Transmission mechanism, automatic cleaning apparatus and cleaning robot system

Abstract

Provided in the present invention are a transmission mechanism, an automatic cleaning apparatus and a cleaning robot system. A transmission assembly is configured to be driven by a first driving assembly to drive a cleaning element to move, such that the transmission assembly serves the function of power transmission, and endows the cleaning element with a more flexible movement form. The technical solution of the present invention is as follows: the transmission mechanism for an automatic cleaning apparatus, the transmission mechanism comprising: the transmission assembly, which comprises a connecting end, the connecting end being used for connecting to the cleaning element, and the positions of the connecting end comprising an extending position and a standard position; and the first driving assembly, which is connected to the transmission assembly and used for driving at least part of the transmission assembly to move, so as to switch the connecting end between the extending position and the standard position. The transmission mechanism of the present invention is mainly used for power transmission.

Description

Transmission mechanism, automatic cleaning equipment and cleaning robot system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application No. 202311084767.2 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 disclosure. Technical Field

[0003] The present disclosure relates to the technical field of intelligent transmission devices, and in particular to a transmission mechanism. Background Art

[0004] With the increasing popularity of smart cleaning devices, especially the gradual development of smart cleaning robots, they have provided many benefits for household cleaning and are gaining popularity in more and more families. In addition to their conventional sweeping functions, cleaning robots often also have mopping functions, using mops to perform wet and dry mopping, making cleaning more thorough.

[0005] The movement of the existing mop is usually achieved by the overall movement of the cleaning robot to move the mop relative to the ground for cleaning. In some cleaning robots, a power mechanism is set up, and the power mechanism is directly connected to the mop, which can only drive the mop to rotate according to the output shaft of the power mechanism. There is a lack of a transmission mechanism that can convert rotational motion into other forms of movement, resulting in the mop's movement range and movement form being limited.

[0006] Summary of the Invention

[0007] In view of this, the present invention provides a transmission mechanism, which drives the cleaning element to move under the drive of the first drive component by setting a transmission component. The transmission component plays a role in power transmission, so that the cleaning element can obtain a more flexible movement form.

[0008] In one aspect, the present invention provides a transmission mechanism for an automatic cleaning device, the transmission mechanism comprising:

[0009] The transmission assembly includes a connecting end for connecting to the cleaning element, and the positions of the connecting end include an extended position and a standard position;

[0010] The first drive assembly is connected to the transmission assembly and is used to drive at least a part of the transmission assembly to move so that the connecting end switches between the extended position and the standard position.

[0011] In one embodiment, the first drive assembly includes a first driver, a thrust plate, and an elastic member, the first driver is connected to the thrust plate, a first end of the elastic member is connected to the transmission assembly, and a second end of the elastic member is connected to the thrust plate;

[0012] The first driver drives the thrust plate to move so that different positions of the thrust plate abut against the transmission assembly, and cooperates with the elastic member to drive the transmission assembly to move, so that the connecting end switches between the extended position and the standard position.

[0013] In one embodiment, the transmission assembly moves under the drive of the thrust plate or under the action of an external force, and the elastic member stores energy when the connecting end switches from the extended position to the standard position;

[0014] When the stored energy of the elastic member is released, the transmission assembly moves and the connecting end switches from the standard position to the extended position.

[0015] In one embodiment, the transmission assembly includes a rocker arm assembly and a force plate, wherein the force plate is connected to a first end of the rocker arm assembly opposite to the connection end;

[0016] The thrust plate is used to abut against different areas of the receiving plate to drive the rocker arm assembly to move so that the connecting end switches between the extended position and the standard position.

[0017] In one embodiment, the first end of the elastic member is directly connected to the rocker arm assembly, or the first end of the elastic member is connected to the force plate.

[0018] In one embodiment, the transmission mechanism further comprises:

[0019] The housing and the rocker arm assembly are rotatably connected to the housing, and the thrust plate is used to drive the rocker arm assembly to rotate by abutting against different areas of the force receiving plate.

[0020] In one embodiment, when the force-bearing disk rotates in a first direction under the action of the thrust disk, the connecting end switches from the extended position to the standard position.

[0021] In one embodiment, when the force-bearing disk rotates in the second direction under the action of the thrust disk, the connecting end switches from the standard position to the extended position.

[0022] In one embodiment, the first driver is used to drive the thrust plate to rotate, so that the thrust plate and the force receiving plate roll relative to each other, so that different areas of the thrust plate abut against different areas of the force receiving plate.

[0023] In one embodiment, when the thrust plate rotates in the first direction under the action of the first driver, the stored energy of the elastic member is released, and the elastic member pulls the connecting end of the rocker arm assembly to switch from the standard position to the extended position;

[0024] When the thrust plate rotates in the second direction under the action of the first driver, the thrust plate pushes the connecting end of the rocker arm assembly to switch from the extended position to the standard position, and the elastic member stores energy.

[0025] In one embodiment, the first end of the force-bearing plate is connected to the rocker arm assembly, and the second end of the force-bearing plate includes a force-bearing protrusion extending outward;

[0026] The first end of the thrust plate is connected to the first driver, and the second end of the thrust plate includes a force-applying protrusion extending outward;

[0027] Two ends of the elastic member are respectively connected to the second end of the force-bearing disc and the second end of the thrust disc;

[0028] When the thrust plate rotates in the first direction, the force-applying protrusion rolls from the second side abutting against the force-receiving protrusion to the first side abutting against the force-receiving protrusion;

[0029] When the thrust plate rotates in the second direction, the force-applying protrusion rolls from the first side abutting against the force-receiving protrusion to the second side abutting against the force-receiving protrusion.

[0030] In one embodiment, the transmission assembly includes a rocker arm assembly, the rocker arm assembly includes a connecting end, and the first drive assembly is connected to the rocker arm assembly and is used to drive the rocker arm assembly to move so that the connecting end switches between the extended position and the standard position;

[0031] The transmission mechanism also includes a second drive assembly;

[0032] The second driving assembly is connected to the cleaning element and is used to drive the cleaning element to rise, fall, rotate or vibrate relative to the rocker arm assembly.

[0033] In one embodiment, the cleaning element is a rotating mop or a vibrating mop.

[0034] In one embodiment, the rocker arm assembly includes a rocker arm and a lifting member, the lifting member is movably connected to the rocker arm, the cleaning element is connected to the lifting member, and the first drive assembly is connected to the rocker arm for driving the rocker arm to move;

[0035] The second driving assembly is connected to the lifting member and is used to drive the lifting member to rise or fall or rotate relative to the rocker arm, so as to lift or rotate the cleaning element.

[0036] In one embodiment, the rocker arm assembly further comprises a rotating member, the lifting member comprises a lifting cylinder region, a thread is provided on the inner wall of the lifting cylinder region, a clamp is provided on the rotating member, the rocker arm comprises a lifting slot, and the axis of the lifting slot extends in the lifting direction of the cleaning element;

[0037] The lifting cylinder region extends from a first end into the lifting groove, and the second end of the lifting cylinder region is used to connect to the cleaning element. The outer wall of the lifting cylinder region and the inner wall of the lifting groove are in frictional contact or mutually limited in the circumferential direction of the lifting groove.

[0038] The rotating member extends into the lifting cylinder area, and the chuck slides and fits between the threads;

[0039] The second driving assembly is connected to the rotating member, and is used to drive the rotating member to rotate, so as to drive the lifting member to lift the cleaning element under the action of the clamp and the thread.

[0040] In one embodiment, the lifting member further includes a connecting cylinder region, the connecting cylinder region is located in the lifting cylinder region, and a gap is formed between the connecting cylinder region and the lifting cylinder region, the connecting cylinder region is connected to the second end of the lifting cylinder region, and the connecting cylinder region is used to connect the cleaning element;

[0041] The rotating member includes a clearance opening. When the lifting member rises relative to the rotating member, the rotating member is inserted between the connecting cylinder area and the lifting cylinder area through the clearance opening, and defines the highest point of the lifting member by abutting the connection position between the connecting cylinder area and the lifting cylinder area.

[0042] In one embodiment, a clamping block is further provided on the inner wall of the lifting cylinder region, and the clamping block is located at the end of the thread close to the first end of the lifting cylinder region;

[0043] The second driving assembly is used to drive the rotating member to rotate, so that the lifting member descends, so that the clamping head interacts with the clamping block, and then drives the lifting member to drive the cleaning element to rotate.

[0044] In one embodiment, the rocker arm assembly further comprises a rotation transmission assembly;

[0045] The second driver is connected to the rotation transmission assembly, and the rotation transmission assembly is connected to the rotating member;

[0046] The second driving assembly is used to drive the rotating member to rotate through the rotation transmission assembly, thereby driving the cleaning element to rise and fall or rotate.

[0047] In one embodiment, the rocker arm includes an inner cavity;

[0048] The second drive assembly includes a second driver and a screw, wherein the second driver is connected to the screw;

[0049] The rotary transmission assembly includes a rotary shaft, a worm gear and a gear assembly, wherein the worm gear and the gear assembly are respectively connected to the rotary shaft, the worm gear is located outside the inner cavity, the gear assembly is located inside the inner cavity, the worm gear is toothed with the screw, the rotary shaft is rotationally connected to at least the rocker arm, and the gear assembly is connected to the rotating member;

[0050] The second driver is used to drive the screw to rotate, and the interaction between the screw and the worm gear drives the rotating shaft to rotate, and then drives the rotating member to rotate through the gear assembly.

[0051] In one embodiment, the rocker arm assembly further includes a first bearing, and the rotating shaft is rotatably connected to the rocker arm via the first bearing.

[0052] In one embodiment, the transmission mechanism further includes a housing, and the second driver and the first driver are both located outside the housing and fixedly connected to the housing;

[0053] The rotating shaft is also rotatably connected to the housing.

[0054] In one embodiment, the housing includes a first cavity and a second cavity that are adjacent to each other, the rocker arm is arranged in the second cavity, the contour of the second cavity is adapted to the moving area of ​​the rocker arm, the rotating shaft passes through the cavity partition between the first cavity and the second cavity, and the worm gear is located in the first cavity.

[0055] In one embodiment, the rocker arm assembly further includes a second bearing, and the rotating shaft is rotatably connected to the housing via the second bearing.

[0056] In one embodiment, the rocker arm assembly further includes a third bearing, and the rocker arm is rotatably connected to the rotating shaft via the third bearing.

[0057] In one embodiment, the gear assembly includes a first gear, a second gear member, a third gear member, a fourth gear member, and a fifth gear member;

[0058] The first gear, the second gear component, the third gear component, the fourth gear component and the fifth gear component are all arranged in the inner cavity and are sequentially gear-connected. The second gear component, the third gear component, the fourth gear component and the fifth gear component are rotatably connected to the rocker arm, the first gear is connected to the rotating shaft, and the fifth gear component is connected to the rotating member.

[0059] In one embodiment, the rocker arm assembly further comprises a first detachable member connected to the lifting member, and the cleaning element comprises a mop tray and a second detachable member connected to the mop tray;

[0060] The second detachable member is used to be detachably connected to the first detachable member, and is separated from the first detachable member when the mop tray is subjected to an external force in a preset direction.

[0061] In one embodiment, one of the first disassembly component and the second disassembly component is a magnetic component, and the other is a magnetic attraction component.

[0062] In one embodiment, the cleaning element further comprises a connecting rod, the mop disc is connected to a first end of the connecting rod, and a second end of the connecting rod is connected to the second detachable member;

[0063] The lifting component comprises an inner hole, the first disassembling component is arranged in the inner hole, and the connecting rod is inserted into the inner hole through the second end.

[0064] In one embodiment, the inner wall of the inner hole abuts against the outer wall of the connecting rod and they are mutually limited in the circumferential direction of the connecting rod.

[0065] In another aspect, the present invention provides an automatic cleaning device comprising:

[0066] Cleaning the main body of the device; and

[0067] As the transmission mechanism mentioned above.

[0068] In another aspect, the present invention provides an automatic cleaning system comprising:

[0069] base stations; and

[0070] Like the aforementioned automatic cleaning device, the automatic cleaning device is configured to selectively dock at a base station.

[0071] The present invention provides a transmission mechanism that, by providing a transmission assembly, drives the movement of a cleaning element under the drive of a first drive assembly. The transmission assembly acts as a power transmission, allowing the cleaning element to achieve a more flexible movement form. In the prior art, the movement of the existing mop is usually achieved by the movement of the cleaning robot as a whole to achieve the movement of the mop relative to the ground for cleaning. In some cleaning robots, a power mechanism is provided, which is directly connected to the mop and can only drive the mop to rotate according to the output shaft of the power mechanism. There is no transmission mechanism that can convert rotational motion into other forms of movement. The overall movement of the mop is usually only in the direction of moving closer to or away from the ground, or rotating, and cannot move in a direction parallel to the ground, resulting in a limited range of movement and movement form of the mop. Compared with the prior art, the transmission mechanism of the present application includes a transmission assembly, which plays the role of power transmission between the first drive assembly and the cleaning element. The transmission assembly can swing between the extended position and the standard position under the action of the first drive assembly, so that the movement of the cleaning element is not restricted by the driving mode of the first drive assembly and the position of the automatic cleaning device. The transmission action of the transmission assembly can realize the movement of the cleaning element in a larger range and a more flexible movement mode, and the overall movement is no longer subject to the influence of the position of the automatic cleaning device. For example, through the installation position of the transmission mechanism on the automatic cleaning device, when the transmission assembly is in the extended position, the cleaning element is located outside the main body of the automatic cleaning device. When the main body of the automatic cleaning device is restricted by walls or furniture, the cleaning element can clean positions that the main body of the automatic cleaning device cannot reach, so that the cleaning element moves flexibly and has a large cleaning range. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] FIG1 is a schematic diagram of the overall structure of a transmission mechanism provided by an embodiment of the present invention;

[0073] FIG2 is a schematic structural diagram of a transmission assembly, a first drive assembly, and a second drive assembly according to an embodiment of the present invention when the connecting end of the transmission assembly is in an extended position;

[0074] FIG3 is a schematic structural diagram of a transmission assembly, a first drive assembly, and a second drive assembly according to an embodiment of the present invention when the connection ends of the transmission assembly are in a standard position;

[0075] FIG4 is a schematic structural diagram of a transmission assembly and a first drive assembly provided by an embodiment of the present invention;

[0076] FIG5 is a schematic structural diagram of a rotating member provided in an embodiment of the present invention;

[0077] FIG6 is a schematic structural diagram of a lifting member provided by an embodiment of the present invention at a first viewing angle;

[0078] FIG7 is a schematic structural diagram of a lifting member provided by an embodiment of the present invention at a second viewing angle;

[0079] FIG8 is a schematic structural diagram of a partial structure of a rocker arm assembly provided by an embodiment of the present invention;

[0080] FIG9 is a schematic structural diagram of a portion of another rocker arm assembly provided by an embodiment of the present invention from a first viewing angle;

[0081] FIG10 is a schematic structural diagram of a portion of another rocker arm assembly provided by an embodiment of the present invention from a second viewing angle;

[0082] FIG11 is a schematic structural diagram of a lifting member provided by an embodiment of the present invention from a third viewing angle;

[0083] FIG12 is a schematic structural diagram of a portion of the transmission mechanism provided by an embodiment of the present invention from a first viewing angle;

[0084] FIG13 is a schematic structural diagram of a portion of the transmission mechanism provided by an embodiment of the present invention from a second viewing angle;

[0085] FIG14 is a schematic structural diagram of an automatic cleaning device provided by an embodiment of the present invention from a first viewing angle;

[0086] FIG15 is a schematic structural diagram of the automatic cleaning device provided by an embodiment of the present invention at a second viewing angle.

[0087] Description of Reference Numerals

[0088] Transmission mechanism 10, transmission assembly 100, rocker arm assembly 110, rocker arm 111, lifting slot 1111, extrusion block 1112, lifting member 112, thread 1121, clamping block 1122, lifting cylinder area 1123, connecting cylinder area 1124, inner hole 1125, rotating member 113, clamping head 1131, clearance opening 1132, rotation transmission assembly 114, rotating shaft 1141, worm gear 1142, first gear 1143, second gear member 1144, third gear Component-1145, fourth gear component-1146, fifth gear component-1147, first bearing-115, second bearing-116, first disassembly component-118, force disk-120, force protrusion-121, first drive assembly-200, first driver-210, thrust disk-220, force protrusion-221, elastic component-230, housing-300, first cavity-310, second cavity-320, second drive assembly-400, second driver-410, screw-420, cleaning element-500. DETAILED DESCRIPTION

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

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

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

[0092] On the one hand, as shown in FIG1 , the present invention provides a transmission mechanism 10 for an automatic cleaning device, for moving a cleaning element 500. The automatic cleaning device may also be referred to as a cleaning machine, a self-cleaning robot, a sweeping robot, an automatic cleaner, etc., and has functions such as movement, sweeping, vacuuming, and mopping. Some high-performance automatic cleaning devices may also perform more complex functions such as infrared scanning terrain detection and automatic mop replacement. The outer contour of the automatic cleaning device may be of various shapes. To balance stability and suitability for a variety of scenarios, such as cleaning areas under beds, as well as the ability to avoid obstacles, the outer contour of the cleaning robot is usually a flat cylindrical structure. The outer shell of the automatic cleaning device mainly includes a chassis and an outer cover connected to the chassis and enclosing a receiving chamber. The chassis is usually approximately circular, and the outer cover includes a circular top surface that matches the chassis contour and side panels extending toward the chassis. The outer cover and the chassis may be connected by bolts, or by snap-on connection, screw connection, etc. The outer cover and the chassis define an inner cavity for accommodating various components for the operation of the automatic cleaning equipment, including a controller for controlling the cleaning components and the walking mechanism, a power supply device, position sensing components such as cameras, scanners, gyroscopes, cleaning mechanisms, and walking mechanisms.

[0093] A mop is the primary cleaning component of an automatic cleaning device. It can be used for dry or wet mopping and typically includes a mop plate with a cleaning end facing the ground. A replacement mop is detachably attached to the mop plate and covers at least the cleaning end. In a more specific embodiment, the cleaning end of the mop is circular and has a certain extended area. Two mops, working together, contact the ground to achieve continuous mopping while the automatic cleaning device is in motion. The mop can typically be raised and lowered relative to the automatic cleaning device to switch between mopping mode and non-mopping modes such as vacuuming or sweeping. The mop can also rotate and vibrate to increase relative motion with the surface being cleaned, achieving a more thorough cleaning. However, due to the lack of a transmission mechanism, the mop's overall position relative to the ground is limited by the position of the automatic cleaning device, preventing it from moving as a whole relative to the device. The mop's rotation is limited by the drive mechanism of the actuator, for example, it can only rotate under the action of a motor. The mop's contact with the ground and its overall movement relative to the ground are solely dependent on the overall movement of the automatic cleaning device, and the mop's cleaning range is determined by the overall range of motion of the automatic cleaning device. In some cases, the automatic cleaning device may not be able to reach the corners between the facade and the ground due to the limitations of the outer surface of the automatic cleaning device and the facade in the environment. The mop cannot reach the corners for cleaning, resulting in cleaning dead corners. If a mop with a larger cleaning surface is set, the automatic cleaning device will still occupy a large area when cleaning non-corner areas, and the appearance will not be beautiful enough, and the burden of moving the automatic cleaning device will also increase. It can be seen that due to the lack of a transmission device for power conversion, the position of the mop is limited and cannot be flexibly adjusted, which seriously limits the diversity of movement modes. Therefore, the present application provides a transmission mechanism 10 for moving the cleaning element 500 to adapt to different cleaning scenarios, which is intended to perform power transmission to achieve more position changes of the mop.

[0094] Specifically, as shown in FIG1-6 , the transmission mechanism 10 includes a transmission assembly 100 , and the transmission assembly 100 includes a connection end, and the connection end is used to connect to the cleaning element 500 . The position of the connection end includes an extended position and a standard position.

[0095] The first driving assembly 200 is connected to the transmission assembly 100 and is used to drive at least a portion of the transmission assembly 100 to move so that the connecting end switches between the extended position and the standard position.

[0096] The transmission assembly 100 can be directly connected to the automatic cleaning device and can move relative to the automatic cleaning device; alternatively, it can be indirectly connected to the automatic cleaning device through the first drive assembly 200, that is, the first drive assembly 200 is connected to the automatic cleaning device, and the transmission assembly 100 is connected to the first drive assembly 200; alternatively, the transmission mechanism 10 can also include a housing 300, which is used to connect to the automatic cleaning device, and the transmission assembly 100 is movably connected to the housing 300, and the first drive assembly 200 is fixedly connected to the housing 300. The housing 300 will be described in detail below in conjunction with more detailed embodiments. The connecting end of the transmission assembly 100 is one end used to connect to the cleaning element 500, and the connection can be a snap connection, a magnetic connection, a screw connection, an adhesive connection, etc.

[0097] During normal mopping, the connecting end of the transmission assembly 100 is in the standard position, positioning the cleaning element 500 in the lower right position as shown in FIG15 . The cleaning element 500 is almost entirely located below the chassis of the automatic cleaning device, extending only a small area beyond the sidewalls of the automatic cleaning device. This ensures that the cleaning element 500 does not impose an additional obstacle avoidance burden when the automatic cleaning device is in motion. When cleaning corners, such as where two walls meet the floor, the automatic cleaning device is cylindrical in shape. When moved to the corner, the wall will restrict the automatic cleaning device. This prevents the cleaning element 500 from reaching the corner when the transmission assembly 100 is in the standard position, as it is located below the chassis. At this point, the transmission assembly 100 moves, causing the connecting end to move to the extended position, allowing the cleaning element 500 to extend from below the chassis. For example, the cleaning element 500 located in the lower left corner of FIG15 extends partially outside the automatic cleaning device. By moving the automatic cleaning device and aligning the extended cleaning element 500 with the corner, the floor at the corner can be cleaned. After the corners are cleaned, the transmission assembly 100 can be moved to the standard position at the connection end, allowing the cleaning element 500 to retract under the chassis. The transmission assembly 100 converts the driving mode of the first drive assembly 200, such as in-situ rotational drive, into a large-scale movement of the connection end of the transmission assembly 100. In other words, the transmission function of the transmission assembly 100 makes the movement of the cleaning element 500 not restricted by the driving mode of the first drive assembly 200, allowing the cleaning element 500 to have a more flexible movement mode.

[0098] The first drive assembly 200 is used to apply an external force to the transmission assembly 100 so that the connection end of the transmission assembly 100 can switch between the standard position and the extended position. The connection method between the first drive assembly 200 and the transmission assembly 100 and the method of applying the external force can be various, such as abutment, rolling connection, elastic connection, rotation connection or simply fixed connection, which is related to the specific transmission method of the transmission assembly 100. The movement method of the transmission assembly 100 can be rotation or overall movement, and the purpose is to switch the position by movement, so that the cleaning element 500 can be extended or retracted under the chassis of the automatic cleaning device, thereby performing the transmission function.

[0099] Embodiments of the present invention provide a transmission mechanism, automatic cleaning device, and automatic cleaning system. By providing a transmission assembly, a first drive assembly drives the movement of a cleaning element. The transmission assembly acts as a power transmission, allowing the cleaning element to achieve more flexible movement. In the prior art, the movement of a mop is typically achieved by the overall movement of the cleaning robot to achieve movement of the mop relative to the ground. Some cleaning robots utilize a power mechanism that is directly connected to the mop, which can only drive the mop to rotate along the output shaft of the power mechanism. The robot lacks a transmission mechanism that can convert rotational motion into other forms of movement. As a result, the mop can typically only move toward or away from the ground, but not parallel to the bottom surface. This limits the range and form of movement of the mop. Compared with the prior art, the transmission mechanism of the present application includes a transmission assembly, which plays the role of power transmission between the first drive assembly and the cleaning element. The transmission assembly can swing between the extended position and the standard position under the action of the first drive assembly, so that the movement of the cleaning element is not restricted by the driving mode and position of the first drive assembly. The transmission action of the transmission assembly can realize the movement of the cleaning element in a larger range and a more flexible movement mode, and the overall movement is no longer subject to the influence of the position of the automatic cleaning device. For example, through the installation position of the transmission mechanism on the automatic cleaning device, when the transmission assembly is in the extended position, the cleaning element is located outside the main body of the automatic cleaning device. When the main body of the automatic cleaning device is restricted by walls or furniture, the cleaning element can clean positions that the main body of the automatic cleaning device cannot reach, so that the cleaning element moves flexibly and has a large cleaning range.

[0100] In one embodiment, the first drive assembly 200 includes a first driver 210, a thrust plate 220, and an elastic member 230. The first driver 210 is connected to the thrust plate 220. The first end of the elastic member 230 is connected to the transmission assembly 100, and the second end of the elastic member 230 is connected to the thrust plate 220. The first driver 210 drives the thrust plate 220 to move so that different positions of the thrust plate 220 abut against the transmission assembly 100. The elastic member 230 cooperates with the transmission assembly 100 to drive the transmission assembly 100 to move, so that the connection end switches between the extended position and the standard position.

[0101] The first driver 210 can be a first motor. The position of the motor and the automatic cleaning device is fixed. It can be directly fixed to the automatic cleaning device or indirectly fixed through a housing 300. The thrust plate 220 can be regarded as an irregular cam. The thrust plate 220 is used to abut the transmission assembly 100 at different positions to apply external force to the transmission assembly 100 and drive the transmission assembly 100 to move. The external force can be applied in the form of the thrust plate 220 rolling relative to the edge of the transmission assembly 100, driving the transmission assembly 100 to move through static friction. It can also be that the length of the thrust plate 220 relative to the rotating shaft of the first driver 210 is different at different positions. By sliding the thrust plate 220 relative to the edge of the transmission assembly 100, the thrust plate 220 pushes the transmission assembly 100 to move at different positions. The elastic member 230 is used to apply elastic force to the transmission assembly 100, so that the transmission assembly 100 has a tendency to move the connecting end toward the extended position or the standard position. The elastic member can be a tension spring, a torsion spring, or an elastic member such as an elastic band or an elastic sheet.

[0102] In a more specific embodiment, the transmission assembly 100 moves under the drive of the thrust plate 220 or under the action of an external force, so that when the connecting end switches from the extended position to the standard position, the elastic member 230 stores energy. When the stored energy of the elastic member 230 is released, the transmission assembly 100 moves, and the connecting end switches from the standard position to the extended position.

[0103] The connection end of the transmission assembly 100 switches from the extended position to the standard position, which can be achieved by the push of the thrust disc 220, or it can be caused by an external force or obstacle colliding with the cleaning element 500. When the connection end of the transmission assembly 100 is in the extended position, the cleaning element 500 will be located outside the automatic cleaning device. When encountering an obstacle, the obstacle will exert an external force on the cleaning element 500, causing the cleaning element 500 to be retracted to the bottom of the chassis of the automatic cleaning device. At this time, the connection end of the transmission assembly 100 will move toward the standard position, and the elastic member 230 will store energy. When the external force is removed, the transmission assembly 100 will automatically move under the action of the elastic member 230, so that the connection end returns to the extended position, and then the transmission assembly 100 with the connection end in the extended position can drive the cleaning element 500 to automatically avoid obstacles, thereby preventing the transmission assembly 100 and the thrust disc 220 from being damaged by external pressure. The thrust disc 220 pushes the transmission assembly 100 to switch the connection end from the extended position to the standard position, so that when the thrust disc 220 is stationary, the connection end of the transmission assembly 100 will not move to the extended position, thereby preventing the transmission assembly 100 from being unstable when the connection end is in the standard position. During the process of switching the connection end of the transmission assembly 100 from the standard position to the extended position, the thrust disc 220 gradually releases the limit on the transmission assembly 100, and the elastic member 230 drives the transmission assembly 100 to move with the thrust disc 220. The elastic member 230 releases the stored energy, causing the connection end of the transmission assembly 100 to move to the extended position. The connection end of the transmission assembly 100 relies on the elastic member 230 to maintain its position at the extended position, thereby achieving the aforementioned obstacle avoidance at the extended position.

[0104] In one embodiment, the transmission assembly 100 includes a rocker arm assembly 110 and a force plate 120. The rocker arm assembly 110 includes a connection end, and the force plate 120 is connected to a first end of the rocker arm assembly 110 opposite the connection end. The thrust plate 220 is configured to abut against different areas of the force plate 120 to drive the rocker arm assembly 110 to move, thereby switching the connection end between an extended position and a standard position.

[0105] More specifically, the force disc 120 is fixedly connected to the rocker assembly 110. The force disc 120 and the cleaning element 500 are located at different ends of the rocker assembly 110. The force disc 120 extends toward the outside of the rocker assembly 110, and the extension direction includes a direction away from the connection end, so that the force disc 120 and the first driver 210 are all away from the cleaning element 500, which is convenient for layout and allows the force disc 120 to have enough space to extend and have sufficient torque to drive the rocker assembly 110 to rotate. The first end of the elastic member 230 is directly connected to the rocker assembly 110, or the first end of the elastic member 230 is connected to the force disc 120. Specifically, connecting columns can be provided on the force disc 120 and the thrust disc 220, respectively, and both ends of the elastic member 230 are connected to the connecting columns in the form of a hook, which can facilitate the replacement of the elastic member 230.

[0106] In one embodiment, the transmission mechanism further includes a housing 300 , the rocker arm assembly 110 is rotatably connected to the housing 300 , and the thrust plate 220 is used to drive the rocker arm assembly 110 to rotate by abutting against different areas of the force receiving plate 120 .

[0107] The housing 300 is a hollow structure, covering the entire periphery of the transmission assembly 100. The first driver 210 is located outside the housing 300 and is fixed to the housing 300. The rotating shaft of the first driver 210 extends into the housing 300, and the thrust plate 220 and the elastic member 230 are both located within the housing 300. The rocker arm assembly 110 is rotatably connected to the housing 300, and the rotational connection point can be the connection point between the force plate 120 and the rocker arm assembly 110. More specifically, the following describes a rocker arm assembly 110 with a rotation transmission assembly 114. The rocker arm assembly 110 is rotatably connected to the housing 300 via its rotation transmission assembly 114, and the rotation transmission assembly 114 passes through the force plate 120. The thrust plate 220 pushes the force plate 120 to rotate, which in turn drives the rocker arm assembly 110 to rotate. For example, when the force plate 120 rotates in a first direction under the action of the thrust plate 220, the connection end switches from the extended position to the standard position. When the force plate 120 rotates in a second direction under the action of the thrust plate 220, the connection end switches from the standard position to the extended position. By rotating, the connection end of the rocker arm assembly 110 switches between the extended position and the standard position. Compared with the overall movement, the first end of the rocker arm assembly 110 and the force plate 120 have a smaller range of movement. Only the connection end moves over a large range, the overall volume of the transmission mechanism is reduced, and the space occupied within the automatic cleaning device is reduced.

[0108] The thrust disk 220 can act on the force receiving disk 120 in a variety of ways. For example, in one embodiment, the first driver 210 is used to drive the thrust disk 220 to rotate so that the thrust disk 220 and the force receiving disk 120 roll relative to each other, so that different areas of the thrust disk 220 abut against different areas of the force receiving disk 120.

[0109] The thrust plate 220 is configured to roll relative to the force plate 120, driving the force plate 120 to rotate through static friction, thereby rotating the rocker arm assembly 110. This prevents wear caused by dynamic friction between the thrust plate 220 and the force plate 120, provides high durability, and reduces noise during movement. Furthermore, the drive structure is simple and easy to manufacture.

[0110] In a more specific embodiment, as shown in FIG2 , a first end of a force-bearing plate 120 is connected to the rocker arm assembly 110, and a second end of the force-bearing plate 120 includes a force-bearing protrusion 121 extending outward. A first end of a thrust plate 220 is connected to the first driver 210, and a second end of the thrust plate 220 includes a force-applying protrusion 221 extending outward. The ends of an elastic member 230 are connected to the second ends of the force-bearing plate 120 and the second end of the thrust plate 220, respectively. Since the thrust plate 220 and the force plate 120 roll relative to each other, when the thrust plate 220 rotates in the first direction under the action of the first driver 210, the force-applying protrusion 221 rolls from the second side abutting the force-receiving protrusion 121 to the first side abutting the force-receiving protrusion 121, and the force plate 120 will rotate in the second direction under the pulling action of the thrust plate 220 and the elastic member 230, and the first end of the elastic member 230 will move close to the second end to release the stored energy, and then pull the connecting end of the rocker arm assembly 110 to switch from the standard position to the extended position. As shown in FIG3 , when the thrust plate 220 rotates in the second direction under the action of the first driver 210, the force-applying protrusion 221 rolls from the first side abutting the force-receiving protrusion 121 to the second side abutting the force-receiving protrusion 121. The force-receiving plate 120 rotates in the first direction under the action of the thrust plate 220. The first end of the elastic member 230 moves away from the second end to store energy, which in turn pushes the rocker arm assembly 110 from its extended position to its standard position. The aforementioned first direction of rotation is clockwise, and the second direction of rotation is counterclockwise.

[0111] In the aforementioned embodiment, through the transmission assembly 100, the rotational drive of the first driver 210 is converted into the swing of the connecting end of the rocker arm assembly 110 through the interaction between the thrust plate 220 and the force plate 120. The transmission assembly 100 plays the role of power transmission to change the movement form of the cleaning element 500.

[0112] In some other embodiments of the transmission mechanism of the present application, in addition to realizing the automatic cleaning device that can drive the cleaning element 500 to extend or retract to achieve cleaning in more scenarios, it also has the functions of lifting, rotating, and automatically replacing the cleaning element 500. The specific implementation methods will be described in detail below. It is worth noting that the transmission mechanism of the present application can include a cleaning element 500 to adapt to the special structure for connecting the cleaning element 500 in the present application, or it can exclude the cleaning element 500 and use a universal cleaning element 500. The selection can be made according to needs.

[0113] In one embodiment, the transmission assembly 100 includes the aforementioned rocker assembly 110 , and the transmission mechanism further includes a second drive assembly 400 . The second drive assembly 400 is connected to the cleaning element 500 and is used to drive the cleaning element 500 to rise, fall, rotate, or vibrate relative to the rocker assembly 110 .

[0114] In addition to transmitting power between the first drive assembly 200 and the cleaning element 500, the transmission assembly 100 also transmits power between the second drive assembly 400 and the cleaning element 500. More specifically, for the first drive assembly 200, the transmission assembly 100 transforms the driving form of the first drive assembly 200, so that the rotation is converted into a large-scale movement of the connection end, so that the cleaning element 500 can move relative to the automatic cleaning device, and the movement of the cleaning element is not restricted by the position of the automatic cleaning device. As for the second drive assembly 400, the transmission assembly 100 transmits the drive of the second drive assembly 400 through power transmission, so that the second drive assembly 400 indirectly drives the cleaning element 500 to rise, fall, rotate or vibrate through the transmission assembly 100, so that the drive of the cleaning element 500 is not restricted by the position of the second drive assembly 400. The specific transmission method of the transmission assembly 100 will be gradually expanded and detailed below.

[0115] The second drive assembly 400 can be connected to the rocker assembly 110, and when the rocker assembly 110 is driven to rotate by the first drive assembly 200, the second drive assembly 400 and the rocker assembly 110 move simultaneously. Alternatively, the second drive assembly 400 can be connected to the housing 300, and its relative position to the first drive assembly 200 remains fixed, and the cleaning element 500 is indirectly driven by the rotating transmission assembly 114 such as the embodiment below. The cleaning element 500 is a rotating mop or a vibrating mop. The second drive assembly 400 drives the rotating mop to rotate or applies vibration excitation to the vibrating mop to increase the relative movement with the ground. The second drive assembly 400 drives the cleaning element 500 to rise and fall, or to move close to or away from the automatic cleaning device, to achieve switching between mopping mode and non-mopping mode, or to overcome obstacles in scenarios such as cleaning carpets.

[0116] As shown in FIG4 , the rocker arm assembly 110 includes a rocker arm 111 and a lifting member 112. The lifting member 112 is movably connected to the rocker arm 111. The cleaning element 500 is connected to the lifting member 112. The first drive assembly 200 is connected to the rocker arm 111 and is used to drive the rocker arm 111 to move. The second drive assembly 400 is connected to the lifting member 112 and is used to drive the lifting member 112 to rise and fall or rotate relative to the rocker arm 111, thereby raising and lowering or rotating the cleaning element 500. As shown in FIG5-8 , the rocker arm assembly 110 also includes a rotating member 113. The lifting member 112 includes a lifting cylinder region 1123. The inner wall of the lifting cylinder region 1123 is provided with a thread 1121. The rotating member 113 is provided with a clamping head 1131. The rocker arm 111 includes a lifting slot 1111. The axis of the lifting slot 1111 extends in the lifting direction of the cleaning element 500. The first end of the lifting cylinder region 1123 extends into the lifting groove 1111. The second end of the lifting cylinder region 1123 is used to connect to the cleaning element 500. The outer wall of the lifting cylinder region 1123 and the inner wall of the lifting groove 1111 are in frictional contact or mutually limited along the circumference of the lifting groove 1111. The rotating member 113 extends into the lifting cylinder region 1123, and the clamping head 1131 slides between the threads 1121. The second drive assembly 400 is connected to the rotating member 113 and is used to drive the rotating member 113 to rotate. Under the action of the clamping head 1131 and the threads 1121, the lifting member 112 drives the cleaning element 500 to move up and down.

[0117] The second drive assembly 400 is used to indirectly drive the rotating member 113 to rotate. The lifting groove 1111 is an inner groove provided at the bottom end of the rocker arm 111. The outer wall of the lifting cylinder area 1123 and the inner wall of the lifting groove 1111 only move in the lifting direction of the cleaning element 500 and do not rotate circumferentially. As a result, when the rotating member 113 rotates, the lifting cylinder area 1123 does not rotate, and the clamping head 1131 can move relative to the thread 1121. There are many ways to limit the circumference, such as providing an extrusion block 1112 on the side wall of the lifting groove 1111. The extrusion block 1112 can be elastic relative to the lifting groove 1111 and slightly protrude from the inner wall of the lifting groove 1111 in the absence of external force, thereby increasing the friction between the lifting cylinder area 1123 and the lifting groove 1111. There can be four clamping heads 1131, evenly distributed around the outer periphery of the rotating member 113. The thread 1121 is a four-start thread. The clamping heads 1131 correspond one-to-one with the thread 1121, making the lifting of the lifting cylinder area 1123 more stable. The clamping heads 1131 and the thread 1121 cooperate to enable the lifting member 112 to drive the cleaning element 500 to rise and fall.

[0118] Furthermore, the lifting member 112 also includes a connecting tube region 1124, which is located within the lifting tube region 1123 with a gap therebetween. The connecting tube region 1124 is connected to the second end of the lifting tube region 1123 and is used to connect to the cleaning element 500. The rotating member 113 includes a clearance opening 1132. When the lifting member 112 rises relative to the rotating member 113, the rotating member 113 is inserted between the connecting tube region 1124 and the lifting tube region 1123 through the clearance opening 1132, and the highest point of the lifting member 112 is defined by the connection between the connecting tube region 1124 and the lifting tube region 1123 by abutting against the connection between the connecting tube region 1124 and the lifting tube region 1123.

[0119] To limit the maximum position to which lifter 112 can rise, and to prevent control deviations from causing lifter 112 to rise excessively and crush rocker arm 111, connecting cylinder region 1124 and lifting cylinder region 1123 are connected at the bottom. Rotating member 113 can abut the connection between connecting cylinder region 1124 and lifting cylinder region 1123 to limit the maximum position of lifter 112. Furthermore, the cylindrical structure of connecting cylinder region 1124 also provides for a more stable connection to cleaning element 500, as will be further described below.

[0120] To achieve the lowering of the lifting member 112, the second drive assembly 400 can further realize the rotational drive of the cleaning element 500. In one embodiment, as shown in Figure 6, a clamping block 1122 is further provided on the inner wall of the lifting cylinder region 1123. The clamping block 1122 is located at the end of the thread 1121 near the first end of the lifting cylinder region 1123. The second drive assembly 400 is used to drive the rotating member 113 to rotate, causing the lifting member 112 to descend, so that the clamping head 1131 interacts with the clamping block 1122, and then drives the lifting member 112 to rotate the cleaning element 500.

[0121] In an embodiment where there are four clamping heads 1131 and the threads 1121 have four starts, there are also four clamping blocks 1122, one corresponding to each of the four threads near the end of the top of the lifting member 112. When the rotating member 113 rotates, the clamping heads 1131 and the threads 1121 act to lower the lifting member 112. When the clamping heads 1131 slide to the end of the threads 1121, the rotating member 113 continues to rotate in the same direction, and the clamping heads 1131 will abut against the clamping blocks 1122, thereby pushing the lifting member 112 and the rotating member 113 to rotate synchronously, thereby driving the cleaning element 500 to rotate.

[0122] The second drive assembly 400 can be connected to the rocker assembly 110 to directly drive the rotating member 113 to rotate and realize the lifting and lowering of the cleaning element 500. Alternatively, the second drive assembly 400 is not connected to the rocker assembly 110 and is disposed outside the housing 300 and fixed to the housing 300. The second drive assembly 400 indirectly drives the rotating member 113 through the rotation transmission assembly 114 inside the rocker assembly 110.

[0123] 9-10 , the rocker arm assembly 110 further includes a rotation transmission assembly 114. The second driver 410 is connected to the rotation transmission assembly 114, which is in turn connected to the rotating member 113. The second driver assembly 400 is used to drive the rotating member 113 to rotate via the rotation transmission assembly 114, thereby driving the cleaning element 500 to rise, fall, or rotate.

[0124] The rocker arm 111 includes an inner cavity, which is connected to the lifting groove 1111. The second drive assembly 400 includes a second driver 410 and a screw 420, and the second driver 410 is connected to the screw 420. The rotation transmission assembly 114 includes a rotating shaft 1141, a worm gear 1142, and a gear assembly. The worm gear 1142 and the gear assembly are respectively connected to the rotating shaft 1141. The worm gear 1142 is located outside the inner cavity, and the gear assembly is located inside the inner cavity. The worm gear 1142 is gear-engaged with the screw 420. The rotating shaft 1141 is rotationally connected to at least the rocker arm 111, and the gear assembly is connected to the rotating member 113. The second driver 410 is used to drive the screw 420 to rotate. The interaction between the screw 420 and the worm gear 1142 drives the rotating shaft 1141 to rotate, and then drives the rotating member 113 to rotate through the gear assembly.

[0125] The second driver 410 is a second motor. The second motor is located outside the housing 300 and is fixedly connected to the housing 300. The output shaft of the second motor extends into the housing 300 and is connected to the screw 420. The second motor drives the screw 420 to rotate, which in turn causes the worm gear 1142 to rotate. The worm gear 1142 is tightly fitted with the rotating shaft 1141, and the worm gear 1142 drives the rotating shaft 1141 to rotate. In turn, the gear assembly drives the rotating member 113 to rotate. The rotating shaft 1141 is also rotatably connected to the housing 300 and is driven through the rocker arm 111. Driven by the first driver 210, the rocker arm 111 rotates about the rotating shaft 1141, thereby moving the cleaning element 500 between the extended position and the standard position. Since the rotating shaft 1141 is rotationally connected to the rocker arm 111, and the rocker arm 111 is connected to the aforementioned force disk 120, the first driver 210 drives the thrust disk 220 to rotate so that the force disk 120 drives the rocker arm 111 to rotate relative to the rotating shaft 1141, that is, when the rocker arm 111 rotates, or when the connecting end of the rocker arm assembly 110 switches between the extended position and the standard position, the position of the rotating shaft 1141 and the worm gear 1142 on the rotating shaft 1141 will not move.

[0126] The first driver 210 and the second driver 410 are stationary and are both connected to the housing 300, which has the following three main advantages: First, the first driver 210 does not need to drive the second driver 410 to move synchronously with the rocker arm assembly 110, thereby reducing the operating load of the first driver 210, reducing the torque requirement for the first driver 210, and thereby reducing costs; second, the electrical connection lines of the first driver 210 and the second driver 410 are stationary, reducing the fatigue and tearing risk of the electrical connection lines and improving durability; third, the first driver 210 and the second driver 410 are prevented from being impacted when the cleaning element 500 is collided, thereby improving the reliability of the first driver 210 and the second driver 410.

[0127] It is worth noting that when the second driver 410 drives the cleaning element 500 to rotate, the first driver 210 can simultaneously drive the rocker arm 111 to swing, thereby causing the cleaning element 500 to rotate and move at the same time, thereby more efficiently cleaning the floor.

[0128] In one embodiment, to facilitate smoother rotation of the rocker arm 111, the rocker arm assembly 110 further includes two first bearings 115. The bottom end of the rotating shaft 1141 is rotatably connected to the bottom surface of the rocker arm 111 via one first bearing 115, and the top surface of the rocker arm 111 is rotatably connected to the rotating shaft 1141 via another first bearing 115. The rocker arm assembly 110 further includes a second bearing 116. The top end of the rotating shaft 1141 is rotatably connected to the housing 300 via the second bearing 116. This ensures smoother rotation of the rotating shaft 1141 when driving the cleaning element 500 to rise, fall, or rotate.

[0129] The specific structure of the gear assembly can be arranged according to actual needs, and is intended to provide a transmission function between the rotating shaft 1141 and the rotating member 113. For example, in one embodiment, as shown in Figures 8-9, the gear assembly includes a first gear 1143, a second gear member 1144, a third gear member 1145, a fourth gear member 1146, and a fifth gear member 1147. The first gear 1143, the second gear member 1144, the third gear member 1145, the fourth gear member 1146, and the fifth gear member 1147 are all disposed within the inner cavity and are sequentially gear-engaged. The second gear member 1144, the third gear member 1145, the fourth gear member 1146, and the fifth gear member 1147 are rotatably connected to the rocker arm 111, the first gear is connected to the rotating shaft 1141, and the fifth gear member 1147 is connected to the rotating member 113. The above second gear member 1144, third gear member 1145, fourth gear member 1146 and fifth gear member 1147 are all gear transmissions with similar structures. They all include a rotating shaft rotatably connected to the rocker arm 111 and a gear plate for engaging with adjacent gears, and they will not be described in detail here.

[0130] The present application also provides an embodiment for automatically disassembling the cleaning element 500. As shown in FIG10 , the rocker arm assembly 110 further includes a first disassembly member 118 connected to the lifting member 112. The cleaning element 500 includes a mop tray and a second disassembly member connected to the mop tray. The second disassembly member is configured to be detachably connected to the first disassembly member 118 and to disengage from the first disassembly member 118 when the mop tray is subjected to an external force in a predetermined direction.

[0131] The first detachable member 118 may be a magnetic member, and the second detachable member may be a magnetic attraction member. The lifting member 112 has a first lifting position, a second lifting position, and a third lifting position. The first lifting position is the lowest position of the cleaning element 500. In the first lifting position, the second detachable member is detachably connected to the first detachable member 118, and the mop tray is separated from the rocker arm 111 by a first distance. As the second drive assembly 400 drives the rotating member 113 to rotate, the lifting member 112, under the action of the clamping head 1131 and the thread 1121, drives the cleaning element 500 upward. The mop tray gradually approaches the chassis of the automatic cleaning device until it reaches the second lifting position. The second detachable member is detachably connected to the first detachable member 118, and the mop tray is separated from the rocker arm 111 by a second distance. The second distance is just a gap, allowing the mop tray to rotate. In some embodiments, a sensor, such as an infrared radiation switch, is provided on the chassis of the automatic cleaning device. When the lifting member 112 is in the second lifting position, the mop tray triggers the sensor to emit a sensing signal, thereby controlling the automatic cleaning device to return to the base station. Then, when the lifting member 112 moves to the third lifting position, the mop plate will contact the chassis of the automatic cleaning device and be subjected to a preset downward external force. The second disassembly member will separate from the first disassembly member 118. When the lifting member 112 moves to the third lifting position, the magnetic attraction force between the second disassembly member and the first disassembly member 118 will be less than the total gravity of the mop, and the mop plate will fall into the designated area of ​​the base station.

[0132] As shown in Figure 11, in the embodiment of the tubular structure of the connecting tube area 1124 of the aforementioned lifting member 112, the connecting tube area 1124 encloses an inner hole 1125, and the first disassembly part 118 is arranged inside the inner hole 1125 and is located at the bottom of the hole relative to the hole opening. The cleaning element 500 also includes a connecting rod, the mop plate is connected to the first end of the connecting rod, and the second end of the connecting rod is connected to the second disassembly part. The first disassembly part 118 is arranged at the second end of the connecting rod, and the connecting rod is inserted into the inner hole 1125 by the second end. The inner wall of the inner hole 1125 abuts against the outer wall of the connecting rod, and they limit each other in the circumferential direction of the connecting rod. If the inner hole 1125 is a hexagonal inner hole and the connecting rod is a hexagonal prism, the position of the cleaning element 500 can be made more stable and less likely to shake.

[0133] In one embodiment, as shown in Figures 12-13, the housing 300 includes a first cavity 310 and a second cavity 320 that are adjacent and open. The rocker arm 111 is disposed within the second cavity 320. The contour of the second cavity 320 is adapted to the movable area of ​​the rocker arm 111. The rotating shaft 1141 rotates through the cavity partition between the first cavity 310 and the second cavity 320, thereby further stabilizing the position of the rotating shaft 1141. The worm gear 1142 is located in the first cavity 310. In addition, the thrust plate 220, the force-bearing plate 120, the elastic member 230, and the screw 420 are all located in the first cavity 310.

[0134] On the other hand, an embodiment of the present invention further provides an automatic cleaning device, comprising:

[0135] The cleaning device body 20 and the transmission mechanism 10 as described above.

[0136] In this embodiment, as shown in Figures 14-15, the transmission mechanism 10 is connected to the cleaning device body 20 and can be used to drive the movement of any cleaning element 500. The cleaning element 500 can be a cleaning device such as a mop or brush, or in some embodiments, a sensing device such as an infrared camera. In spaces inaccessible to the automatic cleaning device, the mobile infrared camera can be used to perform area sensing and mapping. For ease of description, the following example uses a mop as the cleaning element 500. The transmission mechanism 10 can be connected to the automatic cleaning device in a variety of ways, as long as the automatic cleaning device can drive the transmission mechanism 10 to move synchronously. For example, to ensure the simplicity of the automatic cleaning device's appearance and protect the transmission mechanism 10 from being bumped, a movable opening 21 is provided on the chassis of the automatic cleaning device. Except for the cleaning element 500 for floor cleaning, which extends into the inner cavity through the movable opening 21, the rest of the transmission mechanism 10 is disposed within the inner cavity. The movable opening 21 is used to make way for the cleaning element 500 when the transmission assembly 100 moves. The movable opening 21 can be hollowed out in an arc shape so as not to affect the movement of the cleaning element 500. The cleaning device body 20 can be connected to a single transmission mechanism 10, or, as shown in FIG15 , to two transmission mechanisms 10.

[0137] In addition, the automatic cleaning device includes all the advantages of the above-mentioned transmission mechanism 10, which will not be described in detail here.

[0138] On the other hand, an embodiment of the present invention further provides an automatic cleaning system, comprising: a base station; and the automatic cleaning device as described above, wherein the automatic cleaning device is configured to selectively dock at the base station.

[0139] The base station may include a mechanism for receiving the cleaning element 500. In an embodiment in which the cleaning element 500 is detachably connected to the lifting member 112, the cleaning element 500 triggers the sensing member to send a sensing signal, and controls the automatic cleaning device to return to the base station. When the lifting member 112 moves to the third lifting position, the mop plate will interact with the chassis of the automatic cleaning device to separate from the lifting member 112 and fall onto the mechanism for receiving the cleaning element 500.

[0140] In addition, the automatic cleaning system includes all the advantages of the above-mentioned automatic cleaning equipment, which will not be repeated here.

[0141] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A transmission mechanism (10) for an automatic cleaning device, characterized in that: The transmission mechanism (10) comprises: A transmission assembly (100), the transmission assembly (100) comprising a connection end, the connection end being used to connect to a cleaning element (500), the position of the connection end comprising an extended position and a standard position; A first drive assembly (200), the first drive assembly (200) is connected to the transmission assembly (100) and is used to drive at least a partial area of ​​the transmission assembly (100) to move so that the connection end switches between the extended position and the standard position.

2. The transmission mechanism according to claim 1, characterized in that: The first driving assembly (200) comprises a first driver (210), a thrust plate (220) and an elastic member (230), wherein the first driver (210) is connected to the thrust plate (220), a first end of the elastic member (230) is connected to the transmission assembly (100), and a second end of the elastic member (230) is connected to the thrust plate (220).

3. The transmission mechanism according to claim 2, characterized in that: The first driver (210) drives the thrust plate (220) to rotate so that the thrust plate (220) abuts against the transmission assembly (100), and cooperates with the elastic member (230) to drive the transmission assembly (100) to move, so that the connecting end switches between the extended position and the standard position.

4. The transmission mechanism according to claim 2, characterized in that: The transmission assembly (100) moves under the drive of the thrust plate (220) or under the action of an external force, and when the connecting end switches from the extended position to the standard position, the elastic member (230) stores energy; When the stored energy of the elastic member (230) is released, the transmission assembly (100) moves, and the connecting end switches from the standard position to the extended position.

5. The transmission mechanism according to claim 2, characterized in that: The transmission assembly (100) comprises a rocker arm assembly (110) and a force plate (120), wherein the rocker arm assembly (110) comprises the connecting end, and the force plate (120) is connected to a first end of the rocker arm assembly (110) opposite to the connecting end; The thrust plate (220) is used to abut against different areas of the force receiving plate (120) to drive the rocker arm assembly (110) to move, so that the connecting end switches between the extended position and the standard position.

6. The transmission mechanism according to claim 5, characterized in that: The first end of the elastic member (230) is directly connected to the rocker arm assembly (110), or the first end of the elastic member (230) is connected to the force-bearing disk (120).

7. The transmission mechanism according to claim 5, characterized in that: The transmission mechanism also includes: The housing (300) is provided with the rocker arm assembly (110) being rotatably connected to the housing (300). The thrust plate (220) is used to drive the rocker arm assembly (110) to rotate by abutting against different areas of the force plate (120).

8. The transmission mechanism according to any one of claims 5 to 7, characterized in that: When the force-bearing disk (120) rotates in a first direction under the action of the thrust disk (220), the connecting end switches from the extended position to the standard position.

9. The transmission mechanism according to any one of claims 5 to 7, characterized in that: When the force-bearing disk (120) rotates in the second direction under the action of the thrust disk (220), the connecting end switches from the standard position to the extended position.

10. The transmission mechanism according to any one of claims 5 to 7, characterized in that: The first driver (210) is used to drive the thrust plate (220) to rotate, so that the thrust plate (220) and the force plate (120) roll relative to each other, so that different areas of the thrust plate (220) abut against different areas of the force plate (120).

11. The transmission mechanism according to claim 10, characterized in that: When the thrust plate (220) rotates in a first direction under the action of the first driver (210), the stored energy of the elastic member (230) is released, and the elastic member (230) pulls the connecting end of the rocker arm assembly (110) to switch from the standard position to the extended position; When the thrust plate (220) rotates in the second direction under the action of the first driver (210), the thrust plate (220) pushes the connection end of the rocker arm assembly (110) to switch from the extended position to the standard position, and the elastic member (230) stores energy.

12. The transmission mechanism according to claim 11, characterized in that: The first end of the force-bearing plate (120) is connected to the rocker arm assembly (110), and the second end of the force-bearing plate (120) includes a force-bearing protrusion (121) extending outward; The first end of the thrust plate (220) is connected to the first driver (210), and the second end of the thrust plate (220) includes a force-applying protrusion (221) extending outward; Two ends of the elastic member (230) are respectively connected to the second end of the force-bearing disk (120) and the second end of the thrust disk (220); When the thrust plate (220) rotates in the first direction, the force-applying protrusion (221) rolls from the second side abutting against the force-receiving protrusion (121) to the first side abutting against the force-receiving protrusion (121); When the thrust plate (220) rotates in the second direction, the force-applying protrusion (221) rolls from the first side abutting against the force-receiving protrusion (121) to the second side abutting against the force-receiving protrusion (121).

13. According to the transmission mechanism of claim 1, the first drive assembly (200) includes a first driver (210) and a thrust plate (220), and the first driver (210) drives the thrust plate (220) to rotate to drive the transmission assembly (100) to move, so that the connecting end switches between the extended position and the standard position.

14. The transmission mechanism according to claim 13, characterized in that: The transmission assembly (100) comprises a rocker arm assembly (110) and a force plate (120), wherein the rocker arm assembly (110) comprises the connecting end, and the force plate (120) is connected to a first end of the rocker arm assembly (110) opposite to the connecting end; The thrust plate (220) is used to abut against different areas of the force receiving plate (120) to drive the rocker arm assembly (110). The connecting end is moved so as to switch between the extended position and the standard position.

15. The transmission mechanism according to claim 14, characterized in that: When the force-bearing disk (120) rotates in a first direction under the action of the thrust disk (220), the connecting end switches from the extended position to the standard position.

16. The transmission mechanism according to claim 14, characterized in that: When the force-bearing disk (120) rotates in the second direction under the action of the thrust disk (220), the connecting end switches from the standard position to the extended position.

17. According to the transmission mechanism of claim 14, the first driver (210) is used to drive the thrust plate (220) to rotate so that the thrust plate (220) and the force-receiving plate (120) roll relative to each other, so that different areas of the thrust plate (220) abut against different areas of the force-receiving plate (120).

18. The transmission mechanism according to claim 17, characterized in that: The first end of the force-bearing plate (120) is connected to the rocker arm assembly (110), and the second end of the force-bearing plate (120) includes a force-bearing protrusion (121) extending outward; The first end of the thrust plate (220) is connected to the first driver (210), and the second end of the thrust plate (220) includes a force-applying protrusion (221) extending outward; When the thrust plate (220) rotates in a first direction, the force-applying protrusion (221) abuts against the force-receiving protrusion (121); When the thrust plate (220) rotates in the second direction, the force-applying protrusion (221) abuts against the force-receiving protrusion (121).

19. The transmission mechanism according to claim 1, characterized in that: The transmission assembly (100) comprises a rocker arm assembly (110), the rocker arm assembly (110) comprises the connection end, and the first drive assembly (200) is connected to the rocker arm assembly (110) and is used to drive the rocker arm assembly (110) to move so that the connection end switches between the extended position and the standard position; The transmission mechanism further comprises a second driving assembly (400); The second driving assembly (400) is connected to the cleaning element (500) and is used to drive the cleaning element (500) to rise and fall, rotate or vibrate relative to the rocker arm assembly (110).

20. The transmission mechanism according to claim 19, characterized in that: The cleaning element (500) is a rotating mop or a vibrating mop.

21. The transmission mechanism according to claim 19, characterized in that: The rocker arm assembly (110) comprises a rocker arm (111) and a lifting member (112), the lifting member (112) being movably connected to the rocker arm (111), the cleaning element (500) being connected to the lifting member (112), and the first driving assembly (200) being connected to the rocker arm (111) for driving the rocker arm (111) to move; The second driving assembly (400) is connected to the lifting member (112) and is used to drive the lifting member (112) to rise or fall or rotate relative to the rocker arm (111), so as to cause the cleaning element (500) to rise or fall or rotate.

22. The transmission mechanism according to claim 21, characterized in that: The rocker arm assembly (110) further comprises a rotating member (113), the lifting member (112) comprises a lifting cylinder region (1123), a thread (1121) is arranged on the inner wall of the lifting cylinder region (1123), a clamping head (1131) is arranged on the rotating member (113), the rocker arm (111) comprises a lifting groove (1111), and the axis of the lifting groove (1111) extends in the lifting direction of the cleaning element (500); The lifting cylinder region (1123) extends from a first end into the lifting groove (1111), and a second end of the lifting cylinder region (1123) is used to connect the cleaning element (500), and an outer wall of the lifting cylinder region (1123) and an inner wall of the lifting groove (1111) are frictionally abutted or mutually limited in the circumferential direction of the lifting groove (1111); The rotating member (113) extends into the lifting cylinder area (1123), and the clamping head (1131) is slidably embedded between the threads (1121); The second driving assembly (400) is connected to the rotating member (113), and the second driving assembly (400) is used to drive the rotating member (113) to rotate, so as to drive the lifting member (112) to lift and lower the cleaning element (500) under the action of the clamping head (1131) and the thread (1121).

23. The transmission mechanism according to claim 22, characterized in that: The lifting member (112) also includes a connecting tube area (1124), wherein the connecting tube area (1124) is located within the lifting tube area (1123), and there is a gap between the connecting tube area (1124) and the lifting tube area (1123), and the connecting tube area (1124) is connected to the second end of the lifting tube area (1123), and the connecting tube area (1124) is used to connect the cleaning element (500).

24. The transmission mechanism according to claim 23, characterized in that: The rotating member (113) includes a clearance opening (1132). When the lifting member (112) rises relative to the rotating member (113), the rotating member (113) is inserted between the connecting tube area (1124) and the lifting tube area (1123) through the clearance opening (1132), and the highest point of the lifting member (112) is limited by abutting against the connection position between the connecting tube area (1124) and the lifting tube area (1123).

25. The transmission mechanism according to claim 22, characterized in that: A block (1122) is also provided on the inner wall of the lifting cylinder region (1123), and the block (1122) is located at the end of the thread (1121) close to the first end of the lifting cylinder region (1123); The second driving assembly (400) is used to drive the rotating member (113) to rotate, so that the lifting member (112) descends, so that the clamping head (1131) interacts with the clamping block (1122), and then drives the lifting member (112) to drive the cleaning element (500) to rotate.

26. The transmission mechanism according to claim 22, characterized in that: The rocker arm assembly (110) further includes a rotation transmission assembly (114); The second driver (410) is connected to the rotation transmission component (114), and the rotation transmission component (114) is connected to the rotating member (113); The second driving assembly (400) is used to drive the rotating member (113) to rotate via the rotating transmission assembly (114), thereby driving the cleaning element (500) to rise and fall or rotate.

27. The transmission mechanism according to claim 26, characterized in that: The rocker arm (111) comprises an inner cavity; The second driving assembly (400) comprises a second driver (410) and a screw (420), wherein the second driver (410) is connected to the screw (420); The rotation transmission component (114) comprises a rotation shaft (1141), a worm wheel (1142) and a gear assembly, wherein the worm wheel (1142) and the gear assembly are respectively connected to the rotation shaft (1141), the worm wheel (1142) is located outside the inner cavity, and the gear assembly is located inside the inner cavity. The worm wheel (1142) is gear-engaged with the screw rod (420), the rotation shaft (1141) is at least rotationally connected to the rocker arm (111), and the gear assembly is connected to the rotating member (113); The second driver (410) is used to drive the screw (420) to rotate, and through the interaction between the screw (420) and the worm gear (1142), the rotating shaft (1141) is driven to rotate, and then the rotating member (113) is driven to rotate through the gear assembly.

28. The transmission mechanism according to claim 27, characterized in that: The rocker arm assembly (110) further comprises a first bearing (115), and the rotating shaft (1141) is rotatably connected to the rocker arm (111) via the first bearing (115).

29. The transmission mechanism according to claim 27, characterized in that: The transmission mechanism further comprises a housing (300), and the second driver (410) and the first driver (210) are both located outside the housing (300) and fixedly connected to the housing (300); The rotating shaft (1141) is also rotatably connected to the housing (300).

30. The transmission mechanism according to claim 29, characterized in that: The housing (300) comprises a first cavity (310) and a second cavity (320) which are adjacent to each other, the rocker arm (111) is arranged in the second cavity (320), the contour of the second cavity (320) is adapted to the moving area of ​​the rocker arm (111), the rotating shaft (1141) is connected to the cavity partition between the first cavity (310) and the second cavity (320), and the worm gear (1142) is located in the first cavity (310).

31. The transmission mechanism according to claim 29, characterized in that: The rocker arm assembly (110) further comprises a second bearing (116), and the rotating shaft (1141) is rotatably connected to the housing (300) via the second bearing (116).

32. The transmission mechanism according to claim 27, characterized in that: The gear assembly includes a first gear (1143), a second gear member (1144), a third gear member (1145), a fourth gear member (1146) and a fifth gear member (1147); The first gear (1143), the second gear member (1144), the third gear member (1145), the fourth gear member (1146) and the fifth gear member (1147) are all arranged in the inner cavity and are sequentially gear-connected. The second gear member (1144), the third gear member (1145), the fourth gear member (1146) and the fifth gear member (1147) are rotationally connected to the rocker arm (111), the first gear is connected to the rotating shaft (1141), and the fifth gear member (1147) is connected to the rotating member (113).

33. The transmission mechanism according to claim 21, characterized in that: The rocker arm assembly (110) further comprises a first disassembly member (118), wherein the first disassembly member (118) is connected to the lifting member (112), and the cleaning element (500) comprises a mop plate and a second disassembly member connected to the mop plate; The second detachable member is used to be detachably connected to the first detachable member (118), and is separated from the first detachable member (118) when the mop plate is subjected to an external force in a preset direction.

34. The transmission mechanism according to claim 33, characterized in that: One of the first disassembly component (118) and the second disassembly component is a magnetic component, and the other is a magnetic attraction component.

35. The transmission mechanism according to claim 33, characterized in that: The cleaning element (500) further comprises a connecting rod, the mop plate is connected to a first end of the connecting rod, and a second end of the connecting rod is connected to the second detachable member; The lifting member (112) comprises an inner hole (1125), the first disassembly member (118) is arranged in the inner hole (1125), and the connecting rod is inserted into the inner hole (1125) from the second end.

36. The transmission mechanism according to claim 35, characterized in that: The inner wall of the inner hole (1125) abuts against the outer wall of the connecting rod, and they are mutually limited in the circumferential direction of the connecting rod.

37. An automatic cleaning device, characterized in that: include: Cleaning device body (20); as well as The transmission mechanism (10) according to any one of claims 1 to 36.

38. An automatic cleaning system, characterized in that: include: Base station; as well as The automatic cleaning device as described in claim 37 is used to selectively dock at the base station.

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