side of the first cam, the first limiting member is located on the side of the protrusion away from the abutting portion, and the first limiting member is used to abut against the protrusion to limit the rotation of the first cam, and the second limiting member is located on the side of the connecting portion away from the abutting portion, and the second limiting member is used to abut against the connecting portion to limit the rotation of the first cam.

[0036] Optionally, an anti-wear structure is provided on the first driving assembly and / or the first cam, and the first driving assembly and the first cam are in contact with each other through the anti-wear structure.

[0037] Optionally, the anti-wear structure includes a roller and / or a protective layer with a smooth outer surface.

[0038] Optionally, a protective layer with a smooth outer surface is provided on the outer wall of the convex portion of the first cam.

[0039] Optionally, a roller is provided on the convex portion of the first cam, and the convex portion abuts against the first driving assembly through the roller;

[0040] or,

[0041] When the first 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.

[0042] Optionally, the first cleaning element is a rotating mop or a vibrating mop.

[0043] Optionally, the transmission device further includes a second driving assembly, which is connected to the first cleaning element and is used to drive the first cleaning element to rise and fall.

[0044] Optionally, the second driving assembly is further used to drive the first cleaning element to vibrate and / or rotate with its own central axis as the rotation center.

[0045] Optionally, the second driving assembly includes: a lifting driving part and a transmission part, at least a part of the transmission part is arranged in the rotating arm and connected to the first cleaning element, and the lifting driving part drives the first cleaning element to lift and rotate through the transmission part.

[0046] Optionally, the transmission part 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.

[0047] Optionally, the gear set includes: a turbine, a first sub-gear, a second sub-gear, a third sub-gear and a connecting cylinder, wherein,

[0048] 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 second sub-gear includes a first gear plate and a second gear plate coaxially arranged, the first sub-gear is meshed with the first gear plate, the second gear plate is meshed with the third sub-gear, the connecting cylinder is coaxially arranged with the third sub-gear and located outside the rotating arm, the connecting cylinder is threadedly connected to the sleeve, and the gear set rotates to cause the sleeve and the connecting cylinder to rotate relative to each other, so as to drive the sleeve to rise or fall relative to the connecting cylinder.

[0049] Optionally, the wall of the connecting tube is provided with a guide portion arranged in a spiral direction;

[0050] 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;

[0051] Wherein, the guide portion is a spiral boss or a plurality of protrusions distributed at intervals.

[0052] Optionally, 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;

[0053] The guide portion abuts against the bottom of the slot to limit the lifting movement of the sleeve relative to the connecting tube.

[0054] Optionally, the inner wall of the sleeve is provided with a limiting plane matching the first cleaning element;

[0055] Wherein, the axial cross-section of the sleeve is hexagonal.

[0056] Optionally, the second drive assembly also includes a second shell with an opening at one end. When the automatic cleaning device includes a first shell, the second shell is engaged with the first shell, and the worm, the turbine, the rotating arm and the connecting cylinder are located in the space enclosed by the second shell and the first shell. The opening of the second shell is located on the side away from the first shell, and 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.

[0057] Optionally, 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;

[0058] 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.

[0059] Optionally, the automatic cleaning device further includes: a second cleaning element movably connected to the machine body, the second cleaning element and the first cleaning element are distributed on both sides of the longitudinal center line of the machine body, and the second cleaning element can be raised, lowered and rotated relative to the machine body.

[0060] Optionally, the relative positions of the second cleaning element and the edge projection area of ​​the machine body are fixed.

[0061] An embodiment of the second aspect of the present disclosure provides an automatic cleaning device, including a transmission device as described above, the automatic cleaning device including a machine body, at least a portion of the first cleaning element in the second operating position is located outside the machine body in the horizontal direction, 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 larger than the area of ​​the first cleaning element in the first operating position outside the machine body in the horizontal direction.

[0062] An embodiment of the third aspect of the present disclosure provides a cleaning robot system, comprising the transmission device as described above; or, comprising a base station and the automatic cleaning device as described above, wherein the automatic cleaning device is suitable for docking on the base station.

[0063] 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

[0064] 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.

[0065] In the attached figure:

[0066] FIG1 is a schematic structural 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;

[0067] FIG2 is a schematic structural 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;

[0068] 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;

[0069] 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;

[0070] FIG5 is a schematic structural diagram of the embodiment shown in FIG2 from another perspective;

[0071] FIG6 is a schematic structural diagram of a first cleaning element in a first operating position according to an optional embodiment of the present disclosure;

[0072] FIG7 is a schematic structural diagram of a first cleaning element in a second operating position according to an optional embodiment of the present disclosure;

[0073] FIG8 is a schematic structural diagram showing another perspective of the embodiment shown in FIG7 ;

[0074] FIG9 is a schematic structural diagram showing another perspective of the embodiment shown in FIG7 ;

[0075] FIG10 shows a cross-sectional view taken along the AA direction of the embodiment shown in FIG9 ;

[0076] FIG11 is a schematic structural diagram of a second drive assembly according to an optional embodiment of the present disclosure;

[0077] FIG12 is a schematic structural diagram showing another perspective of the embodiment shown in FIG7 ;

[0078] FIG13 is a schematic structural diagram of a second housing according to an optional embodiment of the present disclosure;

[0079] FIG14 is a schematic structural diagram showing another perspective of the embodiment shown in FIG13 ;

[0080] FIG15 is a schematic structural diagram of a first cam provided with a protective layer according to an optional embodiment of the present disclosure;

[0081] FIG16 is a schematic structural diagram of a case where a roller is provided on the abutting portion according to an optional embodiment of the present disclosure.

[0082] Description of Reference Numerals

[0083] 100. Automatic cleaning device; 110. Machine body; 111. Forward part; 112. Rear part; 120. Sensing system; 121. Determination device; 122. Buffer; 130. First cleaning component; 131. First driving component; 1311. Telescopic driving member; 1313. Rotating arm; 1314. First gear; 1315. Second cam; 13151. Sector tooth portion; 13152. Abutment portion; 13153. First baffle; 13154. Second baffle; 1316. First cam; 13161. Protrusion; 13162. Connecting portion; 1317. Elastic member; 1318. First shell; 13181. First limiting member; 13182. Second limiting member; 13191. Protective layer; 13192. Roller; 132. Second driving component; 1321. Lifting drive moving part; 1322, transmission part; 1323, worm; 1324, gear set; 13241, turbine; 13242, first sub-gear; 13243, first toothed disc; 13244, second toothed disc; 13245, third sub-gear; 13246, connecting tube; 13247, guide part; 1325, sleeve; 13251, slot; 13252, guide groove; 13253, limiting plane; 1326, second shell; 13261, first mounting cavity; 13262, second mounting cavity; 13263, bottom plate; 133, first cleaning element; 134, position detecting device; 1341, first photoelectric switch; 1342, second photoelectric switch; 140, second cleaning assembly; 141, second cleaning element; 160, third cleaning assembly; 161, side brush; 162, roller brush. DETAILED DESCRIPTION

[0084] 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.

[0085] 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 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.

[0086] 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.

[0087] As shown in FIG. 1 to FIG. 16 , 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 .

[0088] 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.

[0089] 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.

[0090] As shown in Figures 1 and 2 , 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 a bumper 122 on 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).

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] As shown in Figure 5, the dry cleaning system may include a third cleaning assembly 160, a dust box, a fan, and an air outlet. The third cleaning assembly 160 may include a roller brush 162, which has a certain degree of contact with the ground. The roller brush 162 sweeps up debris from the ground and carries it to the front of the dust suction port between the roller brush 162 and the dust box. The air 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 rotatable side brush 161, which is angled relative to the ground to move debris into the area of ​​the roller brush 162 of the cleaning system.

[0098] As shown in Figures 2 and 5, 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 unit of the water supply mechanism can be a peristaltic pump or other power mechanism.

[0099] The first cleaning assembly 130 includes a first cleaning element 133 , that is, the first cleaning element 133 is a part of the first cleaning assembly 130 .

[0100] 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.

[0101] As shown in Figures 1, 2, 3 and 4, the transmission device provided in the embodiment of the present disclosure is applied to an automatic cleaning device, which includes a machine body 110 and a first cleaning element 133. The transmission device includes a first driving assembly 131, a rotating arm 1313 and an elastic member 1317. The rotating arm 1313 is rotatably connected to the machine body 110, the first end of the elastic member 1317 is connected to the rotating arm 1313, and the second end of the elastic member 1317 is relatively fixed to the machine body 110. The first cleaning element 133 is arranged on the rotating arm 1313, and the first driving assembly 131 is used to cooperate with the elastic member 1317 to rotate the rotating arm 1313 to drive the first cleaning element 133 to switch between the first operating position and the second operating position.

[0102] By setting a first driving component 131, a rotating arm 1313 and an elastic member 1317, and setting a first cleaning element 133 on the rotating arm 1313, the first driving component and the elastic member 1317 can be used to drive the first cleaning element to switch between the first operating position and the second operating position according to the cleaning range requirement of the automatic cleaning device, so as to move the first cleaning element to an operating position that meets the corresponding cleaning range requirement, so as to meet the requirements of different mopping ranges, expand the mopping range, and help improve the cleaning effect and enhance the user's cleaning experience.

[0103] It should be noted that the first end of the elastic member 1317 is connected to the rotating arm 1313, including the first end of the elastic member 1317 being directly connected to the rotating arm 1313 and being indirectly connected through other components. Both the direct connection and the indirect connection of the first end of the elastic member 1317 to the rotating arm 1313 are within the scope of protection of the present disclosure.

[0104] As shown in Figure 6, the first driving assembly drives the first cleaning element 133 to move to the first operating position through the rotating arm 1313. At this time, the force applied by the first driving assembly to the rotating arm 1313 is opposite to the direction of the force applied by the elastic member 1317 to the rotating arm 1313, and then the rotating arm 1313 is fixed by two opposite forces to prevent the rotating arm from swinging, thereby preventing the first cleaning element 133 from moving with the rotating arm 1313 during the cleaning process.

[0105] As shown in FIG7 , the elastic member 1317 drives the first cleaning element 133 to move to the second operating position through the rotating arm 1313 . At this time, the elastic member 1317 drives the rotating arm 1313 to move to the extreme position and fixes the rotating arm 1313 by its own elastic force.

[0106] When the first cleaning element 133 is in the first operating position or the second operating position, the elastic member may be in a deformed state to maintain the force applied to the rotating arm 1313 .

[0107] The first cleaning element 133 can typically be a flexible, absorbent material such as fabric or a sponge. In this embodiment, the first cleaning element 133 can be a self-rotating cleaning element, a vibrating cleaning element, or a fixed cleaning element. Specifically, the first cleaning element 133 can be a tray, and the first cleaning element 133 removes stains from the floor through rotation.

[0108] 1 is a schematic structural diagram of the automatic cleaning device 100 when the first cleaning element 133 is in the first operating position, and FIG2, FIG3, FIG4 and FIG5 are schematic structural diagrams of the automatic cleaning device 100 when the first cleaning element 133 is in the second operating position, wherein the projections of the first cleaning element 133 in the first operating position and the second operating position are at different positions of 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 part 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 first operating position and the second operating position are different. 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 their positions 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 their positions 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. Therefore, according to the cleaning range requirements of the automatic cleaning device 100, specifically according to the wet cleaning range requirements, the first driving component 131 can be used to drive the first cleaning element 133 to switch between the first operating position and the second operating position, so as 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 of the automatic cleaning device 100, improving the cleaning effect, and improving the user's cleaning experience.

[0109] It should be noted that when the first cleaning element 133 in the first operating position is entirely located within the machine body 110 in the horizontal direction, the area of ​​the first cleaning element in the first operating position outside the machine body 110 in the horizontal direction is zero. At this time, the area of ​​the first cleaning element in the second operating position outside the machine body 110 in the horizontal direction is still greater than the area of ​​the first cleaning element in the first operating position outside the machine body 110 in the horizontal direction.

[0110] As shown in Figures 2 to 5, 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, 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.

[0111] Among them, at least 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, so as to increase the cleaning range of the first cleaning element 133 and improve the cleaning effect of the automatic cleaning device 100.

[0112] 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.

[0113] Among them, most of 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.

[0114] Furthermore, according to whether the automatic cleaning device 100 needs to mop corners, the first cleaning element 133 can be selectively driven to switch between the first operating position and the second operating position, 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 corners, thereby meeting the different functional requirements of the automatic cleaning device 100 and improving the intelligence of the automatic cleaning device 100.

[0115] In some possible embodiments provided by the present disclosure, during the switching process of the first cleaning element 133 between the first operating position and the second operating position, the first driving assembly 131 abuts against the rotating arm 1313 to rotate the rotating arm 1313, thereby ensuring that the rotating arm 1313 is stably driven to rotate, thereby ensuring that the first cleaning element 133 can stably switch between the first operating position and the second operating position.

[0116] The first driving component 131 may directly contact the rotating arm 1313 , and the rotating arm 1313 may be directly driven to rotate by the rotation of the first driving component 131 .

[0117] Specifically, the first driving assembly 131 may include a cam or other eccentric rotating mechanism, which abuts against the outer wall of the rotating arm 1313, and directly drives the rotating arm 1313 to rotate by driving the cam or other eccentric rotating mechanism to rotate.

[0118] In some possible embodiments provided by the present disclosure, one end of the rotating arm 1313 is connected to the first cam 1316, and the other end is connected to the first cleaning element 133. During the switching process of the first cleaning element 133 between the first operating position and the second operating position, the first driving assembly abuts against the protrusion 13161 of the first cam 1316 to rotate the rotating arm 1313.

[0119] The convex portion of the first cam 1316 is the portion of the first cam 1316 that protrudes radially outward.

[0120] Among them, the first driving component is in contact with the convex part of the first cam 1316, and then the first driving component can apply a force to the convex part of the first cam 1316, so that the first driving component can drive the first cam 1316 to rotate. One end of the rotating arm 1313 is connected to the first cam 1316, and then the rotation of the first cam can drive the rotating arm to rotate, and then drive the first cleaning element at the other end of the rotating arm to switch between the first operating position and the second operating position.

[0121] The first end of the elastic member 1317 is connected to the first cam 1316 , the first end of the elastic member 1317 may also be connected to the rotating arm 1313 , or the first end of the elastic member 1317 may also be connected to the first cam 1316 and the rotating arm 1313 at the same time.

[0122] In this embodiment, the elastic member is a tension spring. One end of the elastic member 1317 can be directly or indirectly fixedly connected to the machine body, that is, it can be relatively stationary with the machine body. The other end can be connected to the first cam 1316 alone, to the rotating arm 1313, or to both the first cam 1316 and the rotating arm 1313. For example, if the elastic member has a Y-shaped structure, it can be connected to both the first cam 1316 and the rotating arm 1313. Of course, it can also be connected to both the first cam 1316 and the rotating arm 1313 through a connecting member such as a connecting wire.

[0123] In some possible embodiments provided by the present disclosure, the elastic member 1317 is a tension spring, a first end of the tension spring is connected to the first cam 1316 , and a second end of the tension spring is relatively fixed to the machine body 110 .

[0124] Among them, by making the elastic member 1317 a tension spring and connecting the first end of the tension spring to the first cam 1316, and fixing the second end of the tension spring relatively to the machine body 110, a stable elastic force can be provided, so that the first cleaning element 133 can switch from the first operating position to the second operating position.

[0125] In some possible embodiments provided by the present disclosure, the elastic member 1317 is a torsion spring, which is disposed at the rotation axis of the first cam 1316 .

[0126] Among them, the torsion spring can be arranged coaxially with the rotating shaft of the first cam 1316, that is, the torsion spring can be sleeved on the outer peripheral side of the rotating shaft of the first cam 1316, and one end of the torsion spring is connected to the first cam 1316, and the second end of the torsion spring is relatively fixed to the machine body 110, and can also provide stable elastic force, so that the first cleaning element 133 can switch from the first operating position to the second operating position.

[0127] In some possible embodiments provided by the present disclosure, the elastic member 1317 is an elastic sheet, a first end of the elastic sheet is connected to the first cam 1316 , and a second end of the elastic sheet is relatively fixed to the machine body 110 .

[0128] The first end of the elastic sheet is connected to the first cam 1316 , and the second end is fixed relative to the machine body 110 , and can stably drive the first cleaning element 133 to switch from the first operating position to the second operating position through the elastic force generated after deformation.

[0129] It is understandable that the elastic member 1317 may also be an elastic component other than a tension spring, a torsion spring and an elastic sheet, as long as it can provide elastic force to enable the first cleaning element 133 to switch from the first operating position to the second operating position.

[0130] The rotating arm 1313 is rotatably connected to the machine body 110 , and the first cleaning element 133 is movably connected, transmission-connected, or fixedly connected to the rotating arm 1313 .

[0131] One end of the rotating arm 1313 can be rotatably connected to the machine body 110, so that the rotating arm 1313 can swing on the machine body 110, thereby driving the first cleaning element to switch between the first operating position and the second operating position.

[0132] The first cleaning element 133 is movably connected, transmission-connected, or fixedly connected to the rotating arm 1313 , so that the first cleaning element 133 contacts the surface to be cleaned to perform a cleaning operation.

[0133] The elastic member 1317 may also be connected to the protrusion 13161 of the first cam 1316. In this embodiment, a connecting portion 13162 is provided on the circumference of the first cam 1316. The connecting portion 13162 is used to connect to the elastic member 1317, thereby increasing the distance between the elastic member 1317 and the first driving assembly to avoid interference.

[0134] The connecting portion 13162 may protrude outward in the radial direction of the first cam, and the elastic member 1317 is connected to the end of the connecting portion 13162 to obtain a greater torque.

[0135] The connecting portion 13162 can be integrally formed with other parts of the cam.

[0136] Specifically, the first driving assembly is used to drive the first cam 1316 to rotate in the first direction to switch the first cleaning element 133 from the second operating position to the first operating position. The elastic member 1317 is used to drive the first cam 1316 to rotate in the second direction to switch the first cleaning element 133 from the first operating position to the second operating position.

[0137] The first direction and the second direction are two opposite directions. For example, the first direction is the counterclockwise direction in FIG6 , and the second direction is the clockwise direction in FIG6 .

[0138] When the first cleaning element 133 is in the first operating position, the elastic member 1317 is in a stretched state, thereby driving the first cam 1316 to rotate in the second direction, thereby switching the first cleaning element 133 from the first operating position to the second operating position. When the first cleaning element 133 is in the second operating position, the elastic member 1317 may also be in a stretched state, thereby locking the rotating arm through elastic force.

[0139] Specifically, the first driving assembly drives the elastic member 1317 to deform via the first cam 1316 to accumulate elastic potential energy, and the elastic member 1317 releases the elastic potential energy to drive the first cleaning element 133 to switch from the first operating position to the second operating position.

[0140] The first driving assembly includes a first driving portion and a second cam 1315 . The first driving portion is used to drive the second cam 1315 to rotate. The second cam 1315 abuts against the first cam 1316 to rotate the first cam 1316 .

[0141] The second cam 1315 includes an abutting portion, which is a portion of the second cam 1315 extending radially outward. The abutting portion of the second cam 1315 abuts against the convex portion of the first cam 1316, thereby achieving transmission.

[0142] The first driving unit is used to output power, thereby driving the second cam 1315 and the first cam 1316 to rotate.

[0143] The second cam may be directly arranged on the output end of the first driving part, so that the first driving part directly drives the second cam to rotate.

[0144] The output end of the first driving part can also be connected to the second cam in a transmission manner, and can also drive the second cam to rotate.

[0145] As shown in Figures 6, 7 and 8, the second cam 1315 includes a fan-shaped tooth portion 13151 and an abutment portion 13152. The first gear 1314 is power-connected to the telescopic drive member 1311 and meshes with the fan-shaped tooth portion 13151. The abutment portion 13152 abuts against the first cam 1316, and the first cam 1316 is coaxially arranged with the rotating arm 1313.

[0146] The sector teeth 13151 and the abutment 13152 are spaced apart around the circumference of the rotating shaft of the second cam 1315, so that the rotation of the second cam 1315 can simultaneously drive the sector teeth 13151 and the abutment 13152 to rotate. As shown in FIG6 , when the telescopic drive member 1311 rotates in one direction, such as clockwise or counterclockwise, it drives the first gear 1314 to rotate. Due to the meshing of the sector teeth 13151 and the first gear 1314, the sector teeth 13151 can drive the second cam 1315 to rotate, thereby driving the abutment 13152 to rotate. The abutment 13152 abuts against the first cam 1316, pushing the first cam 1316 to rotate. Since the first cam 1316 is coaxially arranged with the rotating arm 1313, the rotating arm 1313 can rotate synchronously with the first cam 1316, thereby driving the first cleaning element 133 mounted in the rotating arm 1313 to move from the second operating position to the first operating position.

[0147] The first driving part includes a telescopic driving member 1311 and a first gear 1314. The telescopic driving member 1311 is connected to the first gear 1314. The first gear 1314 is engaged with the sector-shaped tooth portion 13151, so that the telescopic driving member 1311 drives the abutment portion 13152 through the first gear 1314 and the sector-shaped tooth portion 13151 to push the first cam 1316 to rotate, and the rotating arm 1313 rotates synchronously to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0148] Among them, the telescopic driving member 1311 is used to output power. The telescopic driving member 1311 can be a motor. The first gear 1314 is coaxially arranged with the output end of the telescopic driving member 1311 and engages with the fan-shaped tooth portion 13151, so that the telescopic driving member 1311 drives the first gear 1314, the second cam 1315 and the first cam 1316 to rotate, and then drives the rotating arm 1313 to rotate synchronously to drive the first cleaning element 133 to move from the second operating position to the first operating position.

[0149] When the first cleaning element 133 moves from the first operating position to the second operating position, the rotation direction of the abutment 13152 is opposite to the rotation direction of the abutment 13152 during the process of the first cleaning element 133 moving in the direction of retracting the machine body 110. Therefore, the abutment 13152 has no pushing force on the first cam 1316. In this way, under the action of the elastic member 1317, the first cam 1316 will rotate in the opposite direction compared to the first cam 1316 during the process of the first cleaning element 133 moving in the direction of retracting the machine body 110, and push the abutment 13152 to rotate. Since the first cam 1316 is coaxially arranged with the rotating arm 1313, the rotating arm 1313 can rotate synchronously with the first cam 1316, thereby driving the first cleaning element 133 installed in the rotating arm 1313 to move from the first operating position to the second operating position.

[0150] When the first cleaning element is in the second operating position, the second cam is separated from the first cam.

[0151] Among them, the separation of the second cam 1315 and the first cam 1316 can eliminate the interaction force between the second cam and the first cam, thereby preventing the swing arm from shaking and driving the first cam 1316 to rotate, and transmitting the force to the telescopic drive component 1311 through the first cam 1316 and the first gear 1314, which can protect the telescopic drive component 1311.

[0152] When the first cleaning element is in the second operating position, a gap is formed between the abutting portion of the second cam and the convex portion of the first cam in the circumferential direction, so that the abutting portion of the second cam is separated from the convex portion of the first cam.

[0153] As shown in Figures 7 and 8, in some possible embodiments provided by the present disclosure, the automatic cleaning device 100 also includes a first shell 1318, the telescopic drive member 1311 and the rotating arm 1313 are located outside the first shell 1318, the first gear 1314, the second cam 1315, the first cam 1316, and the elastic member 1317 are all located inside the first shell 1318, the first gear 1314 is passed through the first shell 1318 and is power-connected to the telescopic drive member 1311, and the second end of the elastic member 1317 is connected to the first shell 1318.

[0154] Among them, the first gear 1314, the second cam 1315, the first cam 1316, and the elastic member 1317 are all located in the first shell 1318. Therefore, the first shell 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.

[0155] 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 first gear 1314, the second cam 1315, the first cam 1316, and the elastic member 1317, thereby facilitating assembly and disassembly of the first 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.

[0156] As shown in Figures 6 and 7, 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 1315, and the telescopic driving member 1311 rotates or stops rotating according to the detection result of the position detection device 134.

[0157] The position detection device 134 is configured to detect the rotational position of the second cam 1315, thereby determining the rotational position of the first cam 1316. Thus, when the first cam 1316 rotates to a suitable position, such as when the first cam 1316 rotates to drive the first cleaning element 133 to the first operating position or the second operating position via the rotating arm 1313, the telescopic drive member 1311 stops rotating based on the detection result of the position detection device 134 at this time, thereby maintaining the first cleaning element 133 in the first operating position or the second operating position, thereby achieving accurate switching between the first operating position and the second operating position. It is understood that when the first cam 1316 rotates but fails to drive the first cleaning element 133 to the first operating position or the second operating position via the rotating arm 1313, the telescopic drive member 1311 can continue to rotate based on the detection result of the position detection device 134 at this time, thereby driving the first cleaning element 133 to continue moving toward the target operating position, such as the first operating position or the second operating position.

[0158] The position detection device 134 may include a photoelectric switch, a mechanical switch, or other detection mechanisms that meet the requirements.

[0159] In the above embodiment, as shown in Figures 6 and 7, the position detection device 134 includes a first photoelectric switch 1341 and a second photoelectric switch 1342 distributed on both sides of the second cam 1315, and the second cam 1315 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.

[0160] In this embodiment, a first photoelectric switch 1341 and a second photoelectric switch 1342 are respectively provided on both sides of the second cam 1315, 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.

[0161] 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 1315, the rotation of the second cam 1315 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 1315 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 1316 rotates to a suitable position, so that the first cleaning element 133 is in the first operating position. At this time, the telescopic driving member 1311 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.

[0162] When the second cam 1315 rotates to a suitable position, the second baffle 13154 is inserted into the second photoelectric switch 1342 to change the detection signal of the second photoelectric switch 1342. 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. This indicates that the first cam 1316 rotates to a suitable position, so that the second cleaning element 141 is in the second operating position. At this time, the telescopic drive member 1311 can stop rotating according to the detection signal of the second photoelectric switch 1342, so that the second cleaning element 141 remains in the second operating position.

[0163] 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 driving member 1311, and is used to detect the rotation angle of the output shaft of the telescopic driving member 1311. The telescopic driving member 1311 also rotates or stops rotating according to the detection result of the rotation angle detection device.

[0164] The rotation angle detection device is configured to detect the rotation angle of the output shaft of the telescopic drive member 1311, thereby determining the rotation angles of the first gear 1314 and the second cam 1315, and further determining the rotation angle of the first cam 1316. Thus, when the first cam 1316 rotates to a desired angle, such as when the first cam 1316 rotates to move the first cleaning element 133 to the first or second operating position via the rotating arm 1313, the telescopic drive member 1311 stops rotating based on the detection result of the rotation angle detection device at that time, thereby maintaining the first cleaning element 133 in the first or second operating position, thereby achieving accurate switching between the first or second operating positions. It will be appreciated that when the first cam 1316 rotates but does not move the first cleaning element 133 to the first or second operating position via the rotating arm 1313, the telescopic drive member 1311 can continue rotating based on the detection result of the rotation angle detection device at that time, thereby driving the first cleaning element 133 to continue moving toward the target operating position, such as the first or second operating position.

[0165] As shown in Figure 8, in some possible embodiments provided by the present disclosure, a first limiting member 13181 and a second limiting member 13182 distributed on the periphery of the first cam 1316 are further provided in the first shell 1318, the first limiting member 13181 is located on the side of the protrusion 13161 away from the abutting portion 13152, and the first limiting member 13181 is used to abut against the protrusion 13161 to limit the rotation of the first cam 1316, and the second limiting member 13182 is located on the side of the connecting portion 13162 away from the abutting portion 13152, and the second limiting member 13182 is used to abut against the connecting portion 13162 to limit the rotation of the first cam 1316.

[0166] Thus, the rotation of the first cam 1316 can be limited. For example, after the first cam 1316 rotates to a suitable position, the protrusion 13161 of the first cam 1316 abuts against the first limiting member 13181, so that the first cam 1316 will no longer move toward the first limiting member 13181, allowing the first cleaning element 133 to reliably and accurately maintain the first operating position. At the same time, after the first cam 1316 rotates to a suitable position, the connection portion 13162 of the first cam 1316 abuts against the second limiting member 13182, so that the first cam 1316 will no longer move toward the second limiting member 13182, allowing the first cleaning element 133 to reliably and accurately maintain the second operating position.

[0167] It can be understood that in this state, even if the telescopic drive member 1311 continues to rotate, under the action of the first limit member 13181 or the second limit member 13182, the first cam 1316 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.

[0168] In some possible embodiments provided by the present disclosure, an anti-wear structure is provided on the first driving assembly 131 and / or the first cam 1316 , and the first driving assembly 131 and the first cam 1316 are in contact with each other through the anti-wear structure.

[0169] By providing an anti-wear structure on the first drive component 131 and / or the first cam 1316, and transmitting force between the first drive component 131 and the first cam 1316 through the anti-wear structure, the first drive component 131 and the first cam 1316 can be protected, the wear of the first drive component 131 and the first cam 1316 can be reduced, and a good service life can be ensured.

[0170] Among them, the anti-wear structure can be set on the first drive component 131, or on the convex part of the first cam 1316, or on the convex parts of the first drive component 131 and the first cam 1316 at the same time. When the first drive component 131 and the convex part of the first cam 1316 transmit force, that is, when the first drive component 131 and the first cam 1316 are squeezed, the anti-wear structure is located between the first drive component 131 and the convex part of the first cam 1316.

[0171] The anti-wear structure includes rollers 13192 and / or a protective layer 13191 with a smooth outer surface. The rollers 13192 ensure rolling friction between the first drive assembly 131 and the first cam 1316, which is lower than sliding friction between the first drive assembly 131 and the first cam 1316. The smooth outer surface of the protective layer 13191 also reduces friction and protects the first cam 1316. If severe wear and tear occurs after prolonged use, only the protective layer 13191 needs to be replaced, resulting in lower maintenance costs.

[0172] As shown in Figure 16, in some possible embodiments provided by the present disclosure, a roller 13192 may be provided on the first drive component 131, and a protective layer 13191 with a smooth outer surface is provided on the convex portion of the first cam 1316. The first drive component 131 is in contact with the protective layer 13191 on the convex portion of the first cam 1316 through the roller 13192.

[0173] In some possible embodiments provided by the present disclosure, a roller 13192 may be provided on the convex portion of the first cam 1316, and a protective layer 13191 with a smooth outer surface is provided on the first driving component 131, and the first cam 1316 contacts the protective layer 13191 on the first driving component 131 through the roller 13192.

[0174] In some possible embodiments provided by the present disclosure, a protective layer 13191 with a smooth outer surface is provided on the protrusion of the first cam 1316 and the first driving assembly 131 , and the first cam 1316 and the first driving assembly 131 are in conflict with each other through the protective layer 13191 .

[0175] In some possible embodiments provided by the present disclosure, the convex portion of the first cam 1316 and the first drive assembly 131 may both be provided with a roller 13192, and the roller 13192 on the convex portion of the first cam 1316 and the roller 13192 on the first drive assembly 131 are staggered, that is, the two rollers 13192 do not abut against each other, and the convex portion of the first cam 1316 abuts against the first drive assembly 131 through the roller 13192 thereon, and the first drive assembly 131 abuts against the convex portion of the first cam 1316 through the roller 13192 thereon.

[0176] As shown in FIG. 15 , in some possible embodiments provided by the present disclosure, a protective layer 13191 having a smooth outer surface is provided on the outer wall of the protrusion 13161 of the first cam 1316 .

[0177] By providing a protective layer 13191 with a smooth outer surface on the outer wall of the convex portion 13161 of the first cam 1316, the friction force when the convex portion 13161 of the first cam 1316 abuts against the second cam 1315 can be reduced, which can protect the first cam 1316 and the second cam 1315 and extend the service life of the first cam 1316 and the second cam 1315.

[0178] Among them, the protective layer 13191 can be a metal sheet, or replaced with other wear-resistant materials, including but not limited to PK and powder metallurgy.

[0179] Specifically, the metal sheet is provided on the contact surface between the protrusion 13161 and the second cam 1315 , that is, when the protrusion 13161 and the second cam 1315 interact with each other, the metal sheet is located between the protrusion 13161 and the second cam 1315 .

[0180] In some possible embodiments provided by the present disclosure, a roller 13192 is provided on the protrusion 13161 of the first cam 1316, and the protrusion 13161 is in contact with the first drive component 131 through the roller 13192, so that there is rolling friction between the protrusion 13161 and the first drive component 131, with a smaller friction force, thereby avoiding excessive wear of the protrusion 13161 and the first drive component 131, and ensuring that the first cam 1316 and the first drive component 131 have a longer service life.

[0181] The protrusion 13161 abuts against the abutting portion 13152 of the second cam 1315 through the roller 13192 .

[0182] The axis of the roller 13192 is substantially parallel to the contact surface between the protrusion 13161 and the first driving assembly 131 , thereby ensuring that the roller 13192 can roll stably on the first driving assembly.

[0183] In some possible embodiments provided by the present disclosure, when the first drive component 131 includes the second cam 1315, a roller 13192 is provided on the second cam 1315, and the second cam 1315 is in contact with the first cam 1316 through the roller 13192, which can also enable rolling friction between the protrusion 13161 and the first drive component 131, with less friction, thereby avoiding excessive wear of the protrusion 13161 and the first drive component 131, and ensuring that the first cam 1316 and the second cam 1315 have a longer service life.

[0184] The axis of the roller 13192 is substantially parallel to the contact surface between the protrusion 13161 and the second cam 1315 , thereby ensuring that the roller 13192 can roll stably on the second cam 1315 .

[0185] As shown in FIG. 4 and FIG. 11 , in some possible embodiments provided by the present disclosure, the transmission device further includes a second drive assembly 132 , which is connected to the first cleaning element 133 and is used to drive the first cleaning element 133 to move up and down.

[0186] The second driving assembly 132 is further used to drive the first cleaning element 133 to vibrate and / or rotate around its own central axis.

[0187] Thus, the second driving assembly 132 can be used to drive 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, thereby achieving a mopping operation on the surface to be cleaned. After the mopping operation is completed, the second driving assembly 132 is used to drive the first cleaning element 133 to ascend, thereby separating the first cleaning element 133 from the surface to be cleaned and storing the first cleaning element 133. This prevents the first cleaning element 133 from contacting the surface to be cleaned during the movement of the automatic cleaning device 100. This prevents the first cleaning element 133 from contacting the surface to be cleaned and causing secondary contamination of the surface to be cleaned in scenarios where mopping is not required, such as when the automatic cleaning device 100 is traveling to and from a base station or performing carpet cleaning. This helps to improve the cleanability of the automatic cleaning device 100, and improves cleaning efficiency and user experience.

[0188] In other words, the second driving 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.

[0189] The second 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.

[0190] Thus, the automatic cleaning device 100 provided by the embodiment of the present disclosure utilizes the first drive assembly 131 to drive the first cleaning element 133 to switch between the first operating position and the second operating position, and utilizes the second drive assembly 132 to drive the first cleaning element 133 to rise, fall, vibrate, and rotate. Through the cooperation of the first drive assembly 131 and the second drive assembly 132, wet cleaning operations for different wet cleaning ranges can be satisfied, thereby expanding the cleaning range of the automatic cleaning device 100 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 enhancing the user experience.

[0191] Among them, in this embodiment, a second driving component 132 is used to drive the lifting and rotation of the first cleaning element 133. Compared with the related art that requires the use of two second driving components to drive the lifting and rotation of the cleaning element respectively, the setting of one driving component is simplified. Therefore, it can meet the design requirements of compact structure and small size, which is conducive to reducing the occupied space and reducing costs, and is suitable for promotion and application.

[0192] As shown in Figures 10 and 11, in some possible embodiments provided by the present disclosure, the second drive assembly 132 includes: a lifting drive unit 1321 and a transmission unit 1322. At least a portion of the transmission unit 1322 is arranged in the rotating arm 1313 and is connected to the first cleaning element 133. The lifting drive unit 1321 drives the first cleaning element 133 to lift and rotate through the transmission unit 1322.

[0193] In this embodiment, since the transmission part 1322 is connected to the rotating arm 1313 and the first cleaning element 133, the transmission part 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 1313.

[0194] Among them, the second drive component 132 includes a lifting drive unit 1321, which can drive the lifting and rotation of the first cleaning element 133 through the lifting drive unit 1321. Compared with the related technology that requires the use of two drive units to drive the lifting and rotation of the cleaning element respectively, the setting of one drive unit is simplified. Therefore, it can meet the design requirements of compact structure and small size, which is conducive to reducing occupied space and reducing costs, and is suitable for promotion and application.

[0195] As shown in Figures 10 and 11, in some possible embodiments provided by the present disclosure, the transmission part 1322 includes: a lifting drive part 1321 and a transmission part 1322. At least a portion of the transmission part 1322 is arranged in the rotating arm 1313 and is connected to the first cleaning element 133. The lifting drive part 1321 drives the first cleaning element 133 to lift and rotate through the transmission part 1322.

[0196] Thus, the power of the lifting drive part 1321 is transmitted to the gear group 1324 through the worm 1323, and the sleeve 1325 is driven to lift and rotate through the gear group 1324 to drive the first cleaning element 133 to lift and rotate. The worm 1323 cooperates with the gear group 1324, and its mechanical structure is compact, small in size, and accurate in transmission, which is conducive to reducing the volume of the transmission part 1322, and then reducing the volume of the second drive component 132, which can meet the design requirements of compact structure and small volume.

[0197] As shown in FIG10 , FIG11 and FIG12 , in the above embodiment, the gear set 1324 includes:

[0198] The turbine 13241, the first sub-gear 13242, the second sub-gear, the third sub-gear 13245 and the connecting cylinder 13246, wherein,

[0199] The turbine 13241 and the first sub-gear 13242 are coaxially arranged. The turbine 13241 is located outside the rotating arm 1313 and meshes with the worm 1323. The first sub-gear 13242, the second sub-gear, and the third sub-gear 13245 are all located inside the rotating arm 1313. The second sub-gear includes a first gear plate 13243 and a second gear plate 13244 arranged coaxially. The first sub-gear 13242 meshes with the first gear plate 13243, and the second gear plate 13244 meshes with the third sub-gear 13245. The connecting tube 13246 is coaxially arranged with the third sub-gear 13245 and is located outside the rotating arm 1313. The connecting tube 13246 is threadedly connected to the sleeve 1325. The gear set 1324 rotates to cause the sleeve 1325 and the connecting tube 13246 to rotate relative to each other, thereby driving the sleeve 1325 to rise or fall relative to the connecting tube 13246.

[0200] Thus, the lifting drive part 1321 rotates to drive the worm 1323 to rotate. Since the turbine 13241 is engaged with the worm 1323, the turbine 13241 will be driven to rotate, and then the first sub-gear 13242 coaxially arranged with the turbine 13241 will be driven to rotate. Since the first sub-gear 13242 is engaged with the first gear plate 13243, the first gear plate 13243 and the second gear plate 13244 coaxially arranged with the first gear plate 13243 will be driven to rotate. Since the second gear plate 13244 is engaged with the third sub-gear 13245, the third sub-gear 13245 will be driven to rotate, and then the connecting tube 13246 coaxially arranged with the third sub-gear 13245 will be driven to rotate. Since the connecting cylinder 13246 and the sleeve 1325 are threadedly connected, the sleeve 1325 and the connecting cylinder 13246 rotate relative to each other to drive the sleeve 1325 to rise or fall relative to the connecting portion 13162, thereby driving the first cleaning element 133 installed in the sleeve 1325 to rise and fall and rotate. This arrangement has a simple structure and high transmission accuracy.

[0201] Among them, the first sub-gear 13242, the second sub-gear, and the third sub-gear 13245 are all located inside the rotating arm 1313. Thus, the rotating arm 1313 provides installation space and a certain degree of protection for the first sub-gear 13242, the second sub-gear, and the third sub-gear 13245, which can extend the service life of the first sub-gear 13242, the second sub-gear, and the third sub-gear 13245, thereby improving the reliability of the second drive assembly 132, and at the same time, can meet the design requirements of compact structure and small size. It can be understood that the rotating shaft connecting the first sub-gear 13242 and the turbine 13241 is passed through the rotating arm 1313, and the rotating shaft connecting the third sub-gear 13245 and the connecting cylinder 13246 is passed through the rotating arm 1313, so as to transmit the power of the lifting drive part 1321 from the outside of the rotating arm 1313 to the inside of the rotating arm 1313 through the worm 1323 and the turbine 13241, and then transmit it to the outside of the rotating arm 1313 again through the connecting cylinder 13246, and drive the lifting and rotation of the first cleaning element 133 through the sleeve 1325.

[0202] As shown in Figures 10 and 11, 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.

[0203] 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 second drive component.

[0204] Further, as shown in Figures 10 and 11, 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.

[0205] 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.

[0206] Alternatively, as shown in FIG11 , 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.

[0207] 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.

[0208] The guide portion 13247 abuts 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 second drive assembly, thereby improving reliability. 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.

[0209] As shown in Figure 12, 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.

[0210] 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.

[0211] As shown in Figures 10, 11 and 12, in some possible embodiments provided by the present disclosure, the second drive assembly 132 also includes a second shell 1326 with an opening at one end. When the automatic cleaning device 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 1313 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.

[0212] 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.

[0213] 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.

[0214] As shown in Figures 12, 13 and 14, 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 1313 extends to the first mounting cavity 13261 and the second mounting cavity 13262, the first sub-gear 13242 in the rotating arm 1313 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 1313, 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.

[0215] Among them, the shape of the second installation cavity 13262 is adapted to the movement space of the rotating arm 1313, so that the cavity wall of the second installation cavity 13262 will not hinder the movement of the rotating arm 1313. At the same time, it plays a good protective role for the rotating arm 1313 and reduces the volume of the second drive component 132 as much as possible to meet the design requirements of compact structure and small size.

[0216] 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 second drive assembly 132.

[0217] 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.

[0218] As shown in FIG. 5 , in some possible embodiments provided by the present disclosure, the automatic cleaning device further includes a second cleaning assembly 140 , which may include a second cleaning element 141 , that is, the second cleaning element 141 is a part of the second cleaning assembly 140 .

[0219] The second cleaning element 141 is movably connected to the machine body 110 . The second cleaning element 141 and the first cleaning element 133 are distributed on both sides of the longitudinal center line of the machine body 110 . The second cleaning element 141 can be raised, lowered and rotated relative to the machine body 110 .

[0220] The second cleaning assembly 140 is a wet cleaning component, and the second cleaning element 141 can typically 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 that removes stains from the floor through rotation. Specifically, the second cleaning element 141 has the same structure as the first cleaning element 133.

[0221] 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.

[0222] In this embodiment, the second cleaning element 141 is capable of being raised and lowered and rotated relative to the machine body 110. Specifically, the second cleaning assembly 140 further includes a third drive assembly that drives the second cleaning element 141 to be raised and rotated. Thus, the second cleaning element 141 can be driven to be raised and rotated depending on whether the second cleaning element 141 needs to contact the surface to be cleaned, so that the second cleaning element 141 is lowered to contact the surface to be cleaned and rotated to perform a mopping operation on the surface to be cleaned. Alternatively, after the mopping operation is completed, the third drive assembly is used to drive the second cleaning element 141 to rise and separate the second cleaning element 141 from the surface to be cleaned, and the second cleaning element 141 is stored. This prevents the second cleaning element 141 from contacting the surface to be cleaned during the movement of the automatic cleaning device 100. This prevents the second cleaning element 141 from contacting the surface to be cleaned and causing secondary contamination of the surface to be cleaned in scenarios where mopping is not required, such as when the automatic cleaning device 100 is traveling to and from a base station or performing carpet cleaning. This helps improve the cleaning performance of the automatic cleaning device 100, and enhances cleaning efficiency and user experience.

[0223] In other words, the third drive assembly 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 perform a cleaning function or a 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 drive assembly of the second cleaning assembly 140 can be the same as the structure of the second drive assembly 132 of the first cleaning assembly 130, which will not be repeated here. Alternatively, the third drive assembly can also be different from the structure of the second drive assembly 132, but it can meet the lifting and rotation of the second cleaning element 141.

[0224] It can be understood that, in some embodiments, the second cleaning component 140 may also include a fourth drive component. The fourth drive component and the third drive component of the second cleaning component 140 correspond to the first drive component 131 and the second drive component 132 of the first cleaning component 130, that is, the second cleaning component 140 and the first cleaning component 130 have the same structure. Thus, the cleaning function can be further expanded to meet the needs of different cleaning ranges and improve the cleaning effect.

[0225] As shown in FIG. 5 , 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 .

[0226] 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.

[0227] 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.

[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] 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.

[0230] The present disclosure provides a transmission device, an automatic cleaning device, and a cleaning robot system, wherein the transmission device is applied to the automatic cleaning device, the automatic cleaning device includes a machine body and a first cleaning element, the transmission device includes a first drive assembly, a rotating arm, and an elastic member, the rotating arm is rotatably connected to the machine body, the first end of the elastic member is connected to the rotating arm, the second end of the elastic member is relatively fixed to the machine body, the first cleaning element is arranged on the rotating arm, and the first drive assembly is used to cooperate with the elastic member to drive the rotating arm to rotate so that the first cleaning element switches between a first operating position and a second operating position. By providing the first drive assembly, the rotating arm, and the elastic member, and arranging the first cleaning element on the rotating arm, the first drive assembly and the elastic member can be used to drive the first cleaning element to switch between the first operating position and the second operating position according to the cleaning range requirements of the automatic cleaning device, 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.

[0231] 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, characterized in that: The invention is applied to an automatic cleaning device, the automatic cleaning device comprises a machine body (110) and a first cleaning element (133); the transmission device comprises a first driving assembly (131), a rotating arm (1313) and an elastic member (1317); the rotating arm (1313) is rotatably connected to the machine body (110); the first end of the elastic member (1317) is connected to the rotating arm (1313); the second end of the elastic member (1317) is relatively fixed to the machine body (110); the first cleaning element (133) is arranged on the rotating arm (1313); the first driving assembly (131) is used to cooperate with the elastic member (1317) to rotate the rotating arm (1313) to drive the first cleaning element (133) to switch between a first operating position and a second operating position.

2. The transmission device according to claim 1, characterized in that: During the switching process of the first cleaning element (133) between the first operating position and the second operating position, the first driving assembly (131) abuts against the rotating arm (1313) to cause the rotating arm (1313) to rotate.

3. The transmission device according to claim 1, characterized in that: One end of the rotating arm (1313) is connected to the first cam (1316), and the other end is connected to the first cleaning element (133). During the switching process of the first cleaning element (133) between the first operating position and the second operating position, the first driving component (131) abuts against the convex portion (13161) of the first cam (1316) to rotate the rotating arm (1313).

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

5. The transmission device according to claim 4, characterized in that: The elastic member (1317) is a tension spring, the first end of the tension spring is connected to the first cam (1316), and the second end of the tension spring is relatively fixed to the machine body (110); Alternatively, the elastic member (1317) is a torsion spring, the torsion spring is arranged at the rotating shaft of the first cam (1316), the first end of the torsion spring is connected to the first cam (1316), and the second end of the torsion spring is relatively fixed to the machine body (110); Alternatively, the elastic member (1317) is an elastic sheet, a first end of the elastic sheet is connected to the first cam (1316), and a second end of the elastic sheet is relatively fixed to the machine body (110).

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

7. The transmission device according to claim 3, characterized in that: The first driving assembly (131) is used to drive the first cam (1316) to rotate along a first direction so that the first cleaning element (133) switches from the second operating position to the first operating position.

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

9. The transmission device according to claim 3, characterized in that: The first driving assembly (131) causes the elastic member (1317) to deform via the first cam (1316) to accumulate elastic potential energy.

10. The transmission device according to claim 3, characterized in that: The elastic member (1317) releases elastic potential energy to drive the first cam (1316) to rotate along the second direction, so that the first cleaning element (133) switches from the first operating position to the second operating position.

11. The transmission device according to claim 3, characterized in that: The first driving assembly (131) comprises a first driving part and a second cam (1315), wherein the first driving part is used to drive the second cam (1315) to rotate, and the second cam (1315) abuts against the first cam (1316) to cause the first cam (1316) to rotate.

12. The transmission device according to claim 11, characterized in that: The second cam (1315) is arranged on the output end of the first driving part, so that the first driving part drives the second cam (1315) to rotate; or, The output end of the first driving unit is transmission-connected to the second cam (1315).

13. The transmission device according to claim 11, characterized in that: The second cam (1315) includes a sector-shaped tooth portion (13151) and an abutment portion (13152), the first driving portion is meshed with the sector-shaped tooth portion (13151), the abutment portion (13152) abuts against the first cam (1316), and the first cam (1316) is coaxially arranged with the rotating arm (1313).

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

15. The transmission device according to claim 13, characterized in that: The first driving part includes a telescopic driving member (1311) and a first gear (1314), the telescopic driving member (1311) is connected to the first gear (1314), and the first gear (1314) is meshed with the fan-shaped tooth portion (13151), so that the telescopic driving member (1311) drives the abutment portion (13152) to push the first cam (1316) to rotate through the first gear (1314) and the fan-shaped tooth portion (13151), 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 (1313).

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

17. The transmission device according to claim 15, characterized in that: The automatic cleaning device (100) also includes a first shell (1318), the telescopic drive member (1311) and the rotating arm (1313) are located outside the first shell (1318), the first gear (1314), the second cam (1315), the first cam (1316) and the elastic member (1317) are located inside the first shell (1318), the first gear (1314) passes through the first shell (1318) and is dynamically connected to the telescopic drive member (1311), and the second end of the elastic member (1317) is connected to the first shell (1318).

18. The transmission device according to claim 15, characterized in that: Also includes: The position detection device (134) is used to detect the rotation position of the second cam (1315), and the telescopic driving member (1311) rotates or stops rotating according to the detection result of the position detection device (134).

19. The transmission device according to claim 18, characterized in that: The position detection device (134) includes a first photoelectric switch (1341) and a second photoelectric switch (1342) distributed on both sides of the second cam (1315); the second cam (1315) further includes a first baffle (13153) and a second baffle (13154) distributed on both sides of the 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.

20. The transmission device according to claim 15, characterized in that Also includes: The rotation angle detection device is arranged on the telescopic driving member (1311) and is used to detect the rotation angle of the output shaft of the telescopic driving member (1311). The telescopic driving member (1311) also rotates or stops rotating according to the detection result of the rotation angle detection device.

21. The transmission device according to claim 14, characterized in that: A first limiting member (13181) and a second limiting member (13182) are provided on the circumferential side of the first cam (1316); the first limiting member (13181) is located on a side of the convex portion (13161) away from the abutting portion (13152); the first limiting member (13181) is used to abut against the convex portion (13161) to limit the rotation of the first cam (1316); the second limiting member (13182) is located on a side of the connecting portion (13162) away from the abutting portion (13152); the second limiting member (13182) is used to abut against the connecting portion (13162) to limit the rotation of the first cam (1316).

22. The transmission device according to claim 3, characterized in that: An anti-wear structure is provided on the first driving component (131) and / or the first cam (1316), and the first driving component (131) and the first cam (1316) are in contact with each other via the anti-wear structure.

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

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

25. The transmission device according to claim 3 or 11, characterized in that: A roller (13192) is provided on the convex portion (13161) of the first cam (1316), and the convex portion (13161) abuts against the first driving assembly (131) through the roller (13192); or, When the first driving component (131) includes a second cam (1315), a roller (13192) is provided on the second cam (1315), and the second cam (1315) abuts against the first cam (1316) through the roller (13192).

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

27. The transmission device according to any one of claims 1 to 24 or claim 26, characterized in that: It also includes a second driving component (132), which is connected to the first cleaning element (133) and is used to drive the first cleaning element (133) to rise and fall.

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

29. The transmission device according to claim 27, characterized in that The second drive assembly (132) comprises: A lifting drive unit (1321) and a transmission unit (1322), wherein at least a portion of the transmission unit (1322) is disposed in the rotating arm (1313) and 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 transmission unit (1322).

30. The transmission device according to claim 29, characterized in that The transmission part (1322) comprises: A worm (1323), a gear set (1324), and a sleeve (1325) are connected in a power manner, wherein the worm (1323) is connected in power to the lifting drive unit (1321), the gear set (1324) is arranged in the rotating arm (1313), the sleeve (1325) is connected to the first cleaning element (133), and the worm (1323) drives the sleeve (1325) to be lifted and rotated through the gear set (1324) to drive the first cleaning element (133) to be lifted and rotated.

31. The transmission device according to claim 30, characterized in that The gear set (1324) includes: A turbine (13241), a first sub-gear (13242), a second sub-gear, a third sub-gear (13245) and a connecting cylinder (13246), wherein: The turbine (13241) and the first sub-gear (13242) are coaxially arranged. The turbine (13241) is located outside the rotating arm (1313) and meshes with the worm (1323). The first sub-gear (13242), the second sub-gear, and the third sub-gear (13245) are all located inside the rotating arm (1313). The second sub-gear includes a first toothed disc (13243) and a second toothed disc (13244) that are coaxially arranged. The first sub-gear (13242) and the first toothed disc (13245) are coaxially arranged. 3) is engaged, the second toothed disc (13244) is engaged with the third sub-gear (13245), the connecting tube (13246) is coaxially arranged with the third sub-gear (13245) and is located outside the rotating arm (1313), 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, so as to drive the sleeve (1325) to rise or fall relative to the connecting tube (13246).

32. The transmission device according to claim 31, characterized in that 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.

33. The transmission device according to claim 32, characterized in that 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 align the sleeve (1325) relative to the connecting The lifting movement of the connecting tube (13246) is limited.

34. The transmission device according to claim 33, characterized in that 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.

35. The transmission device according to claim 33, characterized in that The second driving assembly (132) 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). The worm (1323), the turbine (13241), the rotating arm (1313) and the connecting tube (13246) are located in a space enclosed by the second shell (1326) and the first shell (1318). The opening of the second shell (1326) is located on a side away from the first shell (1318). The bottom end of the sleeve (1325) is suitable for extending out of the opening of the second shell (1326). The lifting drive unit (1321) is located outside the second shell (1326). The worm (1323) is inserted into the second shell (1326) and connected to the lifting drive unit (1321).

36. The transmission device according to claim 35, characterized in that 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 (1313) 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 (1313); 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 transmission device according to claim 1, characterized in that The automatic cleaning device also includes: A second cleaning element (141) is movably connected to the machine body (110), wherein the second cleaning element (141) and the first cleaning element (133) are distributed on both sides of the longitudinal center line of 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 transmission device according to claim 37, characterized in that The relative position of the second cleaning element (141) and the edge projection area of ​​the machine body (110) is fixed.

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

40. The transmission device according to claim 39, characterized in that The elastic member (1317) is a tension spring, the first end of the tension spring is connected to the rotating arm, and the second end of the tension spring is relatively fixed to the machine body (110); Alternatively, the elastic member (1317) is a torsion spring, the torsion spring is arranged at the rotating shaft of the rotating arm, the first end of the torsion spring is connected to the rotating arm, and the second end of the torsion spring is relatively fixed to the machine body (110); Alternatively, the elastic member (1317) is an elastic sheet, a first end of the elastic sheet is connected to the rotating arm, and a second end of the elastic sheet is relatively fixed to the machine body (110).

41. The transmission device according to claim 2, wherein the first driving assembly comprises a first driving portion and a second cam, the first driving portion is used to drive the second cam to rotate, and the second cam abuts against an outer wall of the rotating arm, thereby driving the rotating arm to rotate.

42. The transmission device according to claim 41, characterized in that The second cam (1315) is arranged on the output end of the first driving part, so that the first driving part drives the second cam (1315) to rotate; or, The output end of the first driving unit is transmission-connected to the second cam (1315).

43. The transmission device according to claim 41, characterized in that Also includes: The position detection device (134) is used to detect the rotation position of the second cam (1315), and the telescopic driving member (1311) rotates or stops rotating according to the detection result of the position detection device (134).

44. The transmission device according to claim 43, characterized in that The position detection device (134) includes a first photoelectric switch (1341) and a second photoelectric switch (1342) distributed on both sides of the second cam (1315); the second cam (1315) further includes a first baffle (13153) and a second baffle (13154) distributed on both sides of the 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.

45. An automatic cleaning device, characterized in that: The automatic cleaning device comprises a transmission device as described in any one of claims 1 to 44, wherein the automatic cleaning device comprises a machine body (110), at least a portion of the first cleaning element (133) in the second operating position is located outside the machine body (110) in the horizontal direction, at least a portion of the first cleaning element (133) in the first operating position is located inside the machine body (110) in the horizontal direction, and an area of ​​the first cleaning element in the second operating position outside the machine body (110) in the horizontal direction is larger than an area of ​​the first cleaning element in the first operating position outside the machine body (110) in the horizontal direction.

46. ​​A cleaning robot system, characterized in that: comprising a transmission device as claimed in any one of claims 1 to 44; or, The invention comprises a base station and an automatic cleaning device as claimed in claim 45, wherein the automatic cleaning device (100) is suitable for docking on the base station.

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