CN219126185U

CN219126185U - Cooling component for automatic cleaning equipment and automatic cleaning equipment

Info

Publication number: CN219126185U
Application number: CN202122275982.3U
Authority: CN
Inventors: 请求不公布姓名; 唐成; 段飞; 钟亮
Original assignee: Beijing Shunzao Technology Co Ltd
Current assignee: Beijing Shunzao Technology Co Ltd
Priority date: 2021-09-03
Filing date: 2021-09-19
Publication date: 2023-06-06
Anticipated expiration: 2031-09-19
Also published as: CN218186633U; CN216167213U; CN218338351U; CN218279480U; CN216823239U

Abstract

The present disclosure provides a cooling assembly for an automatic cleaning device, comprising: a dust collection container for receiving a mixture of dust and gas on a surface to be cleaned and collecting the dust in the dust collection container; a suction device provided to the dust collection container for providing negative pressure to the dust collection container to suck a mixture of dust and gas on a surface to be cleaned into the dust collection container; and a filtering device for filtering the gas flowing through the suction device; wherein the gas exhausted by the suction device flows through the heat generating component of the automatic cleaning device. The present disclosure also provides an automatic cleaning apparatus.

Description

Cooling component for automatic cleaning equipment and automatic cleaning equipment

Technical Field

The present disclosure relates to a cooling assembly for an automatic cleaning device and an automatic cleaning device.

Background

Sweeping robots are devices that clean a surface to be cleaned by active movement, and more households use sweeping robots to sweep the floor instead of manual sweeping.

The existing floor sweeping machines on the market all comprise a plurality of motors with different powers, such as an edge brush motor/a driving motor/a dust collection motor/a rag rotating motor/other motors, and the output efficiency and the service life of the motors directly determine the output efficiency and the service life of the floor sweeping machine.

In the operation process of the sweeper, for example, the rag disc can generate great resistance with ground contact friction, the rag rotating motor overcomes the resistance to enable the rag to rotate, the temperature of the motor can rise, and the motor can not provide a larger heat dissipation space or a heat dissipation piece for the rag rotating motor because the inner space of the sweeper is narrow, so that the output efficiency and the service life of the rag rotating motor are definitely influenced.

In some schemes of the prior art, the surface of the rag driving motor is provided with heat dissipation silicone grease, the base is provided with an aluminum heat dissipation plate, and heat is led out of the machine by utilizing the heat dissipation silicone grease and the aluminum heat dissipation plate, so that the number of parts of the whole machine is increased, the installation steps are more complicated in production, and meanwhile, the cost is increased.

Disclosure of Invention

In order to solve one of the above technical problems, the present disclosure provides a cooling component for an automatic cleaning device and an automatic cleaning device.

According to one aspect of the present disclosure, there is provided a cooling assembly for an automatic cleaning apparatus, comprising:

a dust collection container for receiving a mixture of dust and gas on a surface to be cleaned and collecting the dust in the dust collection container;

A suction device provided to the dust collection container for providing negative pressure to the dust collection container to suck a mixture of dust and gas on a surface to be cleaned into the dust collection container; and

a filtering device for filtering the gas flowing through the suction device;

wherein the gas exhausted by the suction device flows through the heat generating component of the automatic cleaning device.

According to the cooling component for the automatic cleaning equipment of at least one embodiment of the present disclosure, the filtering device is arranged inside the dust collecting container, and the gas is sucked by the suction device and discharged by the suction device after passing through the filtering device.

According to at least one embodiment of the present disclosure, the cooling assembly for the automatic cleaning apparatus, the gas discharge port of the suction device is directed toward the heat generating component of the automatic cleaning apparatus, such that the suction device provides a flowing gas toward the heat generating component of the automatic cleaning apparatus, and cools the heat generating component of the automatic cleaning apparatus by the flowing gas.

A cooling assembly for an automatic cleaning apparatus according to at least one embodiment of the present disclosure, a gas discharge port of the suction device is located near a heat generating component of the automatic cleaning apparatus.

A cooling assembly for an automatic cleaning device according to at least one embodiment of the present disclosure, further comprising:

a lower housing portion formed as a lower portion of the automatic cleaning apparatus; wherein the lower housing part is formed with a gas outlet through which the gas discharged from the suction device is discharged to the outside of the automatic cleaning apparatus.

According to the cooling assembly for the automatic cleaning device of at least one embodiment of the present disclosure, the gas discharged from the suction device is discharged to the lower portion of the automatic cleaning device.

A cooling assembly for a robot cleaner according to at least one embodiment of the present disclosure, a heat generating component of the robot cleaner is located on a flow path of gas flowing from a gas discharge port of a suction device to a gas outlet of a lower housing part.

A cooling assembly for a robotic cleaning device according to at least one embodiment of the present disclosure, the heat generating component of the robotic cleaning device includes a scrubbing drive, the gas outlet of the suction device being directed toward or positioned adjacent to the scrubbing drive such that the scrubbing drive is positioned in a flow path of gas flowing from the gas outlet of the suction device to the gas outlet of the lower housing portion.

According to at least one embodiment of the present disclosure, the number of the gas outlets is at least two, and the scrubbing drive is located in a region between the at least two gas outlets.

a rotating member, the scrubbing drive means for driving the rotating member to rotate to clean a surface to be cleaned by the rotating member; wherein the gas outlets are arranged in one-to-one correspondence with the rotating members.

The cooling assembly for the automatic cleaning device according to at least one embodiment of the present disclosure, the gas outlet includes at least one arc-shaped hole, wherein the arc-shaped hole is arranged with a rotation axis of the rotating member as an axis line.

and a gas conveying path through which the gas discharged from the suction device is conveyed to a heat generating part of the automatic cleaning apparatus.

According to at least one embodiment of the present disclosure, the cooling module for an automatic cleaning apparatus, the gas delivery path includes a delivery pipe, one end of which is connected to the gas discharge port of the suction device, and the other end of which is directed toward or located near the heat generating component of the automatic cleaning apparatus.

According to a cooling assembly for an automatic cleaning apparatus of at least one embodiment of the present disclosure, a heat generating component of the automatic cleaning apparatus includes: lifting drive, limit brush drive, round brush drive and/or walking drive.

According to another aspect of the present disclosure, there is provided an automatic cleaning apparatus including the above-described cooling assembly for an automatic cleaning apparatus.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a robot cleaning apparatus according to one embodiment of the present disclosure.

Fig. 2 is another angular structural schematic view of a robotic cleaning device according to one embodiment of the present disclosure.

Fig. 3 is a schematic structural view of an upper housing portion according to one embodiment of the present disclosure.

Fig. 4 is a schematic structural view of a lower housing portion according to one embodiment of the present disclosure.

Fig. 5 is another angular structural schematic view of a robotic cleaning device according to one embodiment of the present disclosure.

Fig. 6 is a schematic structural view of a robot cleaning apparatus according to another embodiment of the present disclosure.

Fig. 7 is a bottom view of a robotic cleaning device according to another embodiment of the present disclosure.

Fig. 8 is a schematic structural view of a robot cleaning apparatus according to an embodiment of the present disclosure.

Fig. 9 is a schematic structural view of a first drive wheel assembly according to one embodiment of the present disclosure.

Fig. 10 is a schematic structural view of a traveling transmission according to an embodiment of the present disclosure.

Fig. 11 is a schematic structural view of a dust collecting device according to an embodiment of the present disclosure.

Fig. 12 is another angular structural schematic view of a dust collecting device according to an embodiment of the present disclosure.

Fig. 13 is a cross-sectional view of a dust collection device according to one embodiment of the present disclosure.

Fig. 14 is another angular structural schematic view of the dust collecting device after removal of the suction device according to one embodiment of the present disclosure.

Fig. 15 is a schematic structural view of a dust collection container according to one embodiment of the present disclosure.

Fig. 16 is another angular structural schematic view of a dust collection container according to one embodiment of the present disclosure.

Fig. 17 is a cross-sectional view of a dust collection container according to one embodiment of the present disclosure.

Fig. 18 is an enlarged schematic view of the portion a of fig. 17.

Fig. 19 is a schematic view of a first bottom wall open state of a dust container according to one embodiment of the present disclosure.

Fig. 20 is a schematic structural view of a first locking device according to one embodiment of the present disclosure.

Fig. 21 is an enlarged schematic view of a portion B of fig. 20.

Fig. 22 is a schematic view of the first locking device of fig. 21 in an opened state.

Fig. 23 is a schematic structural view of a second locking device according to one embodiment of the present disclosure.

Fig. 24 is an enlarged schematic view of a portion C of fig. 23.

Fig. 25 is a schematic view of the second locking device of fig. 24 in an opened state.

Fig. 26 is a schematic structural view of a filtering device according to an embodiment of the present disclosure.

Fig. 27 is a schematic view of an installation location of a filter device according to one embodiment of the present disclosure.

Fig. 28 is a schematic diagram of a separation structure of a dust collecting device according to an embodiment of the present disclosure.

Fig. 29 is a cross-sectional view of a dust collection device according to one embodiment of the present disclosure.

Fig. 30 is a schematic structural view of a scrubbing element according to one embodiment of the present disclosure.

Fig. 31 is a schematic structural view of a transmission according to an embodiment of the present disclosure.

Fig. 32 is a schematic structural view of a transmission according to an embodiment of the present disclosure.

Fig. 33 is a schematic structural view of a lifting transmission according to an embodiment of the present disclosure.

Fig. 34 is a schematic structural view of a lifting gear (part) according to one embodiment of the present disclosure.

Fig. 35 is a schematic structural view of a lifting transmission (part) according to one embodiment of the present disclosure.

Fig. 36 is a schematic structural view of a lift drive assembly according to one embodiment of the present disclosure.

Fig. 37 is a schematic structural view of a variable speed lifting device according to one embodiment of the present disclosure.

Fig. 38 is a schematic view of another angle configuration of a variable speed lifting device according to one embodiment of the present disclosure.

Fig. 39 is a schematic structural view of a cleaning liquid storage section according to one embodiment of the present disclosure.

Fig. 40 is a schematic structural view of a cooling assembly for an automatic cleaning device according to one embodiment of the present disclosure.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

Fig. 1 is a schematic structural view of a robot cleaning apparatus according to one embodiment of the present disclosure. Fig. 2 is another angular structural schematic view of a robotic cleaning device according to one embodiment of the present disclosure.

As shown in fig. 1 and 2, the present disclosure provides an automatic cleaning apparatus 10, particularly an intelligent cleaning apparatus, such as a floor sweeping robot or the like, the automatic cleaning apparatus 10 for autonomously cleaning surfaces to be cleaned, such as soft surfaces of carpets and rugs, floor surfaces, and hard surfaces such as hardwoods, tiles, and linoleum.

In the present disclosure, the automatic cleaning apparatus 10 may include a housing assembly 100, a traveling device 200, a dry cleaning device 300, a dust collecting device 400, a wet cleaning device 500, and a detecting device 600.

Wherein the housing assembly 100 is formed in the outer shape of the automatic cleaning device 10, i.e. the housing assembly 100 forms an upper surface, a lower surface and a side surface between the upper surface and the lower surface of the automatic cleaning device 10.

The traveling device 200 is provided to the housing assembly 100 for enabling traveling of the robot cleaner 10, for example, the traveling device 200 may be controlled to advance, retreat, and turn the robot cleaner 10 or to move the robot cleaner 10 along a preset trajectory.

The dry cleaning device 300 is disposed on the housing assembly 100 for dry cleaning of a surface to be cleaned, wherein at least a portion of the dry cleaning device 300 is located outside the housing assembly 100, for example, below the housing assembly 100, so as to separate dirt (such as large particles on the surface to be cleaned and light particles such as dust on the surface to be cleaned) of the surface to be cleaned from the surface to be cleaned by the dry cleaning device 300.

In the present disclosure, the dry cleaning device 300 may be simultaneously in an operating state when the automatic cleaning apparatus 10 is advancing or turning, so that the automatic cleaning apparatus 10 can clean a surface to be cleaned; when the robot cleaning device 10 is retreated, for example, the robot cleaning device 10 encounters an obstacle and evades the obstacle by retreating, the dry cleaning apparatus 300 may be in a non-operating state to prevent the dirt carried by the dry cleaning apparatus 300 from contaminating the surface to be cleaned, which has been cleaned.

The dust collecting device 400 is disposed on the housing assembly 100 for collecting dirt generated after the dry cleaning device 300 cleans the surface to be cleaned. Preferably, the dust collecting device 400 may suck a mixture of dirt and gas generated after the dry type cleaning device 300 cleans a surface to be cleaned to the dust collecting device 400, and the gas is discharged to the outside of the dust collecting device 400 after passing through the dust collecting device 400, and causes the dirt to be collected inside the dust collecting device 400.

In the present disclosure, when the amount of dirt inside the dust collecting device 400 is greater than or equal to a preset value, the automatic cleaning apparatus 10 is controlled to stop at the base station, and the dirt inside the dust collecting device 400 is transferred to the base station; or the user removes the dust collecting device 400, pours out dirt in the dust collecting device 400, and then reinstalls the dust collecting device 400 to the automatic cleaning apparatus 10.

The wet cleaning device 500 is disposed on the housing assembly 100, and is used for wet cleaning the surface to be cleaned after cleaning by the dry cleaning device 300, for example, cleaning the surface to be cleaned by mopping the surface to be cleaned by the wet cleaning device 500, so as to improve the cleaning effect of the surface to be cleaned.

When the automatic cleaning apparatus 10 of the present disclosure is in use, both the dry cleaning device 300 and the wet cleaning device 500 can form a support for the housing assembly 100, that is, the support of the housing assembly 100 is achieved by the reaction force of the forces applied to the surface to be cleaned by the dry cleaning device 300 and the wet cleaning device 500.

In an alternative embodiment of the present disclosure, the dry cleaning device 300 is located in front of the wet cleaning device 500 along the advancing direction of the automatic cleaning apparatus 10, that is, when the automatic cleaning apparatus 10 is in cleaning operation, the dry cleaning device 300 is used to clean the surface to be cleaned, and then the wet cleaning device 500 is used to clean the surface to be cleaned, so as to reduce the accumulation of dirt on the wet cleaning device 500, thereby reducing the number of times the wet cleaning device 500 is cleaned, or reducing the number of times the automatic cleaning apparatus 10 returns to the base station within a certain period of time, and increasing the single operation time of the automatic cleaning apparatus 10.

The detecting device 600 is disposed on the housing assembly 100, and is configured to detect an obstacle around the automatic cleaning apparatus 10, so as to control the traveling device 200 of the automatic cleaning apparatus 10 to generate a corresponding motion when the detecting device 600 confirms that the obstacle exists in a preset range around the automatic cleaning apparatus 10, so that the automatic cleaning apparatus 10 avoids the obstacle; as one implementation, the detection device 600 may include a collision detection device 600, for example, when the robot cleaner 10 collides with an obstacle, the running gear 200 first generates a backward motion, and then turns and proceeds to avoid the obstacle.

The various devices of the robotic cleaning device 10 are described in detail below in conjunction with the figures.

Fig. 3 is a schematic structural view of an upper housing portion according to one embodiment of the present disclosure. Fig. 4 is a schematic structural view of a lower housing portion according to one embodiment of the present disclosure.

As shown in fig. 1 to 4, the housing assembly 100 of the present disclosure may include an upper housing part 110 and a lower housing part 120, wherein the lower housing part 120 may be formed as a lower part of the robot cleaner 10 and as a supporting body of the robot cleaner 10, which may be mated with the upper housing part 110 described below to form an accommodating space accommodating a plurality of components of the robot cleaner 10.

As shown in fig. 4, the shape of the lower housing part 120 may be substantially circular, or may be formed in other shapes, for example, the shape of the lower housing part 120 is rectangular plus a semicircular shape, and the front side of the automatic cleaning apparatus 10 is semicircular and the rear side is rectangular in the normal traveling direction of the automatic cleaning apparatus 10.

Of course, those skilled in the art will appreciate that the shape of the lower housing portion 120 may be other shapes, and will not be described in detail herein. Further, the shape of the upper housing portion 110 of the robot cleaner 10 may also conform to the shape of the lower housing portion 120.

In the present disclosure, the upper housing part 110 is provided to the lower housing part 120, and preferably, the upper housing part 110 and the lower housing part 120 are fixed, and thus, the components of the automatic cleaning apparatus 10 may be selectively fixed to the upper housing part 110 or the lower housing part 120.

As shown in fig. 3, the upper housing part 110 may be formed to have at least a part of a side surface and at least a part of an upper surface of the automatic cleaning apparatus 10, for example, the upper housing part 110 includes a housing upper wall part 111 and a housing side wall part 112, wherein the housing upper wall part 111 and the housing side wall part 112 may be integrally formed.

For example, when viewed in plan, i.e., the automatic cleaning device 10 is placed on a surface to be cleaned (horizontal plane), and viewed in a top-down direction, the housing upper wall portion 111 may be substantially circular in shape, and accordingly, since the housing upper wall portion 111 is circular in shape, the radius of rotation of the automatic cleaning device 10 may be minimized.

Also, as shown in fig. 3, the housing side wall portion 112 may be formed to extend downward from at least a part of the arc-shaped edge of the housing upper wall portion 111.

Of course, the case upper wall portion 111 and the case side wall portion 112 of the upper case portion 110 may be formed separately, for example, by injection molding, and then the case upper wall portion 111 and the case side wall portion 112 may be connected by a fastener.

Of course, the shape of the upper wall portion 111 of the housing may be rectangular and semicircular, that is, D-shaped, and the shape of the lower housing portion 120 is adapted to the shape of the upper wall portion 111 of the housing; in the present disclosure, as an optimal implementation form, the shape of the lower housing part 120 and the housing upper wall part 111 is circular.

In accordance with at least one embodiment of the present disclosure, as shown in fig. 1, the housing assembly 100 may further include a housing cover 130, the housing cover 130 being provided to the upper housing part 110 to be formed as an upper surface of the automatic cleaning apparatus 10 by the housing cover 130.

Preferably, the housing cover 130 is detachable from the upper housing part 110, such that the dust collecting device 400 accommodated in the housing assembly 100 is exposed when the housing cover 130 is detached, facilitating the user to take out the dust collecting device 400.

At least a portion of the housing assembly 100 may be formed as a transparent portion to obtain the current state of the components of the automatic cleaning apparatus 10 through the transparent portion, for example, to be able to obtain the amount of dirt within the dust collection device 400 to prevent the amount of dirt within the dust collection device 400 from being excessive. Or the amount of cleaning liquid of the wet cleaning apparatus 500 can be obtained and the cleaning liquid can be added to the wet cleaning apparatus 500 in time.

As shown in fig. 4, the housing assembly 100 further includes a shielding member 140, the shielding member 140 being disposed adjacent to the wet cleaning apparatus 500, for example, being disposed adjacent to the first rotating member 511 and the second rotating member 512 of the wet cleaning apparatus 500, and the shielding member 140 being disposed at a front side of the first rotating member 511 and the second rotating member 512 in a traveling direction of the surface cleaning apparatus; more preferably, it may be located at the rear side of the dry cleaning device 300.

The shielding member 140 is provided with respect to the first rotating member 511 and the second rotating member 512, respectively, or integrally with respect to the first rotating member 511 and the second rotating member 512. In fig. 4, a protective member 140 is shown integrally provided.

The shielding member 140 may also include at least two sub-shields, each at least partially surrounding one or more rotating members, i.e., a sub-shield may surround one rotating member or may surround multiple rotating members.

The shielding member 140 may be shaped to at least partially wrap around the first and second

rotating members

511 and 512, for example, in a semi-wrapped form. By providing the protection member 140, the first rotary member 511, the second rotary member 512, the drive shaft, and the like which are rotated can be protected from objects such as cables on the ground winding around the drive shaft. As shown in fig. 4, the shielding member 140 is provided to have a predetermined height from the cleaning surface, i.e., the lower end of the shielding member 140 is 0.5-1mm from the cleaning surface, which is smaller than the diameter of the charging wire, so that the electric wire can be shielded and friction with the ground can be avoided. The protection component 140 may be made of soft material, which may be soft rubber, silica gel, rubber or TPU, or the hardness of the soft material is about 50 °, for example, between 40 ° and 60 °, so as to prevent the existence of the protection component from affecting the obstacle surmounting of the automatic cleaning device.

In the present disclosure, the shielding member includes a planar portion and curved portions provided at both ends of the planar portion in a length direction, wherein the curved portions are provided to maintain a preset interval from the first rotation circumference or the second rotation circumference.

The protective member is provided to the lower housing portion, and preferably may be integrally formed with the lower housing portion, but of course, the protective member may be formed separately from the lower housing portion and mounted to the lower housing portion.

In the present disclosure, the driving shafts for driving the first rotary member 511 and the second rotary member 512 may be a first output shaft 539A, a second output shaft 539B, a lifting shaft 565, or the like, which will be described below.

When the automatic cleaning device disclosed by the disclosure is used, the automatic cleaning device advances, and the protective part can keep the charging wire and the like off the outside of the protective part, so that the wet cleaning device is prevented from being wound by the charging wire.

Fig. 5 is another angular structural schematic view of a robotic cleaning device according to one embodiment of the present disclosure. Fig. 6 is a schematic structural view of a robot cleaning apparatus according to another embodiment of the present disclosure. Fig. 7 is a bottom view of a robotic cleaning device according to another embodiment of the present disclosure.

As shown in fig. 5 to 7, the running gear 200 of the present disclosure is provided to the lower housing portion 120, and at least a portion of the running gear 200 is located below the lower housing portion 120 such that the lower housing portion 120 is supported by the running gear 200. When the running gear 200 is operated, the lower housing part 120 is driven by the running gear 200 to move the automatic cleaning apparatus 10 over the surface to be cleaned, i.e. to effect automatic running and sweeping of the automatic cleaning apparatus 10.

In the present disclosure, in particular, running gear 200 includes a first drive wheel assembly 210, a second drive wheel assembly 220, and at least one driven wheel assembly 230.

The first driving wheel assembly 210 and the second driving wheel assembly 220 are symmetrically disposed along a lateral axis defined by the lower housing portion 120, for example, as shown in fig. 5 to 7, the first driving wheel assembly 210 and the second driving wheel assembly 220 are disposed at left and right portions of the lower housing portion 120, respectively, and accordingly, the first driving wheel assembly 210 is a left driving wheel assembly and the second driving wheel assembly 220 is a right driving wheel assembly.

More preferably, the first and second

drive wheel assemblies

210, 220 are similar in structure and will be described herein by way of example only with respect to the first drive wheel assembly 210.

Fig. 9 is a schematic structural view of a first drive wheel assembly according to one embodiment of the present disclosure. Fig. 10 is a schematic structural view of a traveling transmission according to an embodiment of the present disclosure.

In accordance with at least one embodiment of the present disclosure, as shown in fig. 9 and 10, the first driving wheel assembly 210 includes a travel drive 211, a travel gear change 212, and a travel wheel 213.

The travel drive 211 is used to provide a driving force for the movement of the automatic cleaning device 10, wherein the travel drive 211 can be selected as a motor, such as a dc motor, an ac motor, a stepper motor, a servo motor, etc., although other power-providing devices can be selected as the travel drive 211.

As shown in fig. 10, the traveling transmission mechanism 212 includes a traveling transmission case 2121 and a traveling power transmission assembly 2122, wherein the traveling transmission case 2121 is fixed to the lower housing portion 120, and the traveling drive device 211 is fixed to the lower housing portion 120 or to the traveling transmission case 2121; the traveling gear 2122 is disposed in the traveling gear box 2121, and the traveling driving device 211 is connected to the traveling gear 2122 so as to transmit a driving force generated by the traveling driving device 211 to the traveling gear 2122.

In the present disclosure, as shown in fig. 10, the walking transmission assembly 2122 may be selected from a gear transmission, a chain transmission and a belt transmission, wherein the walking transmission assembly 2122 includes a power input shaft 2122A and a power output shaft 2122B, the power input shaft 2122A is connected to the walking driving device 211, the walking wheel 213 is connected to the power output shaft 2122B of the walking transmission assembly 2122, and when the walking transmission assembly 2122 is a gear transmission, the power input shaft 2122A and the power output shaft 2122B are connected through a gear transmission; accordingly, when the travel gear assembly 2122 is a chain gear or a belt gear, the power input shaft portion 2122A and the power output shaft portion 2122B are drivingly connected by a sprocket or a pulley.

In accordance with at least one embodiment of the present disclosure, running gear 200 is detachably disposed to lower housing portion 120 to facilitate removal of the drive wheel assembly and maintenance.

As shown in fig. 9, the traveling wheel 213 is provided on the power output shaft portion 2122B of the traveling gear assembly 2122 so that the traveling wheel 213 is rotated after the rotation generated when the traveling driving device 211 is operated is shifted (e.g., decelerated) by the traveling speed change mechanism 212.

In the present disclosure, the travel drive device 211 can achieve forward rotation and reverse rotation, and thus, the travel wheel 213 can rotate in a first direction or in a second direction, wherein the first direction is the opposite direction of the second direction.

And further, when the traveling wheel 213 is rotated in the first direction, the robot cleaner 10 can be moved forward, and when the traveling wheel 213 is rotated in the second direction, the robot cleaner 10 can be moved backward.

As a preferred implementation, the number of driven wheel assemblies 230 may be 1, the driven wheel assemblies 230 being disposed on a lateral axis defined by the lower housing portion 120 and being spaced a predetermined distance from a line connecting the first and second

drive wheel assemblies

210, 220 to enable the robotic cleaning device 10 to move more stably or with greater motion capabilities on the surface to be cleaned; driven wheel assembly 230 includes, but is not limited to, a universal wheel.

When the automatic cleaning apparatus 10 is moving, the first and second

driving wheel assemblies

210 and 220 may be simultaneously controlled to move based on the distance and angle information, so that the automatic cleaning apparatus 10 is advanced, retreated, or turned along a preset track.

For example, when the first and second

drive wheel assemblies

210, 220 are turned the same and the rotational speeds are the same, the automatic cleaning device 10 may be caused to advance or retract; when the rotational speeds of the first and second

drive wheel assemblies

210, 220 are different or the steering is different, the robotic cleaning device 10 may be caused to steer, or even to spin in place.

In the present disclosure, the first driving wheel assembly 210 further includes an odometer to detect a rotation angle of the traveling wheel 213 and/or the traveling driving device 211 by the odometer; and accurately judges the position and posture of the automatic cleaning apparatus 10 in the current working area according to the data detected by the odometer of the first driving wheel assembly 210 and the data detected by the odometer of the second driving wheel assembly 220, thereby making the automatic cleaning apparatus 10 more intelligent.

More preferably, the first driving wheel assembly 210 and the second driving wheel assembly 220 are rotatably disposed at the lower housing part 120 such that a distance between the traveling wheel 213 and the lower housing part 120 is adjustable; for example, taking the first driving wheel assembly 210 as an example, the traveling gear box 2121 of the traveling gear mechanism 212 of the first driving wheel assembly 210 is rotatably disposed on the lower housing portion 120, and at this time, the first driving wheel assembly 210 and the second driving wheel assembly 220 form a biased drop-down suspension system and provide a biasing force through the traveling elastic portion.

That is, one end of the traveling elastic part is fixed to the lower housing part 120, the other end of the traveling elastic part is fixed to the traveling gear box 2121, and the traveling elastic part is located below the connection position of the traveling gear box 2121 and the lower housing part 120, at this time, the traveling elastic part is in a pre-stretched state, and in a free state, the traveling wheel 213 is spaced from the lower housing part 120 by a first distance under the tensile force of the traveling elastic part; in the operating state, the road wheel 213 is spaced from the lower housing portion 120 by a second distance, wherein the first distance is greater than the second distance.

That is, by the provision of the traveling elastic portion (e.g., the biasing spring), the traveling wheel 213 is allowed to maintain contact and traction with the surface to be cleaned with a certain landing force, while the dry cleaning device 300 and the wet cleaning device 500 of the automatic cleaning apparatus 10 contact the surface to be cleaned with a certain pressure.

As shown in fig. 5 to 8, the dry cleaning device 300 of the present disclosure is rotatably provided to the lower housing part 120 and is at least partially located outside the lower housing part 120 to achieve dry cleaning of a surface to be cleaned by contact of the dry cleaning device 300 located outside the lower housing part 120 with the surface to be cleaned.

In the present disclosure, the dry cleaning device 300 includes at least one cleaning assembly, that is, the dry cleaning device 300 may include only one cleaning assembly, and when the dry cleaning device 300 includes one cleaning assembly, it may employ the side brush cleaning assembly 310 or the roll brush cleaning assembly 320.

Of course, in order to improve cleaning efficiency of a surface to be cleaned, as shown in fig. 5 to 8, the dry cleaning apparatus 300 of the present disclosure includes two cleaning assemblies, which may be selected as two side brush cleaning assemblies 310, or one side brush cleaning assembly 310 and one roll brush cleaning assembly 320.

The brush cleaning assembly 310 is located in front of the roller cleaning assembly 320 along the advancing direction of the automatic cleaning apparatus 10, that is, when the automatic cleaning apparatus 10 is in an operating state and moves forward, the brush cleaning assembly 310 firstly cleans a surface to be cleaned, and gathers dust on the surface to be cleaned onto a cleaning area or cleaning path of the roller cleaning assembly 320, and then, after the cleaning of the roller cleaning assembly 320, light particles such as dust on the surface to be cleaned are disturbed, the dust is collected by the dust collecting device 400.

In the present disclosure, as shown in fig. 5 and 6, the side brush cleaning assembly 310 includes a side brush part 311 and a side brush driving device 312.

As shown in fig. 5 and 6, the side brush part 311 includes a brush body 3111 and bristles 3112 mounted on the brush body 3111, wherein the brush body 3111 of the side brush part 311 is rotatably disposed at the housing assembly 100, for example, at the lower housing part 120 of the housing assembly 100, and cleans the surface to be cleaned by contact of the bristles 3112 with the surface to be cleaned; of course, the side brush 311 may be integrally formed of an elastic material.

The edge brush driving device 312 is disposed on the lower housing portion 120 and is used for driving the edge brush portion 311 to rotate, wherein the rotation axis of the edge brush portion 311 is perpendicular or substantially perpendicular to the lower housing portion 120, i.e. when the automatic cleaning apparatus 10 is in operation, the rotation axis of the edge brush portion 311 is perpendicular to the surface to be cleaned, or substantially perpendicular to the surface to be cleaned.

In an alternative embodiment of the present disclosure, the number of the side brush cleaning assemblies 310 may be one or two, and when the number of the side brush cleaning assemblies 310 is one, the side brush cleaning assemblies 310 are disposed in front of the first driving wheel assembly 210 or the second driving wheel assembly 220; when the number of the side brush cleaning assemblies 310 is two, the two side brush cleaning assemblies 310 are disposed in front of the first and second

driving wheel assemblies

210 and 220, respectively.

In the present disclosure, the rolling brush cleaning assembly 320 is rotatably disposed on the housing assembly 100, for example, rotatably disposed on the lower housing portion 120 of the housing assembly 100, for dry cleaning, i.e. performing a second cleaning, of a surface to be cleaned; more preferably, the roller brush cleaning assembly 320 is removably mounted to the housing assembly 100, such as by a manual switch to remove the roller brush cleaning assembly 320 from the housing assembly 100.

The rolling brush cleaning assembly 320 includes a rolling brush portion 321, wherein the rolling brush portion 321 is rotatably disposed on the lower housing portion 120, and the surface to be cleaned is cleaned by contact between the circumferential surface of the rolling brush portion 321 and the surface to be cleaned.

The rolling brush 321 includes a cylinder portion and a protruding portion disposed outside the cylinder portion, wherein the cylinder portion is rotatably disposed on the lower housing 120, and the surface to be cleaned is cleaned by the contact between the protruding portion of the rolling brush 321 and the surface to be cleaned.

Wherein the protrusions may be formed in the form of bristles such that the roller brush portion 321 has an effect of sweeping the surface to be cleaned.

Preferably, as shown in fig. 7, the axis of rotation of the barrel is parallel or substantially parallel to the lower housing portion 120. As one implementation, the rotational axis of the barrel is disposed forward of the line between the first drive wheel assembly 210 and the second drive wheel assembly 220. Of course, the position of the cylinder portion is not limited thereto, and it may be disposed behind a line connecting the first and second

driving wheel assemblies

210 and 220.

In the present disclosure, there is a coincidence between the sweep area of the side brush cleaning assembly 310 and the sweep area of the roller brush cleaning assembly 320.

For example, as shown in fig. 7, when there are two side brush cleaning members 310, in the length direction of the roll brush cleaning member 320, two side brush cleaning members 310 are located at both ends of the roll brush cleaning member 320, and the projection of the side brush cleaning member 310 in the length direction of the roll brush cleaning member 320 coincides with a portion of the roll brush cleaning member 320.

Accordingly, when the brush cleaning member 310 is one, the brush cleaning member 310 is located at one end of the brush cleaning member 320 in the longitudinal direction of the brush cleaning member 320, and the projection of the brush cleaning member 310 in the longitudinal direction of the brush cleaning member 320 coincides with a portion of the brush cleaning member 320.

Thus, when the brush cleaning assembly 310 rotates, light particles such as dust on the surface to be cleaned can be swept into the sweeping area of the roller brush cleaning assembly 320 and swept again by the roller brush cleaning assembly 320, thereby increasing the cleaning area of the automatic cleaning apparatus 10.

In the present disclosure, the rolling brush cleaning assembly 320 further includes a rolling brush driving device 322, and the rolling brush driving device 322 is used for driving the rolling brush portion 321 to rotate, so as to clean the surface to be cleaned.

The side brush driving device 312 and/or the rolling brush driving device 322 may be selected from devices capable of generating power, such as a motor, and the motor is preferably a direct current motor, a stepping motor, a servo motor, and the like, which are conveniently controlled.

In accordance with at least one embodiment of the present disclosure, as shown in fig. 8 and 11, a dust collecting device 400 is provided to the housing assembly 100 for sucking a mixture of dirt and gas obtained after the dry cleaning device 300 cleans a surface to be cleaned into the dust collecting device 400, and causing the dirt in the mixture to be collected by the dust collecting device 400.

Fig. 12 is another angular structural schematic view of a dust collecting device according to an embodiment of the present disclosure. Fig. 13 is a cross-sectional view of a dust collection device according to one embodiment of the present disclosure. Fig. 14 is another angular structural schematic view of the dust collecting device after removal of the suction device according to one embodiment of the present disclosure.

As shown in fig. 12 to 14, the dust collecting device 400 includes a dust collecting container 410, a suction device 420, a dust collecting part 430, and a filtering device 440.

Wherein, the dust collecting container 410 is connected to the suction device 420, so that negative pressure is generated in the dust collecting container 410 by the suction device 420, thereby sucking dirt generated by cleaning the surface to be cleaned by the rolling brush cleaning assembly 320 into the dust collecting container 410.

The dust collection container 410 is connected to the dust collection part 430, wherein the dust collection part 430 partially encloses the rolling brush cleaning assembly 320 such that dirt generated by the rolling brush cleaning assembly 320 cleaning the surface to be cleaned enters the dust collection container 410 through the dust collection part 430.

The dust collection part 430 is formed with an opening, and a portion of the brush cleaning assembly 320, for example, a portion of the brush portion 321 of the brush cleaning assembly 320, is located outside the dust collection part 430 through the opening such that the brush portion 321 of the brush cleaning assembly 320 is in contact with a surface to be cleaned when the automatic cleaning apparatus 10 is in operation.

The dust collection part 430 is formed in a planar shape at a portion located at the rear of the roller brush cleaning assembly 320 and is spaced apart from one end of the roller brush 321 of the roller brush cleaning assembly 320, which is remote from the cylinder part, to reduce resistance of the air flow inside the dust collection part 430 and to allow dirt carried in the air flow to be transferred to the dust collection container 410.

Also, the lower ends of the portions of the dust collection part 430 located behind the roll brush cleaning assembly 320 are located on the same horizontal plane, and preferably, the lower ends of the portions of the dust collection part 430 located behind the roll brush cleaning assembly 320 are in a straight line shape, and the lower ends of the portions of the dust collection part 430 located behind the roll brush cleaning assembly 320 are spaced a preset distance from the surface to be cleaned when the automatic cleaning apparatus 10 is in an operating state.

In other words, the lower end of the portion of the dust collection part 430 located behind the brush cleaning assembly 320 is higher than the lowest position of the brush cleaning assembly 320, and when the brush cleaning assembly 320 is in contact with the surface to be cleaned, the lower end of the portion of the dust collection part 430 located behind the brush cleaning assembly 320 is spaced apart from the surface to be cleaned.

Fig. 14 is another angular structural schematic view of the dust collecting device after removal of the suction device according to one embodiment of the present disclosure. Fig. 15 is a schematic structural view of a dust collection container according to one embodiment of the present disclosure. Fig. 16 is another angular structural schematic view of a dust collection container according to one embodiment of the present disclosure.

In the present disclosure, as shown in fig. 13 to 16, the dust collection container 410 includes a box body portion 411, a cover plate portion 412, a cover member 413, and a baffle plate portion 414.

Wherein the box body 411 is formed with an accommodating space for storing solid garbage, and an inlet is formed on a sidewall of the box body 411 such that the dust collection part 430 communicates with an inner space of the box body 411 by the arrangement of the inlet and such that the dirt conveyed through the dust collection part 430 is stored in the accommodating space.

The cover plate portion 412 is provided to the case portion 411 for opening or closing an inlet of the case portion 411. Wherein the cover plate portion 412 may be disposed outside the box portion 411 or inside the box portion 411, and preferably, as shown in fig. 15, the cover plate portion 412 is disposed inside the box portion 411, and when a negative pressure is generated inside the box portion 411 (for example, when the suction device 420 is operated), the cover plate portion 412 opens the inlet of the box portion 411; when no negative pressure is generated inside the box portion 411 (e.g., the suction device 420 stops), the cover plate portion 412 closes the inlet of the box portion 411.

Or, when the air pressure inside the box 411 is smaller than the air pressure inside the dust collection part 430, and the absolute value of the difference between the air pressure inside the box 411 and the air pressure inside the dust collection part 430 is greater than or equal to the preset value, the cover 412 opens the inlet of the box, otherwise, the cover 412 closes the inlet of the box 411.

As an implementation form, as shown in fig. 13, the cover part 412 is hinged to the case part 411 such that the cover part 412 is attached to the case part 411 or spaced apart from the case part 411 by a predetermined distance through the rotation of the cover part 412 about the hinge axes of the cover part 412 and the case part 411, and when the cover part 412 is attached to the case part 411, the cover part 412 closes the inlet of the case part 411 and when the cover part 412 is spaced apart from the case part 411 by a predetermined distance, the cover part 412 opens the inlet of the case part 411.

More preferably, as shown in fig. 16, the side wall of the box portion 411 formed with the inlet is disposed obliquely, for example, from the bottom of the box portion 411 to the top of the box portion 411, the side wall of the box portion 411 formed with the inlet is inclined to the outside of the box portion 411, at this time, the cover plate portion 412 is disposed inside the box portion 411, and the junction of the cover plate portion 412 and the box portion 411 is located above the inlet, whereby the cover plate portion 412 can automatically close the inlet by gravity in the non-cleaning operation state of the automatic cleaning device (or the operation of the suction device 420 is stopped), so as to avoid the escape of dust collected in the dust box in the non-operation state of the automatic cleaning device, and secondary pollution is generated; in addition, when the automatic cleaning apparatus is in a cleaning operation state, when negative pressure is generated inside the box portion 411, a horizontal direction thrust generated by a pressure difference between the inside and the outside of the box portion 411 is larger than a horizontal component of gravity of the cover plate portion 412, and thereby the cover plate portion 412 is separated from the box portion 411 to open an inlet of the box portion 411.

As shown in fig. 13, a portion of the box portion 411 is formed as a first portion of the box portion 411, and another portion of the box portion 411 is formed as a second portion of the box portion 411, wherein the second portion has a height smaller than that of the first portion, and the discharge port is provided near a side wall of the first portion.

Accordingly, the bottom wall of the first portion of the box 411 is the first bottom wall 4111 forming the box 411, and the bottom wall of the second portion of the box 411 is the second bottom wall 4112 forming the box 411, and for convenience of description, the technical terms first bottom wall 4111 and second bottom wall 4112 are used below to describe the present disclosure.

Accordingly, the suction device is provided at the bottom wall of the second portion of the box portion 411, i.e. the suction device 420 can be placed below the second bottom wall 4112 of the box portion 411.

Of course, the suction device 420 may be provided at other positions of the box portion 411, and as long as the suction device 420 communicates with the inner space of the box portion 411.

The upper end of the box body 411 is in an open state, and a cover member 413 is provided to the box body 411 for opening or closing the upper end of the box body 411; that is, the cover member 413 has a first position and a second position, when the cover member 413 is located at the first position, the cover member 413 closes the opening of the upper end of the box portion 411, and when the cover member 413 is located at the second position, the opening of the upper end of the box portion 411 is caused to be opened.

In an alternative embodiment of the present disclosure, as shown in fig. 13, the upper end of the box portion 411 is formed with an annular groove formed in a circle along the upper end surface of the box portion 411; the lower surface of the cover member 413 is formed with an annular boss, the shape of which cooperates with the shape of the annular recess so that when the cover member 413 is in the first position, the annular boss is located within the annular recess, thereby forming a seal between the cassette part 411 and the cover member 413.

Of course, the sealing between the case portion 411 and the cover member 413 may be achieved by other structures, for example, a gasket is provided between the case portion 411 and the cover member 413; or the upper end surface of the case portion 411 is formed with an annular boss, the lower surface of the cover member 413 is formed with an annular groove, and this is achieved by means of the annular boss of the case portion 411 being fitted with the annular groove of the cover member 413, or the like.

In the present disclosure, a through hole is formed in the case portion 411; as an implementation form, the filtering device 440 and the suction device 420 are respectively disposed at two sides of the through hole and are communicated through the through hole, that is, indirect connection between the filtering device 440 and the box 411 is realized; as another implementation, as shown in fig. 14, the filtering device 440 is directly connected to the suction device 420, and at this time, the filtering device 440 and/or a portion of the suction device 420 is located in the through hole, thereby enabling a negative pressure to be generated in the box portion 411 when the suction device 420 is operated. Preferably, the through hole is provided in the second bottom wall 4112 of the box portion 411, whereby the suction device 420 can be directly connected to the filter device 440, so as to reduce the connecting piping between the suction device 420 and the filter device 440.

The filtering device 440 is disposed inside the dust container 410 for filtering the gas flowing to the suction device 420 to prevent dust from entering the suction device 420 to damage the suction device 420.

That is, when the suction device 420 is operated, negative pressure is generated in the dust collection container 410, dirt generated by the cleaning of the surface to be cleaned by the brush cleaning assembly 320 is mixed in the gas, and sucked into the dust collection container 410 by the suction device 420.

Then, after the contaminated gas enters the dust collection container 410, the filtered gas is discharged to the outside of the dust collection container 410 by the suction device 420 through the filtering action of the filtering device 440, and at this time, the contaminated gas is deposited in the dust collection container 410.

Fig. 26 is a schematic structural view of a filtering device according to an embodiment of the present disclosure. Fig. 27 is a schematic view of an installation location of a filter device according to one embodiment of the present disclosure. Fig. 28 is a schematic diagram of a separation structure of a dust collecting device according to an embodiment of the present disclosure. Fig. 29 is a cross-sectional view of a dust collection device according to one embodiment of the present disclosure.

In the present disclosure, as shown in fig. 26 to 29, the filter device 440 includes an upper bracket portion 441, a lower bracket portion 442, and a filter portion 443 disposed between the upper bracket portion 441 and the lower bracket portion 442.

Wherein the size of the upper bracket portion 441 is smaller than the size of the through hole, and the size of the lower bracket portion 442 is larger than the size of the through hole, for example, when the through hole is formed in a circular shape, the maximum distance between two points on the outer contour of the upper bracket portion 441 is smaller than the diameter of the through hole; further, when the upper bracket part 441 is also formed in a circular shape, the diameter of the upper bracket part 441 is smaller than that of the through hole, whereby the upper bracket part 441 may be inserted from the through hole into the inside of the dust collection container 410 and be in contact with or spaced apart from the inner surface of the cover member 413 of the dust collection container 410 when the filter device 440 is mounted to the dust collection container 410.

The upper bracket portion 441 is formed in a plate shape, and a through hole for passing gas is not formed in the upper bracket portion 441.

In the present disclosure, accordingly, a portion of the lower bracket part 442 is in contact with the outer surface of the case part 411 of the dust container 410, and preferably, a portion of the lower bracket part 442 is in sealing contact with the outer surface of the dust container 410 to prevent gas from entering the dust container 410 from between the lower bracket part 442 and the dust container 410, reducing the effect of negative pressure generated by the suction device 420.

The filter 443 may have a conical shape, a truncated cone shape, a cylindrical shape, or the like, but may have other shapes, for example, a shape matching the upper bracket 441.

The filter part 443 includes a plurality of filter elements connected to each other in a circumferential direction, wherein the cross section of the filter element is V-shaped (cross section, i.e., a cross section perpendicular to a height direction of the filter element), and may be prepared by filter paper such that the filter part 443 has a large filter area.

As shown in fig. 29, to facilitate the installation of the filter device 440, or to install the filter device 440 to the dust container 410, the filter device 440 of the present disclosure may not be detached from the dust container 410, and the filter device 440 of the present disclosure further includes a first adsorption portion 444, where the first adsorption portion 444 is disposed on the upper bracket portion 441, and preferably the first adsorption portion 444 is disposed on the upper surface of the upper bracket portion 441.

At this time, the upper bracket portion 441 is provided with a receiving groove, and the first adsorbing portion 444 is disposed in the receiving groove of the upper bracket portion 441.

Accordingly, as shown in fig. 29, the cover member 413 is provided with a second suction portion 445, and preferably the second suction portion 445 is provided at the lower surface of the cover member 413.

Thereby, the position between the filter device 440 and the cover member 413 is maintained by the attractive force between the first suction portion 444 and the second suction portion 445.

Preferably, the first suction portion 444 and the second suction portion 445 may each be a magnetic portion or a suction material, and when the first suction portion 444 and the second suction portion 445 are each a magnetic portion, the magnetic poles of the ends of the first suction portion 444 and the second suction portion 445 close to each other are opposite; further, the first suction portion 444 and the second suction portion 445 may not be simultaneously selected as the suction material, and at this time, suction force may not be generated between the first suction portion 444 and the second suction portion 445.

In the present disclosure, the adsorbing material is a material that can be adsorbed by a magnet, such as iron.

As shown in fig. 28, the lower end of the lower bracket portion 442 is formed with an annular protrusion, the suction device 420 is formed with an annular groove, and when the filter device 440 is connected with the suction device 420, the annular protrusion of the lower bracket portion 442 is disposed in the annular groove of the suction device 420, so that the filter device 440 is directly connected with the suction device 420, and an air duct of transition connection does not exist between the filter device 440 and the suction device 420, so that the structure is compact, the space is saved, the capacity of the water tank or dust collection container 410 of the automatic cleaning apparatus 10 (cleaning robot) can be increased, and the number of human intervention (dust pouring, water adding) is reduced.

Of course, the lower end of the lower bracket portion 442 may also form an annular groove, in which case an annular protrusion is formed on the suction device 420, and the annular protrusion of the suction device 420 is disposed in the annular groove of the lower bracket portion 442 when the filter device 440 is connected to the suction device 420.

In the present disclosure, the filtering device 440 further includes a magnetic field generating part 446, and the magnetic field generating part 446 is configured to generate a magnetic field; the detecting means 600 includes an in-place detecting module (not shown in the drawings), and when the in-place detecting module detects the magnetic field generated by the magnetic field generating section 446 or detects that the magnetic field generated by the magnetic field generating section 446 is greater than a preset value, it is determined that the filtering means 440 is normally mounted to the dust container 410 or is normally mounted to the automatic cleaning apparatus 10; when the in-situ detection module does not detect the magnetic field generated by the magnetic field generation part 446, it is determined that the filter device 440 is not normally mounted to the dust container 410 or is not normally mounted to the automatic cleaning apparatus 10; the magnetic field generating unit 446 is provided in the lower bracket 442 of the filter 440.

In an alternative embodiment of the present disclosure, the first bottom wall 4111 is provided so as to be able to open or close the bottom of the box portion 411, for example, a lower end of the box portion 411 is formed with a discharge hole, and the first bottom wall 4111 is used to open or close the discharge hole.

Fig. 19 is a schematic view of a first bottom wall open state of a dust container according to one embodiment of the present disclosure. Fig. 20 is a schematic structural view of a first locking device according to one embodiment of the present disclosure. Fig. 21 is an enlarged schematic view of a portion B of fig. 20. Fig. 22 is a schematic view of the first locking device of fig. 21 in an opened state.

As an implementation form, as shown in fig. 19 to 22, the first bottom wall 4111 is rotatably provided at a side wall of the box portion 411, and the first bottom wall 4111 can be locked to the other side wall of the box portion 411 by the first locking device 418, wherein the first locking device 418 may be a button lock structure, that is, when the first bottom wall 4111 is in close contact with the lower end of the box portion 411, the first locking device 418 fixes the first bottom wall 4111 with the side wall of the box portion 411; when the first locking means 418 is released, the first bottom wall 4111 is allowed to separate from the lower end of the box portion 411 to pour out the dirt therein, and at this time, the dirt of the dust container 410 can be prevented from contacting the secondary pollution caused by the user.

One end of the first bottom wall 4111 is hinged to a side wall of the box portion 411, so that the first bottom wall 4111 can rotate relative to the box portion 411, a retaining portion 4111A is formed at the other end of the first bottom wall 4111, that is, an end opposite to the end where the first bottom wall 4111 is hinged to the box portion 411, and the first locking device 418 cooperates with the retaining portion 4111A to lock and unlock the first bottom wall 4111.

More preferably, as shown in fig. 20, the first locking device 418 includes a rotating portion 4181, a hooking portion 4182, and a position restoring portion 4183.

The middle part of the rotating part 4181 is rotatably provided at the side wall of the box part 411, for example, the side wall of the box part 411 is formed with a concave space, and the rotating part 4181 is rotatably provided at two opposite side walls of the concave space of the box part 411 by a shaft body.

Wherein, to realize the rotation of the rotating portion 4181 relative to the side wall of the box portion 411, two ends of the shaft body are rotatably disposed on two opposite side walls of the concave space of the box portion 411; at this time, the rotation portion 4181 may be rotated with respect to the shaft body or may be fixed to the shaft body, for example, integrally formed with the shaft body; alternatively, at least one of the two ends of the shaft body is fixed to two opposite side walls of the concave space of the box body 411, so that the shaft body keeps a stationary device relative to the box body 411, and at this time, the rotating portion 4181 is rotatably provided to the shaft body, so that the rotating portion 4181 rotates relative to the box body 411.

As shown in fig. 20, the surface of the rotating portion 4181 near the bottom wall of the concave space of the box portion 411 includes a first surface portion 4181A and a second surface portion 4181B, wherein the first surface portion 4181A and the second surface portion 4181B are connected, and when the first locking device 418 is in the locked state, the first surface portion 4181A is at least partially in contact with the bottom wall of the concave space of the box portion 411, so that the first locking device 418 can be stably held in the locked state.

Also, at this time, the second surface portion 4181B is provided obliquely with respect to the bottom wall of the concave space of the box body portion 411, for example, when the box body portion 411 is in a vertical state, that is, in a state in which the first bottom wall 4111 is located at the bottom of the box body portion 411, the distance between the second surface portion 4181B and the bottom wall of the concave space of the box body portion 411 gradually increases in the top-to-bottom direction.

The hook portion 4182 is disposed on the rotating portion 4181 and rotates with the rotation of the rotating portion 4181, wherein a hook is formed at a position of the hook portion 4182 near the first bottom wall 4111, so that the first bottom wall 4111 closes the box portion 411 through the cooperation of the hook and the holding portion 4111A when the first locking device is in the locked state.

In the present disclosure, the hook portion 4182 and the rotating portion 4181 may be integrally formed, or may be separately formed and assembled together.

The position restoring portion 4183 applies a pulling force or pushing force to the rotating portion 4181 or the hooking portion 4182, so that the first locking device 418 is moved from the opened state to the locked state.

For example, the position restoring portion 4183 includes a spring, which may be implemented by an elastic member such as a rubber elastic block. One end of the position restoring portion 4183 is provided at the bottom wall of the concave space of the case portion 411, and the other end is provided at the rotating portion 4181 or the hooking portion 4182, and the position restoring portion 4183 applies a pushing force to the rotating portion 4181 or the hooking portion 4182 so that the hooking portion 4182 is stably held in the locking position.

The position restoration portion 4183 may be located at an upper portion or a lower portion of the shaft body, and preferably, as shown in fig. 20, the position restoration portion 4183 is located at an upper portion of the shaft body, that is, at an end remote from the first bottom wall 4111.

In use, as shown in fig. 22, the user presses the upper portion of the hook portion 4182 so that the first bottom wall 4111 opens the lower end of the box body portion 411, thereby effecting cleaning of the solid waste; then, when the first bottom wall 4111 contacts the lower end of the case portion 411, the hooking portion 4182 is rotated by the pushing force provided by the position restoring portion 4183, and the hook passing through the hooking portion 4182 contacts the holding portion 4111A, thereby bringing the first locking device into a locked state, at which time the first bottom wall 4111 closes the lower end of the case portion 411.

Fig. 17 is a cross-sectional view of a dust collection container according to one embodiment of the present disclosure. Fig. 18 is an enlarged schematic view of the portion a of fig. 17.

In the present disclosure, as shown in fig. 17 and 18, a side wall of the box portion 411 is opened with a discharge port to discharge dirt inside the box portion 411 through the discharge port.

For example, as shown in fig. 8 and 11, the discharge port may be connected to one end of the cleaning duct 450, and the other end of the cleaning duct 450 may be connected to a cleaning device of the base station, so that dirt in the dust container 410 is sucked out by suction force of the cleaning device.

Preferably, the housing assembly 100 of the automatic cleaning apparatus 10 has an opening formed thereon, and the other end of the cleaning duct 450 is located near the opening of the housing assembly 100 or is connected with the opening of the housing assembly 100 to facilitate connection of the cleaning device of the base station with the cleaning duct 450.

In the present disclosure, the opening of the housing assembly 100 may be formed at a side portion of the housing assembly 100, for example, at a housing sidewall of the upper housing portion 110.

Wherein, as shown in fig. 5, the opening of the housing assembly 100 is provided with a detachable plug part 150, that is, when the automatic cleaning device 10 is in a state of cleaning the surface to be cleaned, the plug part 150 is arranged at the opening of the housing assembly 100, and is used for closing the opening of the housing assembly 100 or is used for closing the cleaning pipeline 450; when the robotic cleaning device 10 is docked at the base station, the plug portion 150 is removed from the opening of the housing assembly 100 to enable the cleaning apparatus cleaning device to be connected to the cleaning conduit 450.

In accordance with at least one embodiment of the present disclosure, as shown in fig. 17 and 18, the shutter portion 414 is used to open or close the discharge port of the box portion 411, i.e., when a negative pressure is generated in the cleaning duct 450, the shutter portion 414 opens the discharge port of the box portion 411, and when the air pressure in the cleaning duct 450 is equal to or greater than the air pressure in the box portion 411, the shutter portion 414 closes the discharge port of the box portion 411.

Alternatively, when the air pressure outside the barrier portion 414 (for example, the air pressure inside the cleaning duct 450) is smaller than the air pressure inside the case portion 411, and the absolute value of the difference between the air pressure outside the barrier portion 414 (for example, the air pressure inside the cleaning duct 450) and the air pressure inside the case portion 411 is equal to or greater than the preset value, the barrier portion 414 opens the discharge port; otherwise, the shutter portion 414 closes the discharge port; that is, when the air pressure of the outside of the shutter portion 414 is equal to or greater than the air pressure of the inside of the case portion 411, or the air pressure of the outside of the shutter portion 414 is less than the air pressure of the inside of the case portion 411, and the absolute value of the difference between the air pressure of the outside of the shutter portion 414 and the air pressure of the inside of the case portion 411 is less than a preset value, the shutter portion 414 closes the discharge port.

And, when the baffle part 414 opens the discharge port, the gas entering the inside of the box part through the inlet of the box part 411 flows through at least part or all of the bottom surface of the containing space of the box part 411 storing the solid garbage, and then flows out from the discharge port of the box part 411, so that the solid garbage stored in the containing space of the box part 411 storing the solid garbage is transported to the outside of the box part 411 along with the gas flow.

As one implementation, the shutter portion 414 may be hinged to a side wall of the case portion 411 to open or close the discharge port of the case portion 411 by rotation of the shutter portion 414.

As shown in fig. 16 to 18, the dust container 410 further includes an elastic restoring portion 415 for applying a force to the shutter portion 414 such that a predetermined positive pressure is provided between the shutter portion 414 and the case portion 411 when the shutter portion 414 is in a state of closing the discharge port of the case portion 411, and the elastic restoring portion 415 provides a restoring force to the shutter portion 414 when the shutter portion 414 is in a state of opening the discharge port of the case portion 411 to move the shutter portion 414 from a state of opening the discharge port of the case portion 411 to a state of closing the discharge port by the restoring force.

Preferably, the elastic restoring portion 415 may be a torsion spring to provide a torsion force to the barrier portion 414 by the torsion spring and to bring the barrier portion 414 into a normally closed state.

Of course, the shutter portion 414 may be opened or closed by other structures, for example, by means of an electromagnetic lock, and at this time, when the automatic cleaning apparatus is in an operating state, the electromagnetic lock attracts the shutter portion 414, so that the shutter portion 414 closes the discharge port; when it is necessary to discharge the solid waste in the automatic cleaning apparatus to the outside of the automatic cleaning apparatus, the electromagnetic lock opens the shutter portion 414, and when negative pressure is supplied to the cartridge portion 411 through the discharge port, the discharge of the solid particles can be achieved.

On the other hand, the power of the electromagnetic lock may be controlled by a pressure difference between the inside and outside of the discharge port of the case portion 411, for example, when the air pressure outside the discharge port is smaller than the air pressure inside the case portion 411 and the absolute value of the pressure difference between the air pressure outside the discharge port and the air pressure inside the case portion 411 is equal to or greater than a preset value, the electromagnetic lock is controlled to operate so that the shutter portion 414 opens the discharge port, otherwise, the electromagnetic lock is controlled so that the shutter portion 411 closes the discharge port.

In the present disclosure, the discharge port is formed by the side wall of the box portion 411 and the first bottom wall 4111 together, the shutter portion 414 is provided with the seal 416, and when the shutter portion 414 closes the discharge port of the box portion 411, a portion of the seal 416 of the shutter portion 414 is in sealing contact with the side wall of the box portion 411, and a portion of the seal 416 of the shutter portion 414 is in sealing contact with the first bottom wall 4111.

The first bottom wall 4111 and/or the side wall of the case portion 411 may form a stopper portion such that the shutter portion 414 is located outside the stopper portion to restrict the shutter portion 414 from further moving toward the inside of the case portion 411 by the stopper portion, and thus the shutter portion 414 does not open the discharge port when negative pressure is generated in the inside of the case portion 411.

Wherein, the limit portion of the side wall of the box portion 411 may be formed as a part of the side wall of the box portion 411, for example, the size of the side wall of the box portion 411 is smaller than the size of the baffle portion 414; alternatively, the first bottom wall 4111 is formed as a step, i.e., a stopper.

Preferably, the sealing member 416 is an annular sealing member so that the gas is effectively prevented from entering the interior of the dust collection container 410 through the discharge port by the provision of the sealing member 416 so as not to reduce the negative pressure inside the cartridge body 411 when the automatic cleaning apparatus 10 is in the operating state.

In the present disclosure, the inner surface of the lower end of the discharge port is flush or substantially flush with the inner surface of the first bottom wall 4111, thereby having a better ash removing effect.

According to at least one embodiment of the present disclosure, two opposite side walls of the box body 411 are respectively formed with a concave structure 417, and preferably, the concave structure 417 is disposed at the middle of two side walls in the length direction, and a user operates the concave structure 417, so that the dust container 410 can be taken out from the automatic cleaning apparatus 10, i.e., the concave structure 417 forms a user operated grip space.

Fig. 23 is a schematic structural view of a second locking device according to one embodiment of the present disclosure. Fig. 24 is an enlarged schematic view of a portion C of fig. 23. Fig. 25 is a schematic view of the second locking device of fig. 24 in an opened state.

As shown in fig. 23 to 25, a second locking means 419 is provided in one of the concave structures 417 to fix the dust container 410 to the lower housing part 120 of the automatic cleaning device 10 by the second locking means 419.

The second locking device 419 includes a pressing portion 4191, a lock member 4192, and a reset member 4193.

The pressing portion 4191 and the lock member 4192 may be integrally formed, or may be separately formed and then assembled together.

The pressing portion 4191 is rotatably disposed on a side wall of the concave structure 417 of the case portion 411, and the lock member 4192 is disposed on the pressing portion 4191, and when the pressing portion 4191 rotates, the lock member 4192 is driven to rotate.

Wherein, as shown in fig. 24, when the pressing part 4191 is located at the first position, at least part of the lock member 4192 protrudes to the outside of the concave structure 417, and the position of the dust collecting device 400 is fixed by the cooperation with other components of the automatic cleaning apparatus, for example, the housing assembly of the automatic cleaning apparatus.

When the pressing portion 4191 is driven by an external force and is located at the second position, as shown in fig. 25, the lock member 4192 rotates and the lock member 4192 is brought out of contact with the housing assembly of the automatic cleaning apparatus, and the dust collecting device 400 can be taken out from the automatic cleaning apparatus.

Preferably, when the pressing portion 4191 is located in the second position, the lock member 4192 may be located inside the concave structure 417.

Also, as shown in fig. 24, the restoring member 4193 may be a coil spring, and the pressing portion 4191 is moved from the second position to the first position by the torque applied by the coil spring, that is, the pressing portion 4191 is restored.

As shown in fig. 2 and fig. 5 to 7, the wet cleaning device 500 is rotatably disposed on the housing assembly 100, for example, rotatably disposed on the lower housing portion 120 of the housing assembly 100, for wet cleaning the surface to be cleaned after cleaning the side brush cleaning assembly 310 and/or the rolling brush cleaning assembly 320, so that the automatic cleaning apparatus 10 of the present disclosure can generate a mopping effect when cleaning the surface to be cleaned.

In the present disclosure, the wet cleaning apparatus 500 includes a scrubbing member 510, the scrubbing member 510 being disposed below the lower housing part 120 and being located at a rear side of the traveling direction of the automatic cleaning device 10, i.e., along the traveling direction of the automatic cleaning device 10, the wet cleaning apparatus 500 being located at a rear side of the rolling brush cleaning assembly 320.

The wet cleaning device 500 further comprises a scrubbing drive 520, the scrubbing drive 520 being configured to drive the scrubbing element 510 in rotation to effect scrubbing of a surface to be cleaned.

In the present disclosure, as shown in fig. 30, the scrubbing member 510 includes at least one rotating member, and preferably, the scrubbing member 510 includes two rotating members, i.e., a first rotating member 511 and a second rotating member 512, wherein the scrubbing driving device 520 is used to drive the first rotating member 511 and the second rotating member 512 to rotate, thereby achieving scrubbing of the surface to be cleaned.

As shown in fig. 30, the first rotating member 511 and the second rotating member 512 may be symmetrically disposed, and when the first rotating member 511 rotates, a first rotation circumference is formed; when the second rotating member rotates, a second rotation circumference is formed, and the first rotating member 511 and the second rotating member 512 are provided as: a portion of the first rotation circumference and a portion of the second rotation circumference are located outside the outer contour of the automatic cleaning device 10. Furthermore, the first and second rotation circles are flush with the outer contour of the automatic cleaning device 10. In this way, it is possible to achieve the maximum effective cleaning orientation during the traveling of the automatic cleaning apparatus 10, so that the automatic cleaning apparatus 10 can clean the floor along the wall or the like, preventing the problem that the wall or the like cannot be cleaned.

Of course, the number of the rotating members may be one, three, four, or the like.

Accordingly, the number of scrub drives 520 may be the same as the number of rotating members, e.g., each rotating member is driven by one scrub drive 520.

Alternatively, the number of scrub drives 520 is less than the number of rotating members and at least one rotating member is driven by one scrub drive 520; still further, the robotic cleaning device 10 includes only one scrub drive 520, and all of the rotating members are driven by the scrub drive 520.

Fig. 31 is a schematic structural view of a transmission according to an embodiment of the present disclosure. Fig. 32 is a schematic structural view of a transmission according to an embodiment of the present disclosure.

For example, in the present disclosure, as shown in fig. 8, and fig. 31 and 32, the scrub driving device 520 is connected to the first rotating member 511 and/or the second rotating member 512 through a speed change device 530, preferably, the scrub driving device 520 is connected to the first rotating member 511 and the second rotating member 512 through one speed change device 530, and the rotation directions of the first rotating member 511 and the second rotating member 512 are made the same; of course, the rotation directions of the first rotary member 511 and the second rotary member 512 may be opposite.

And, by controlling the rotation directions of the first rotating member 511 and the second rotating member 512, the first rotating member 511 and the second rotating member 512 can apply power in the movement direction of the automatic cleaning apparatus 10 or apply resistance in the opposite direction of the movement direction of the automatic cleaning apparatus 10, that is, provide driving force or resistance to the automatic cleaning apparatus 10, and in a conventional cleaning scenario, provide driving force to the automatic cleaning apparatus 10 can make the automatic cleaning apparatus 10 move faster, saving electric energy; providing resistance to the robotic cleaning device 10 tends to provide better cleaning in certain cleaning scenarios, such as when cleaning floor stains that are sticky.

As shown in fig. 32, the transmission 530, i.e., the transmission for an automatic cleaning device (coaxial transmission 530) includes: a gearbox housing 531; a drive, which may be a scrub drive 520, the scrub drive 520 being configured to provide a driving force; a driving gear 532, wherein the driving gear 532 is rotatably disposed on the gear box body 531, and the scrubbing driving device 520 drives the driving gear 532 to rotate; and at least one output shaft, the driving gear 532 drives the output shaft to rotate through a transmission gear train; wherein the axis of rotation of the drive gear 532 coincides with the axis of rotation of the scrub drive 520; the axis of rotation of the output shaft is parallel to the axis of rotation of the scrub drive 520.

For example, the gear box body 531 is formed as a box of the gear box 530 to accommodate respective components of the gear box 530 through the gear box body 531, wherein the scrub drive device 520 is fixed to the gear box body 531 below the gear box body 531, and a rotation axis of the scrub drive device 520 is perpendicular to the gear box body 531.

Preferably, the output of the output shaft is located outside of the gearbox housing 531 and the scrubbing drive 520 and the output of the output shaft are both located on the same side of the gearbox housing 531.

The output shaft includes a first output shaft 539A and a second output shaft 539B to drive the first rotary member 511 and the second rotary member 512 to rotate by the first output shaft 539A and the second output shaft 539B, respectively, so that cleaning of the surface to be cleaned is achieved by the first rotary member 511 and the second rotary member 512.

Of course, the number of output shafts may be other values, such as one, three, four, etc. The number of output shafts may be the same as the number of rotating members such that each output shaft drives one rotating member to rotate.

Accordingly, when the number of the output shafts is two, the transmission gear trains include a first transmission gear train and a second transmission gear train, wherein the driving gear 532 drives the first output shaft 539A to rotate through the first transmission gear train, and the driving gear 532 drives the second output shaft 539B to rotate through the second transmission gear train.

In the present disclosure, the speed change device further includes: a first coaxial gear 533, wherein the first coaxial gear 533 is rotatably arranged on the gearbox body 531, and the rotation axis of the first coaxial gear 533 is parallel to the rotation axis of the scrubbing drive;

Wherein the driving gear 532 is in driving connection with a gear having a larger diameter of the first coaxial gears 533 to drive the rotation of the first coaxial gears 533 through the driving gear 532.

The speed change device further includes: a first coaxial gear 533, wherein the first coaxial gear 533 is rotatably disposed on the transmission body 531 such that the rotation axis of the first coaxial gear 533 is parallel to the rotation axis of the scrubbing drive 520; wherein the driving gear 532 is in driving connection with a gear having a larger diameter of the first coaxial gears 533 to drive the rotation of the first coaxial gears 533 through the driving gear 532.

The first transmission gear train comprises: a second coaxial gear 534, the second coaxial gear 534 being rotatably disposed on the transmission housing 531 such that a rotational axis of the second coaxial gear 534 is parallel to a rotational axis of the scrub drive device 520; and a first output gear 536, the first output gear 536 being provided to a first output shaft 539A; wherein a smaller diameter gear of the first coaxial gears 533 is in driving connection with a larger diameter gear of the second coaxial gears 534, and a smaller diameter gear of the second coaxial gears 534 is in driving connection with the first output gears 536.

The first transmission gear train further includes: an idler 535, the idler 535 rotatably disposed to the transmission housing 531 such that the axis of rotation of the idler 535 is parallel to the axis of rotation of the scrub drive 520; wherein the smaller diameter gear of the second coaxial gear 534 is in driving connection with the first output gear 536 via an idler gear 535 to enable the driving force of the scrub drive 520 to be transferred to the first output shaft 539A.

The second transmission gear train comprises: a third coaxial gear 537, the third coaxial gear 537 being rotatably provided to the transmission housing 531 such that the rotation axis of the third coaxial gear 537 is parallel to the rotation axis of the scrub drive 520; and a second output gear 538, the second output gear 538 being provided to a second output shaft 539B; wherein a smaller diameter gear of the first coaxial gears 533 is in driving connection with a larger diameter gear of the third coaxial gears 537, the smaller diameter gear of the third coaxial gears 537 is in driving connection with the second output gears 538 so that the driving force of the scrub driving means 520 can be transmitted to the second output shaft 539B.

Of course, the first and second drive trains are not limited to the above-described configuration, as long as power can be transmitted from the scrub drive device to the output shaft through gear transmission.

The scrubbing driving device 520 is fixed on the gearbox body 531, and the scrubbing driving device and the output end of the output shaft are both positioned on the lower side of the gearbox body 531; more preferably, the scrub drive is located between the first output shaft 539A and the second output shaft 539B.

In the present disclosure, one end of the first output shaft 539A passes through the gear box body 531, is located outside the gear box body 531, and connects the first output shaft 539A to a lifting gear 540 described below.

Accordingly, one end of the second output shaft 539B passes through the gear box body 531, is located outside the gear box body 531, and connects the second output shaft 539B to a lifting gear 540 described below.

In the present disclosure, as shown in fig. 32 and 32, the portion of the first output shaft 539A and the second output shaft 539B that extends to the outside of the gear box body 531 is located on the same side of the gear box body 531 as the scrubbing drive device 520, so that the components of the automatic cleaning apparatus 10 of the present disclosure can be arranged more tightly, the occupied space is small, the capacity of the cleaning liquid storage 571 can be improved, and the transmission efficiency is high.

The first rotary member 511 and/or the second rotary member 512 are arranged to be displaceable in a direction perpendicular to the bottom surface of the lower housing part 120 to lift the first rotary member 511 and the second rotary member 512 towards the bottom of the lower housing part 120 in certain situations where dry cleaning is only suitable, such that the first rotary member 511 and/or the second rotary member 512 is moved away from the surface to be cleaned.

The first rotary member 511 and the second rotary member 512 have the same structure and are respectively connected to the first output shaft 539A or the second output shaft 539B, wherein the connection manner of the first rotary member 511 and the first output shaft 539A of the speed change device 530 is the same as the connection manner of the second rotary member 512 and the second output shaft 539B of the speed change device 530, and the connection manner of the first rotary member 511 and the second rotary member 512 and the speed change device 530 will be described only by taking the first rotary member 511 as an example.

Fig. 33 is a schematic structural view of a lifting transmission according to an embodiment of the present disclosure. Fig. 34 is a schematic structural view of a lifting gear (part) according to one embodiment of the present disclosure. Fig. 35 is a schematic structural view of a lifting transmission (part) according to one embodiment of the present disclosure.

In an alternative embodiment of the present disclosure, as shown in fig. 33 to 35, the wet cleaning apparatus 500 further includes: a lifting actuator 540, the lifting actuator 540 being disposed on the housing assembly 100, for example on the lower housing portion 120 of the housing assembly 100, and enabling the lifting actuator 540 to be raised or lowered relative to the lower housing portion 120 and simultaneously raising or lowering the scrubbing member 510.

For example, the lifting gear 540 includes a guide column portion 541, a lifting bracket 542, and a floating shaft 543.

The guide column portions 541 are provided in at least one, and when the guide column portions 541 are provided in one, the cross section of the guide column portions 541 is non-circular, and when the guide column portions 541 are provided in two or more, the cross section of the guide column portions 541 may be any shape, for example, may be circular or non-circular.

In the present disclosure, the guide column portion 541 may be fixed to the transmission 530, for example, to the transmission housing portion 531 of the transmission 530, or to the housing assembly 100, for example, to the lower housing portion 120 of the housing assembly 100, and a person skilled in the art may set the position of the guide column portion 541 from the viewpoint of easy installation.

The elevation bracket 542 is slidably disposed at the guide column portion 541, i.e., the elevation bracket 542 is disposed to elevate along the guide column portion 541 to drive the first rotary member 511 and/or the second rotary member 512 to ascend.

In the present disclosure, a stepped hole is provided on the lifting bracket 542, a bottom wall of the stepped hole is formed as a via hole, and a size of the via hole is made larger than a size of the floating shaft 543, so that the floating shaft 543 can move up and down and rotate within the via hole, for example, when the via hole and the floating shaft 543 are both circular, a diameter of the via hole is larger than a diameter of the floating shaft 543.

A fairing 544 is disposed within the stepped bore and such that a stepped portion of the stepped bore forms a support for the fairing 544, e.g., the stepped portion of the stepped bore is located below the fairing 544.

In the present disclosure, the damping device 544 may be selected from a linear bearing, a plastic linear bearing, an injection molded part with lubrication, a copper sleeve, or the like, so that the friction force applied to the floating shaft 543 is reduced when the floating shaft 543 moves in the damping device 544.

At this time, the floating shaft 543 is slidably and rotatably provided to the drag reducing device 544, for example, when the drag reducing device 544 is a linear bearing, the floating shaft 543 is provided in a center hole of the linear bearing, so that the floating shaft 543 can slide up and down with low sliding resistance and rotate with low rotational resistance.

As shown in fig. 35, an outer flange 5431 is formed at the upper end of the floating shaft 543, the outer flange 5431 having a size larger than the center hole of the drag reducing device 544, for example, the outer flange 5431 having a diameter larger than the center hole of the drag reducing device 544, so that when the elevating bracket 542 is elevated, the flange portion of the floating shaft 543 is brought into contact with the drag reducing device 544 or with the elevating bracket 542 to bring the floating shaft 543 up by the elevation of the elevating bracket 542.

Also, when the elevation bracket 542 descends, the floating shaft 543 moves downward by the restoring force provided by the elastic restoring portion 545, and the gravity of the floating shaft 543 and the first rotation member 511.

In the present disclosure, the first rotating member 511 is provided at the lower end of the floating shaft 543, and the rotation axis of the first rotating member 511 is the same as the rotation axis of the floating shaft 543.

Preferably, the first rotary member 511 may be directly mounted to the lower ends of the first output shaft 539A, the second output shaft 539B, and the lifting shaft 565, and the floating shaft 543, the first output shaft 539A, the second output shaft 539B, the lifting shaft 565, and the like are collectively referred to as a rotation shaft portion in the present disclosure. Wherein the rotating shaft part is driven and can rotate.

The first rotating member 511 is disposed at the rotating shaft portion, and the rotating shaft portion drives the first rotating member 511 to rotate, so that the first rotating member 511 cleans the surface to be cleaned;

wherein the first rotary member 511 is provided to be movable in the axial direction of the spindle portion and/or movable in the radial direction of the spindle portion and/or the rotation axis of the first rotary member 511 and the rotation axis of the spindle portion can form an angle other than 0 °.

In the present disclosure, the rotation shaft portion includes a stopper portion to restrict the upward movement position of the first rotary member 511 in the axial direction of the rotation shaft portion by the stopper portion. Preferably, the limiting portion of the rotating shaft portion includes a shoulder formed on the rotating shaft portion.

In the present disclosure, as shown in fig. 35, a mounting hole is formed at the middle of the first rotary member 511, and the lower end of the rotation shaft portion is inserted into the mounting hole, wherein the mounting hole is a non-circular hole, and the lower end of the rotation shaft portion is identical to or matched with the shape of the mounting hole, so that the rotation shaft portion drives the first rotary member 511 to rotate.

That is, when the shape of the mounting hole is the same as the shape of the lower end of the rotating shaft portion, the first rotary 511 can move only in the axial direction of the rotating shaft portion.

As one preferable, as shown in fig. 35, a length from the limit portion to the lower end of the rotation shaft portion is greater than a height of the mounting hole of the first rotation member 511.

In the present disclosure, a gap is provided between an outer surface of a lower end of the rotation shaft portion and the mounting hole of the first rotary member 511, so that the first rotary member 511 can move in a radial direction of the rotation shaft portion, and/or an angle of not 0 ° can be formed between a rotation axis of the first rotary member 511 and a rotation axis of the rotation shaft portion.

The lower end of the rotation shaft portion is provided with a fastening member 546 to restrict the downward movement position of the first rotary member 511 in the axial direction of the rotation shaft portion by the fastening member 546; for example, when the first rotating member 511 is in contact with the stopper portion of the rotation shaft portion, the fastening member 546 has a preset distance from the first rotating member 511, that is, a movement stroke of the first rotating member 511 in the axial direction of the rotation shaft portion.

As an implementation form, the fastening element 546 includes a capped screw fixed to the lower end of the rotating shaft portion, and at this time, the lower end of the rotating shaft portion is provided with a threaded hole so that the capped screw can be screwed into the threaded hole of the rotating shaft portion, and when the first rotating member 511 contacts with the limiting portion of the rotating shaft portion, a preset distance is provided between the screw head of the capped screw and the first rotating member 511; when the first rotation member 511 is in contact with the capped screw, at least part of the screw head of the capped screw is in contact with the first rotation member 511.

More preferably, as shown in fig. 35, the lower end of the first rotary member 511 is formed with a counterbore, and the counterbore of the first rotary member 511 communicates with the mounting hole of the first rotary member 511 such that a portion of the fastening element 546 is located within the counterbore.

At this time, a gap is provided between the fastening member 546 and the sidewall of the counterbore so that the first rotary member 511 can move in the radial direction of the shaft portion, and/or the rotation axis of the first rotary member 511 and the rotation axis of the shaft portion can form an angle other than 0 °.

The fastening member 546 may also include screws and shims, which are configured similarly to the capped screws described above, and will not be described in detail herein.

In the present disclosure, as shown in fig. 34, a floating shaft 543 is provided so as to be able to approach or separate from a first output shaft 539A of a transmission 530; wherein, the upper end of the floating shaft 543 or the lower end of the first output shaft 539A of the speed changing device 530 is provided with a guide hole, when the lower end of the first output shaft 539A of the speed changing device 530 is provided with a guide hole, the upper end of the floating shaft 543 is slidably arranged in the guide hole of the first output shaft 539A of the speed changing device 530; accordingly, when the upper end of the floating shaft 543 is provided with a guide hole, the lower end of the first output shaft 539A of the speed change device 530 is slidably disposed in the guide hole of the floating shaft 543, so that the first output shaft 539A of the speed change device 530 and the floating shaft 543 can slide, and thus the first output shaft 539A of the speed change device 530 and the floating shaft 543 are brought close to or far from each other.

The guide holes are non-circular holes, for example, the shape of the guide holes can be square, triangle and the like; further, the shape of the upper end of the floating shaft 543 is adapted to the shape of the guide hole of the first output shaft 539A of the transmission 530, for example, the shape of the upper end of the floating shaft 543 is the same as the shape of the guide hole of the first output shaft 539A of the transmission 530, so that power can be transmitted between the floating shaft 543 and the first output shaft 539A of the transmission 530.

Thus, when the first rotating member 511 receives an external force from the surface to be cleaned, for example, when the surface to be cleaned is uneven, a relative motion can be generated between the floating shaft 543 and the first output shaft 539A of the speed change device 530.

Further, the elastic restoring portion 545 is used to provide a restoring force to the floating shaft 543, for example, the elastic restoring portion 545 can provide a downward force to the floating shaft 543 and the first rotating member 511 mounted to the floating shaft 543, so that a predetermined positive pressure can be generated when the first rotating member 511 contacts the ground. More preferably, one end of the elastic restoring portion 545 does not rotate or rotate by an angle within a preset range with respect to the output shafts (the first output shaft 539A and the second output shaft 539B), and the other end of the elastic restoring portion does not rotate or rotate by an angle within a preset range with respect to the floating shaft.

Preferably, the elastic restoring portion 545 may be a spring, such as a coil spring, but the elastic restoring portion 545 may be implemented by other elements, such as an elastic rubber block, or the like.

The spring may be sleeved outside the first output shaft 539A with one end thereof being abutted against the floating shaft 543 and the other end thereof being held fixed with the first output shaft 539A, and the spring is in a pre-compressed state so that when the automatic cleaning apparatus 10 is placed on a surface to be cleaned, the first rotating member 511 applies a positive pressure to the surface to be cleaned.

In the present disclosure, in order to prevent the elastic restoring portion 545 from twisting during operation, the first output shaft 539A is provided with a blocking piece portion 547, and the other end of the elastic restoring portion 545 is propped against the blocking piece portion 547, that is, the elastic restoring portion 545 is located between the floating shaft 543 and the blocking piece portion 547, wherein the blocking piece portion 547 rotates synchronously with the first output shaft 539A, so that the elastic restoring portion 545 is in a static state between the floating shaft 543 and the blocking piece portion 547.

For example, a shoulder is formed on the first output shaft 539A, and the flap portion 547 is disposed on the shoulder of the first output shaft 539A, so that the axial position of the flap portion 547 on the first output shaft 539A is limited by the shoulder of the first output shaft 539A, and the flap portion 547 is spaced from the transmission case 531 of the transmission 530 by a predetermined distance.

That is, one end of the elastic restoring portion 545 is abutted against the blocking piece portion 547, so that when the first output shaft 539A rotates, the blocking piece portion 547 is driven to rotate, thereby making the elastic restoring portion 545 in a stationary state with respect to the first output shaft 539A or with respect to the floating shaft 543.

In the present disclosure, the shape of the center hole of the shutter portion 547 is the same as or conforms to the shape of the cross section of the lower end of the first output shaft 539A so that the shutter portion 547 can rotate in synchronization with the first output shaft 539A.

In an alternative embodiment of the present disclosure, as shown in fig. 36, the elevation drive 540 further includes an elevation drive assembly 548, and the elevation support 542 is driven by the elevation drive assembly 548 to cause the elevation support 542 to move up and down along the guide column portion 541.

As shown in fig. 36, the elevation drive assembly 548 includes: a lift drive 5481 and a link 5482.

The lift drive 5481 is provided in a structure where the lower case 120, the transmission 530, and the like do not move, and is configured to provide a lift drive force.

One end of the link 5482 is disposed on the lift driving device 5481, and the other end of the link 5482 contacts the lift bracket 542, so that when the lift driving device 5481 drives the link 5482 to rotate around the rotation axis of the lift driving device 5481, the other end of the link 5482 slides relative to the lift bracket 542 and drives the lift bracket 542 to rise.

Conversely, when the lift drive 5481 is reversed, the lift bracket 542 moves downward by gravity or the like of itself and other components mounted to the lift bracket 542.

Preferably, the length direction of the link 5482 is perpendicular to the rotation axis of the lift drive 5481, and one end and the other end of the link 5482 refer to one end and the other end of the link 5482 in the length direction.

More preferably, the lift driving device 5481 may be a steering engine, a motor, a stepping motor, a reduction gear box, or the like.

In the present disclosure, the lifting driving unit 548 is not limited to the above-described structure, and can achieve the object of the present disclosure, such as a lifting cylinder, a linear motor, etc., as long as it can drive the floating shaft to lift. However, in view of space, a structure in which a lift driving device in the form of a motor is employed and a link is driven to swing up and down by rotation of an output shaft of the motor by a small angle is employed, and the structure is preferably employed.

To reduce friction during contact between the link 5482 and the elevating bracket 542, the other end of the link 5482 is provided with a rolling device 5483, and the rolling device 5483 is in contact with the elevating bracket 542, for example, the rolling device 5483 may be a bearing, a roller, or the like.

Further, a limit groove is provided on the elevation bracket 542, and the other end of the link 5482 or the rolling device 5483 moves in the limit groove, so that the movement stroke of the elevation bracket 542 at the time of downward movement can be limited by the provision of the limit groove.

Fig. 37 is a schematic structural view of a variable speed lifting device according to one embodiment of the present disclosure. Fig. 38 is another angular structural schematic diagram of a variable speed lifting device according to one embodiment of the present disclosure.

As another implementation, as shown in fig. 37 and 38, the wet cleaning apparatus 500 includes a variable speed lifting apparatus 560, where the variable speed lifting apparatus 560 is provided to the housing assembly 100, such as to the lower housing portion 120 of the housing assembly 100.

In the present disclosure, the variable speed elevating means 560 may be provided in two, that is, one rotating member is driven by each variable speed elevating means 560. Of course, the number of scrub drives 520 could be two, with each scrub drive 520 being coupled to one variable speed lift 560 to provide a driving force to the variable speed lift 560.

The variable speed lifter 560 includes a variable speed lifter case 561, a main gear 562, an intermediate gear 563, a lifter gear 564, and a lifter shaft 565.

The gear shift lifting case 561 may be formed by combining a case upper portion and a case lower portion, and the components of the gear shift lifting device 560 may be disposed inside the gear shift lifting case 561.

The scrubbing driving device 520 is disposed on the variable speed lifting box 561, for example, on the lower part of the box of the variable speed lifting box 561, and the main gear 562 is disposed on the scrubbing driving device 520, so that the scrubbing driving device 520 drives the main gear 562 to rotate.

The intermediate gear 563 is rotatably disposed in the gear box portion 561, for example, one end of the intermediate gear 563 is rotatably disposed in the upper portion of the box, and the other end is rotatably disposed in the lower portion of the box, such that the rotation axis of the intermediate gear 563 is parallel to the rotation axis of the scrub driving device 520.

The intermediate gear 563 includes a large gear 5631 and a small gear 5632, and the large gear 5631 and the small gear 5632 rotate synchronously, for example, the large gear 5631 and the small gear 5632 are integrally formed, wherein the large gear 5631 has a diameter and a number of teeth larger than those of the small gear 5632.

The main gear 562 is engaged with the large gear 5631 of the intermediate gear 563, and the small gear 5632 of the intermediate gear 563 is engaged with the lifting gear 564, and enables the lifting gear 564 to be lifted up and down with respect to the small gear 5632.

In the present disclosure, a lifting gear 564 is fixed to the upper end of the lifting shaft 565, and the rotation axis of the lifting shaft 565 is parallel to the rotation axis of the scrub driving device 520, wherein a screw part is formed at the outer surface of the lifting shaft 565.

The outside of the elevation shaft 565 is sleeved with a screw 566, wherein the screw 566 is engaged with a screw portion formed at the outer surface of the elevation shaft 565, preferably, an outer flange 5431 is formed at the outer circumferential surface of the screw 566; the nut 566 is rotatably provided to the shift-and-lift case portion 561 of the shift device 530, and the position of the nut 566 in the axial direction of the lift shaft 565 is restricted by the shift-and-lift case portion 561.

A mounting space is formed on the lower portion of the housing, a bearing portion 567 may be provided in the mounting space, and the screw 566 is rotatably provided in the bearing portion 567, and radial movement of the screw 566 is restricted by the bearing portion 567.

Preferably, the bearing portion 567 may be selected as a linear bearing, such as a plastic linear bearing or the like.

At least one of the upper surface and the lower surface of the outer flange 5431 of the screw 566 is provided with a thrust bearing 568, for example, the upper surface and the lower surface of the outer flange 5431 of the screw 566 are provided with thrust bearings 568, the thrust bearing 568 positioned at the upper surface of the outer flange 5431 of the screw 566 is in contact with the lower case portion, the thrust bearing 568 positioned at the lower surface of the outer flange 5431 of the screw 566 is in contact with the lower case portion 5601, wherein the lower case portion 5601 is provided at the lower case portion for closing the installation space of the lower case portion, and at this time, the elevating shaft 565 may pass through the lower case portion 5601 to be positioned outside the lower case portion 5601.

In an alternative embodiment of the present disclosure, as shown in fig. 38, the variable speed elevator 560 further comprises an elevator selection device 569, the elevator selection device 569 for selectively locking the nut 566, wherein when the elevator selection device 569 locks the nut 566 and the scrub drive 520 is rotated in a first direction, the elevator shaft 565 is rotated up; when the lift select device 569 is engaged with the screw 566 and the scrub drive 520 is rotated in a second direction, the lift shaft 565 is rotated down, and when the lift select device 569 is engaged with the screw 566, the scrub drive 520 is rotated in either the first direction or the second direction, wherein the first direction is opposite to the second direction, the scrub drive 520 rotates the first rotating member 511.

As one implementation, the lift selection device 569 may include a solenoid valve, wherein the outer flange 5431 of the screw 566 has a mounting slot formed thereon such that when the solenoid valve is actuated, the valve stem of the solenoid valve extends out and inserts into the mounting slot to lock the screw 566; otherwise, the valve stem of the solenoid valve is retracted to allow the nut 566 to freely rotate.

In the present disclosure, the height of the pinion 5632 is set as: when the elevation shaft 565 is positioned at the uppermost limit position and at the lowermost limit position, the pinion 5632 is kept engaged with the elevation gear 564.

In an alternative embodiment of the present disclosure, the first rotating member 511 is disposed at the lower end of the elevation shaft 565, and the elevation shaft 565 rotates and elevates the first rotating member 511.

The connection between the first rotating member 511 and the lifting shaft 565 is the same as or similar to the connection between the first rotating member 511 and the floating shaft 543, and will not be described herein.

The detailed structure of the scrubbing element 510 of the present disclosure is described below in conjunction with the drawings.

Specifically, as shown in fig. 30, the scrubbing element 510 can include a first rotating member 511 and a second rotating member 512.

The first rotary member 511 is rotatable about a first rotation center 517 and forms a first rotation circumference. The second rotary member 512 is rotatable about a second rotation center 518 and forms a second rotation circumference.

The first rotary member 511 may have a first edge, and the first edge is constituted by a first arc section 513 and a second arc section 514. The first arc 513 and the second arc 514 are alternately joined end to form a first edge.

Fig. 30 shows that the number of the first arc sections 513 and the second arc sections 514 is four, respectively, and the four first arc sections 513 and the four second arc sections 514 are alternately connected to form the first edge.

It will be appreciated by those skilled in the art that the number of first arc segments 513 and second arc segments 514 may be other numbers, such as five, six, seven, eight, etc.

The second rotary member 512 may have a second edge, and the second edge is formed of a third arc 523 and a fourth arc 524. Although the third and

fourth arc segments

523 and 524 are shown as four in number, respectively, and the

fourth arc segments

523 and 524 are alternately connected to form the second edge, the second edge may include more than four third and

fourth arc segments

523 and 524 as the first edge is the same. Further, the shape and arrangement of the second rotating member 512 may be the same as the first rotating member 511.

The first arc 513 has a convex shape with respect to the first rotation center 517, and the second arc 514 has a concave shape with respect to the first rotation center 517. The third arc 523 has a convex shape with respect to the second rotation center 518, and the fourth arc 524 has a concave shape with respect to the second rotation center 518.

By the arrangement of the first and second

rotating members

511, 512 of the present disclosure, the first and second

rotating members

511, 512 may occupy a larger effective cleaning surface area. For example, the effective cleaning surface area occupied by a rotating member constructed of more than four arcuate segments will be greater than a triangularly-shaped rotating member and will be better achieved during actual sweeping and mopping.

Further, although each arc section of the first rotary member 511 and the second rotary member 512 is shown in the figure as a circular arc shape, it may be other arc shapes, for example, may be an arc shape having a straight line and a curved line.

The first rotation circumference 515 and the second rotation circumference 516 have overlapping areas, and the first edge and the second edge are maintained in a continuously tangential state at the edges and inside of the overlapping areas during the rotation of the first rotation member 511 and the second rotation member 512.

Wherein in the present disclosure, a continuously tangential state refers to a first edge being in contact with a second edge or both maintaining a small gap, e.g., a constant small gap. In the present disclosure, the radians of the first, second, third, and fourth arc segments are set so as not to form mutual interference in the form of extrusion or the like, thereby ensuring smooth rotation of the first and second

rotating members

511 and 512.

For example, in a state where the first edge and the second edge are tangential, the sum of the distance from the first center of rotation 517 to the point of the first/second arc of tangency and the distance from the second center of rotation 518 to the point of the third/fourth arc of tangency will be equal to or substantially equal to the distance between the first center of rotation 517 and the second center of rotation 518. During rotation of the first and second

rotating members

511, 512, the first arc segment generally mates with the fourth arc segment and the second arc segment generally mates with the third arc segment. The distance from each point of the first and third arc segments to the first rotation center is set to be greater than or equal to half the distance between the first rotation center 517 and the second rotation center 518, and the distance from each point of the second and fourth arc segments to the first rotation center is set to be less than or equal to half the distance between the first rotation center 517 and the second rotation center 518.

As a specific example, the arrangement of the first to fourth arc segments may be as follows.

The distance of the first arc section 513 from the first center of rotation 517 is set to: the center point or point of the middle region of the first arc 513 is spaced from the first center of rotation 517 more than the points at the ends of the first arc 513. The distance between each point of the first arc 513 and the first rotation center 517 gradually decreases from the center or middle region of the first arc 513 toward both ends of the first arc 513.

The distance of the second arc segment 514 from the first center of rotation 517 is set to: the center point or point of the middle region of the second arc 514 is less distant from the first center of rotation 517 than the points at both ends of the second arc 514 are distant from the first center of rotation 517. The distance between each point of the second arc segment 514 and the first rotation center 517 gradually increases from the center or middle region of the second arc segment 514 toward both ends of the second arc segment 514.

The distance of the third arc 523 from the second center of rotation 518 is set to: the center point or the point of the middle region of the third arc 523 is farther from the second rotation center 518 than the points of both ends of the third arc 523 are from the second rotation center 518. The distance between each point of the third arc segment 523 and the second rotation center 518 gradually decreases from the center or middle region of the third arc segment 523 toward both ends of the third arc segment 523.

The fourth arc segment 524 is set at a distance from the second center of rotation 518: the center point or middle region of the fourth arc segment 524 is a distance from the second center of rotation 518 that is less than the distance from the second center of rotation 518 between the points at the ends of the fourth arc segment 524. The distance between each point of the fourth arc segment 524 and the second center of rotation 518 gradually increases from the center or middle region of the fourth arc segment 524 toward both ends of the fourth arc segment 524.

In a preferred embodiment, the first arc 513 and the second arc 514 are smoothly transitioned arc segments and/or the third arc 523 and the fourth arc 524 are smoothly transitioned arc segments.

While the scrubbing member 510 is in operation, it may be rotated horizontally against the surface to be cleaned for mopping, etc. The first rotation member 511 and the second rotation member 512 are symmetrically arranged and the rotation directions may be set to be opposite, so that it is ensured that the rotation of the first rotation member 511 and the second rotation member 512 does not affect the normal travel of the cleaning device when the cleaning device such as the automatic cleaning device 10 is in operation.

In an embodiment of the present disclosure, the first rotating member 511 and the second rotating member 512 are configured to be movable up and down with respect to the surface to be cleaned. Wherein up and down movement herein means movement in a direction perpendicular to the surface being cleaned. In this manner, the scrubbing element 510 is better contacted by the surface being cleaned, thereby achieving better cleaning.

The first rotating member 511 and the second rotating member 512 may be provided with cleaning material to scrub the surface being cleaned. The cleaning material may comprise, for example, a flexible brush head or cleaning cloth or the like. The cleaning head or brush head may scrub the cleaning surface by cleaning.

The cleaning material 519 is provided at the first rotary member 511 or the second rotary member 512, and the cleaning material 519 rotates as the first rotary member 511 and the second rotary member 512 rotate.

As shown in fig. 33, a hollowed-out region 525 may be provided on the first rotating member 511 so that when the cleaning liquid is supplied to the hollowed-out region 525, the cleaning liquid can pass through the hollowed-out region 525 to reach the cleaning material 519, thereby achieving the mopping effect of the automatic cleaning device 10 by the wet cleaning material 519.

Although a hollowed-out area is shown in fig. 33, those skilled in the art will appreciate that other shapes may be used.

In addition, the same manner may be adopted for the second rotating member 512, which is not described herein.

Fig. 39 is a schematic structural view of a cleaning liquid supply device 570 according to one embodiment of the present disclosure.

In the present disclosure, as shown in fig. 8 and 39, the wet cleaning apparatus further includes a cleaning liquid supply apparatus 570, the cleaning liquid supply apparatus 570 storing a cleaning liquid and supplying the cleaning liquid to the first rotating member 511 and/or the second rotating member 512 to enable the wet cleaning apparatus to wet clean a surface to be cleaned.

In an alternative embodiment of the present disclosure, the cleaning liquid supply device 570 includes:

a cleaning liquid storage part 571, the cleaning liquid storage part 571 for storing the cleaning liquid;

a fluid replacement control part 572, the fluid replacement control part 572 being provided in the cleaning fluid storage part 571 and having a first position and a second position, wherein the fluid replacement control part 572 is not allowed to supply the cleaning fluid into the cleaning fluid storage part 571 when it is in the first position, and the fluid replacement control part 572 is allowed to supply the cleaning fluid into the cleaning fluid storage part 571 when it is in the second position; and

the position detection module 610 is configured to detect a position of the fluid replacement control part 572, and determine whether the cleaning fluid can be supplied into the cleaning fluid storage part 571 based on the position of the fluid replacement control part 572.

Therefore, when the automatic cleaning device is parked at the base station, the liquid replenishing pipe of the base station can drive the liquid replenishing control part 572, and the accurate position of the liquid replenishing control part is obtained through the position detection module, so that the process of replenishing cleaning liquid can be smoothly carried out.

Of course, the position detection module 610 may also be part of the detection device 600 of the robotic cleaning device 10; that is, it is not inconsistent for one skilled in the art that the position detection module 610 may be categorized in the cleaning liquid supply device or in the detection device.

In this disclosure, the position detection module 610 includes:

a magnetic detection portion 611, the magnetic detection portion 611 being configured to generate a magnetic field; and

the detection element 612 confirms the distance between the magnetic detection unit 611 and the detection element 612 by the magnetic field intensity of the magnetic detection unit 611 detected by the detection element 612, thereby determining the position of the fluid replacement control unit 572.

As one implementation, the magnetic detection part 611 is provided to the liquid replenishment control part 572, and the detection element 612 is provided to the cleaning liquid storage part 571; alternatively, as another implementation, the magnetism detection unit 611 is provided in the cleaning liquid storage unit 571, and the detection element 612 is provided in the liquid replenishment control unit 572.

Preferably, the detection element 612 comprises a hall element and/or a reed switch.

The cleaning liquid supply device 570 according to at least one embodiment of the present disclosure further includes:

a guide portion 573, the guide portion 573 being provided to the cleaning liquid storage portion 571; as one implementation, the guide portion 573 may be formed to extend from an inner wall surface of one side wall of the cleaning liquid storage portion 571 toward the inside of the cleaning liquid storage portion 571; as another implementation, the guide 573 may be formed as a separate component and the cleaning liquid storage 571 is formed with a recess, at least part of the guide 573 being located within the recess of the cleaning liquid storage.

Also, the guide portion 573 may be formed as a part of a wall portion of the cleaning liquid storage portion, and the guide portion 573 forms a cleaning liquid circulation passage through which an inner space of the cleaning liquid storage portion 571 communicates with the outside of the cleaning liquid storage portion 571.

The side wall of the guide portion 573 is provided with a liquid replenishing hole formed as a part of the cleaning liquid circulation passage, that is, the guide portion 573 communicates with the inner space of the cleaning liquid storage portion 571 through the liquid replenishing hole, so that when the liquid in the liquid replenishing pipe flows to the guide portion 573, the liquid flows into the cleaning liquid storage portion 571 through the liquid replenishing hole of the guide portion 573.

In one aspect, the guide 573 may be horizontally disposed, with the fluid replacement hole being located at the lowest position of the guide 573.

On the other hand, the guide portion 573 may be disposed obliquely, for example, obliquely downward in the direction of the refill control portion from the first position to the second position (i.e., in the direction of the automatic cleaning apparatus from front to rear), and the refill hole is disposed along the length direction of the guide portion 573 such that an extension line of the position where the refill hole is located at the lowest position of the guide portion 573.

The fluid replacement control part 572 is slidably disposed at the guide part 573, and when the fluid replacement control part 572 is in the first position, the fluid replacement control part 572 closes the fluid replacement hole to prevent the cleaning fluid from flowing out of the cleaning fluid storage part 571, and does not allow the cleaning fluid to be added into the cleaning fluid storage part 571, and when the fluid replacement control part 572 is in the second position, the internal space of the cleaning fluid storage part 571 is communicated with the cleaning fluid circulation passage of the guide part 573.

In the present disclosure, the cleaning liquid supply apparatus 570 further includes:

a seal guide 574, the seal guide 574 being provided to the cleaning liquid storage portion 571 to seal the cleaning liquid circulation passage by the seal guide 574 and guide the liquid replenishing pipe.

Specifically, the center of the seal guide 574 is formed with a tapered center hole, and the diameter of the center hole of the seal guide 574 is gradually reduced in the direction approaching the cleaning liquid storage part 571, so that by the arrangement of the seal guide 574, on the one hand, the liquid replenishing pipe of the base station is guided, and on the other hand, the sealing effect of the cleaning liquid storage part 571 can be improved.

For example, when the fluid replacement control part 572 is in the first position, a sealing member 575 is provided between the fluid replacement control part 572 and the seal guide 574, and the sealing member 575 may be a sealant so that the cleaning liquid storage part 571 forms a sealing structure at the fluid replacement control part 572.

When the fluid replacement control part 572 is positioned at the first position, at least a part of the fluid replacement control part 572 is positioned in the center hole of the seal guide 574.

In order that the fluid replacement control part 572 can move from the second position to the first position after the fluid replacement pipe of the base station is separated from the cleaning fluid storage part 571, the cleaning fluid storage part 571 further includes an elastic force applying part 576, one end of the elastic force applying part 576 is provided at one wall part of the cleaning fluid storage part 571, the other end is provided at the fluid replacement control part 572, and when the fluid replacement control part 572 is located at the first position, the elastic force applying part 576 applies an elastic force to the fluid replacement control part 572.

When the fluid replacement control part 572 moves from the first position to the second position, the fluid replacement control part 572 further compresses the elastic force applying part 576 to move the fluid replacement control part 572 from the second position to the first position by the potential energy of the elastic force applying part 576.

In accordance with at least one embodiment of the present disclosure, the cleaning liquid storage part 571 includes a container upper part and a container lower part, and the cleaning liquid storage part 571 is formed by connection of the container upper part and the container lower part.

Wherein, the upper housing 110 has an opening formed in the housing side wall 112, and the seal guide 574 corresponds to the position of the opening of the housing side wall 112, so that the fluid replacement pipe of the base station can pass through the opening of the housing side wall 112 and the seal guide 574 to apply a pushing force to the fluid replacement control part 572.

On the other hand, a portion of the seal guide 574 may be located within the opening of the housing sidewall 112 so that the fluid replacement tube of the base station can be inserted directly into the seal guide 574 and exert a pushing force on the fluid replacement control 572.

More preferably, the opening formed in the housing side wall portion 112 is located at the rear side of the automatic cleaning apparatus 10 in the advancing direction of the automatic cleaning apparatus 10; for example, at a location proximate to the wet cleaning module.

The cleaning liquid supply device 570 of (c) further comprises: a liquid supply module is provided in the housing assembly 100, for example in the lower housing part 120 of the housing assembly 100, and is connected to the cleaning liquid storage part 571 for supplying the cleaning liquid to the first rotating member 511 and/or the second rotating member 512.

The liquid supply module may include a peristaltic pump to quantitatively send the cleaning liquid stored in the cleaning liquid storage part 571 to the first rotating member 511 and/or the second rotating member 512 by the peristaltic pump.

The detection device 600 includes a laser ranging sensor 620 (LDS laser ranging sensor 620), where the laser ranging sensor 620 is rotatably disposed on the housing assembly 100, for example, directly or indirectly disposed on the lower housing portion 120 of the housing assembly 100, and passes through the housing cover 130, such that a portion of the laser ranging sensor 620 is located on an upper portion of the housing cover 130.

Wherein the laser ranging sensor 620 rotates at a speed of about 300rpm, although the speed of the laser ranging sensor 620 may be set to other values to detect the distance between the robot cleaner 10 and the surrounding obstacle by the laser ranging sensor 620, thereby mapping the surface to be cleaned.

On the other hand, the detecting device 600 further includes a wall-following sensor capable of detecting a distance between the robot 10 and the peripheral planar obstacle, for example, the wall-following sensor can detect a distance between the robot 10 and the wall and enable the robot 10 to walk along the wall, thereby effectively cleaning an area near the wall.

In the present disclosure, the along-wall sensor may be selected to be a line laser sensor and thereby enable the automatic cleaning apparatus 10 to be maintained at a distance of 5mm or less from the wall.

Wherein the wall sensor is provided at the housing assembly 100, a signal emitted therefrom can be emitted from an opening formed at a side of the housing assembly 100 to the outside of the robot cleaner 10, and the reflected signal is received from the opening of the side of the housing assembly 100 by the wall sensor to accurately detect the distance between the robot cleaner 10 and the peripheral planar obstacle.

In an alternative embodiment of the present disclosure, the detection apparatus 600 further includes a collision sensor to detect a collision position of the robot cleaner 10 with the peripheral obstacle by the collision sensor, thereby confirming the position of the peripheral obstacle of the robot cleaner 10.

Wherein the crash sensor comprises a striker plate portion, wherein the striker plate portion is arranged to be relatively displaceable with respect to the housing assembly 100, in particular, the striker plate portion is formed as a part of the outer surface of the automatic cleaning apparatus 10.

The striking plate portion may be located at the front of the traveling direction of the automatic cleaning apparatus 10 to generate a relative displacement between the striking plate portion and the housing assembly 100 when the striking plate portion collides with an obstacle, and to trigger the detection portion of the collision sensor to detect the displacement signal.

In an alternative embodiment of the present disclosure, the detecting apparatus 600 further includes a cliff sensor for detecting a distance between the robot 10 and the surface to be cleaned, and when the distance between the robot 10 and the surface to be cleaned is greater than a preset value, or a difference between the current distance between the robot 10 and the surface to be cleaned and the distance between the robot 10 and the surface to be cleaned at the previous time is greater than the preset value, it is determined that a step or the like exists on the surface to be cleaned, and the robot 10 is controlled to stop at this time, preventing the robot 10 from falling off the step.

Further, the robot cleaner 10 may also form a virtual exclusion zone according to a user's setting, and when the robot cleaner 10 moves to the vicinity of the virtual exclusion zone, the robot cleaner 10 is controlled to restrict the robot cleaner 10 from crossing the virtual exclusion zone.

According to another aspect of the present disclosure, some components of an automatic cleaning apparatus constitute a cooling assembly for an automatic cleaning apparatus, for example, a cooling assembly for an automatic cleaning apparatus includes: a dust collection container 410, the dust collection container 410 for receiving a mixture of dust and gas on a surface to be cleaned and collecting the dust in the dust collection container 410; a suction device 420, the suction device 420 being provided to the dust container 410 for providing negative pressure to the dust container 410 to suck the mixture of dust and gas on the surface to be cleaned into the dust container 410; and a filtering device 440, the filtering device 440 for filtering the gas flowing through the pumping device 420; wherein the gas exhausted by the suction device 420 flows through the heat generating components of the automatic cleaning apparatus 10.

In this disclosure, the wind of the dust absorption of self-cleaning equipment is utilized once more, and the wind of dust absorption is filtered, can blow to the part of self-cleaning equipment that produces heat, for example on the motor, makes the motor can gradually cool down, realizes the effectual recycling of wind energy, has solved the wind of dust absorption and has by extravagant technical problem.

The filter 440 is disposed inside the dust container 410, and the gas is sucked by the suction device 420 and discharged by the suction device 420 after passing through the filter 440. The gas discharge port of the suction device 420 is directed toward the heat generating component of the robot cleaner 10 such that the suction device 420 provides a flowing gas toward the heat generating component of the robot cleaner 10 and cools the heat generating component of the robot cleaner 10 by the flowing gas. The gas outlet of the suction device 420 is located near the heat generating components of the automatic cleaning apparatus 10.

The cooling assembly for the automatic cleaning equipment further comprises: a lower housing part 120, the lower housing part 120 being formed as a lower part of the automatic cleaning apparatus 10; wherein the lower housing part 120 is formed with a gas outlet 121, and the gas discharged from the pumping device 420 is discharged to the outside of the robot cleaner 10 through the gas outlet 121 of the lower housing part 120.

In the present disclosure, the air outlet 121 is formed in the lower housing 120, so that the cooled air can be discharged from the lower part of the automatic cleaning device without forming a lateral hole in the sweeper, thereby ensuring the uniformity and beauty of the automatic cleaning device.

The gas discharged from the suction device 420 is discharged to the lower portion of the automatic cleaning apparatus 10, for example, the gas discharged from the suction device 420 is discharged to the lower portion of the automatic cleaning apparatus through the gas outlet 121 of the lower housing part 120.

The heat generating components of the robotic cleaning device 10 are located in the flow path of the gas flowing from the gas discharge port of the suction device 420 to the gas outlet 121 of the lower housing part 120.

The heat generating components of the robotic cleaning device 10 include a scrub drive 520 with the gas outlet of the suction device 420 directed toward the scrub drive 520 or located near the scrub drive 520.

The number of gas outlets 121 is at least two and the scrubbing drive 520 is located in the area between the at least two gas outlets 121.

Cooling component for self-cleaning equipment still includes:

a rotating member, a scrubbing drive 520 for driving the rotating member to rotate to clean a surface to be cleaned by the rotating member; wherein the gas outlets 121 are arranged in one-to-one correspondence with the rotating members.

When the rotating members include a first rotating member 511 and a second rotating member 512, the first rotating member 511 corresponds to one gas outlet, and the second rotating member 512 corresponds to one gas outlet.

The gas outlet 121 comprises at least one arc-shaped hole, wherein the arc-shaped hole is arranged with the rotation axis of the rotary member as the axis.

On the other hand, when the distance between the heat generating part of the automatic cleaning apparatus and the gas discharge port of the exhaust gas of the suction device 420 is long, the cooling assembly for the automatic cleaning apparatus further includes: a gas delivery path (not shown in the drawings) through which the gas discharged from the pumping device 420 is delivered to the heat generating parts of the robot cleaner 10.

As an implementation, the gas delivery path may be implemented by a delivery pipe, i.e. the gas delivery path comprises a delivery pipe, one end of which is connected to the gas discharge opening of the suction device 420, and the other end of which is directed towards the heat generating component of the automatic cleaning device 10 or is located in the vicinity of the heat generating component of the automatic cleaning device 10.

Of course, the gas delivery path may also be formed by a channel formed by the internal structure of the automatic cleaning device.

Preferably, the heat generating components of the robotic cleaning device 10 include: lifting drive, limit brush drive, round brush drive and/or walking drive.

Of course, the heat generating components of the robotic cleaning device 10 may also include a motor controller, that is, the air exhausted by the suction device may be blown onto the circuit board and used to cool the motor controller on the circuit board.

It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims

1. A cooling module for an automatic cleaning apparatus, comprising:

A filtering device for filtering the gas flowing through the suction device;

2. The cooling module for an automatic cleaning apparatus according to claim 1, wherein the filter means is provided inside the dust collection container, and the gas is sucked by the suction means after passing through the filter means and discharged by the suction means.

3. The cooling module for a robotic cleaning device as claimed in claim 1, wherein the gas outlet of the suction device is directed toward the heat generating component of the robotic cleaning device such that the suction device provides a flowing gas toward the heat generating component of the robotic cleaning device and cools the heat generating component of the robotic cleaning device by the flowing gas.

4. The cooling module for a robotic cleaning device as set forth in claim 1 wherein said suction device gas outlet is located adjacent to a heat generating component of said robotic cleaning device.

5. The cooling module for an automatic cleaning apparatus according to claim 1, further comprising:

6. The cooling module for a robot cleaner according to claim 5, wherein the gas discharged from the suction means is discharged to a lower portion of the robot cleaner.

7. The cooling module for a robot cleaner according to claim 5, wherein the heat generating component of the robot cleaner is located in a flow path of the gas flowing from the gas discharge port of the suction device to the gas outlet of the lower housing part.

8. The cooling module for a robotic cleaning device of claim 5, wherein the heat generating component of the robotic cleaning device includes a scrubbing drive, the gas outlet of the suction device being directed toward or positioned adjacent to the scrubbing drive such that the scrubbing drive is positioned in a flow path of gas flowing from the gas outlet of the suction device to the gas outlet of the lower housing portion.

9. The cooling module for a robotic cleaning device as set forth in claim 8 wherein the number of gas outlets is at least two and the scrubbing drive is located in a region between the at least two gas outlets.

10. The cooling module for an automatic cleaning apparatus according to claim 8, further comprising:

11. The cooling module for a robotic cleaning device as set forth in claim 10 wherein said gas outlet includes at least one arcuate aperture, wherein said arcuate aperture is disposed about an axis of rotation of said rotating member.

12. The cooling module for an automatic cleaning apparatus according to claim 1, further comprising:

13. The cooling module for a robotic cleaning device as set forth in claim 12 wherein said gas delivery path includes a delivery conduit having one end connected to a gas discharge port of said suction means and the other end of said delivery conduit being directed toward or in proximity to a heat generating component of said robotic cleaning device.

14. The cooling module for a robotic cleaning device as set forth in claim 11, wherein the heat generating component of the robotic cleaning device comprises: lifting drive, limit brush drive, round brush drive and/or walking drive.

15. A robotic cleaning device comprising the cooling assembly for a robotic cleaning device of any one of claims 1-14.