CN220557921U

CN220557921U - Automatic cleaning device and cleaning robot system

Info

Publication number: CN220557921U
Application number: CN202321721970.1U
Authority: CN
Inventors: 秦运根
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2023-07-03
Filing date: 2023-07-03
Publication date: 2024-03-08
Anticipated expiration: 2033-07-03

Abstract

The utility model provides an automatic cleaning device and a cleaning robot system. The automatic cleaning device includes: the cleaning system comprises a first cleaning assembly, wherein the first cleaning assembly comprises a cleaning element movably connected with the machine body, the cleaning element is provided with a first position accommodated in the machine body and a second position positioned outside the machine body, and the cleaning element in the first position is higher than the cleaning element in the second position. Therefore, according to the requirement of whether the first cleaning component needs to perform wet cleaning operation, the cleaning element can be selectively moved into the machine body to be stored or moved out of the machine body to perform wet cleaning operation so as to meet different working requirements of the cleaning element, meanwhile, the cleaning element which is clean or dirty and does not need to be worked can be stored in the machine body, the reliability and the cleaning performance of the cleaning element are improved, and the possibility of secondary pollution of the dirty cleaning element to the surface to be cleaned is reduced.

Description

Automatic cleaning device and cleaning robot system

Technical Field

The utility model relates to the technical field of intelligent home, in particular to automatic cleaning equipment and a cleaning robot system.

Background

With the iterative update and development of technology, automatic cleaning equipment has come into ordinary home life and has gradually become popular. In the current automatic cleaning equipment, there is one kind and has had the function of mopping the floor, like mopping the floor robot or sweeping and drag the all-in-one, but because its mopping subassembly exposes in the outside of machine main part all the time, the dirty mopping subassembly after accomplishing mopping has the possibility that carries out secondary pollution to ground, and then influences cleaning effect.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. This section of the utility model is not intended to limit the critical and essential features of the claimed subject matter, nor is it intended to be used as an attempt to determine the scope of the claimed subject matter.

An embodiment of a first aspect of the present utility model provides an automatic cleaning apparatus comprising: the cleaning system comprises a first cleaning assembly, wherein the first cleaning assembly comprises a cleaning element movably connected with the machine body, the cleaning element is provided with a first position accommodated in the machine body and a second position positioned outside the machine body, and the cleaning element in the first position is higher than the cleaning element in the second position.

Further, at least a portion of the cleaning elements in the second position are located outside of the edge projection area of the machine body.

Further, the lateral part of the machine body is provided with a containing cavity and an avoiding cavity, the containing cavity is used for containing the cleaning element at the first position, and the avoiding cavity penetrates through the bottom of the machine body and is used for avoiding the cleaning element at the second position.

Further, the receiving chamber is located at the rear side of the machine body, and the avoiding chamber is disposed adjacent to the lateral side of the machine body.

Further, the first cleaning assembly further comprises: a driving unit provided on the machine body; the first transmission device is in transmission connection with the driving part and the cleaning element, and the driving part drives the cleaning element to switch between a first position and a second position through the first transmission device and can drive the cleaning element to rotate.

Further, the driving part comprises a base and a first power part which are arranged on the machine body; the first transmission includes: the cleaning device comprises a base, a first transmission assembly, a swing arm and a clutch mechanism, wherein the swing arm is rotationally connected with the base; the clutch mechanism is in an engagement state and can enable the first transmission assembly to be in power connection with the swing arm so as to drive the swing arm to lift and rotate relative to the base to drive the cleaning element to move between a first position and a second position, and the clutch mechanism is in a separation state and can enable the first transmission assembly to be in power connection with the cleaning element so as to drive the cleaning element to rotate.

Further, the first transmission assembly includes: the transmission shaft is in power connection with the first power part, penetrates through the swing arm and the transmission wheel, can synchronously rotate along with the transmission shaft and slide along the transmission shaft, and the gear train is in transmission connection with the transmission wheel and the clutch mechanism.

Further, the side of transmission shaft is provided with spacing face, and the drive wheel is provided with the through-hole that supplies the transmission shaft to wear to establish, and the inner wall of through-hole is provided with the locating surface, and spacing face and locating surface phase-match are used for carrying out spacingly to the rotation of transmission wheel for the transmission shaft.

Further, the clutch mechanism includes: the clutch gear comprises a first movable clutch tooth and a second movable clutch tooth which are respectively arranged on two end surfaces, a first helical tooth part and a second tooth part which are coaxially arranged, the first helical tooth part is meshed with the gear train, and the second tooth part is in transmission connection with the cleaning element; the first power part rotates in one direction, the clutch gear can move to the direction close to the first fixed clutch teeth through the gear train so that the first movable clutch teeth and the first fixed clutch teeth are engaged to drive the swing arm to rotate downwards along the direction from the first position to the second position, the first power part rotates in the other direction, the clutch gear can move to the direction far away from the first fixed clutch teeth through the gear train so that the second movable clutch teeth and the second fixed clutch teeth are engaged to drive the swing arm to rotate upwards along the direction from the second position to the first position.

Further, an avoidance gap for avoiding the swing arm, and a first track and a second track which are positioned on the upper surface and the lower surface of the avoidance gap are arranged on the periphery of the base, the first track is spirally and downwards inclined, and the second track is spirally and downwards inclined along the movement direction of the cleaning element from the first position to the second position; the swing arm is provided with a first roller and a second roller which are positioned outside the swing arm; wherein, swing arm decline rotation in-process, first gyro wheel is along first track operation, and the swing arm rises rotation in-process, and the second gyro wheel is along second track operation.

Further, the first transmission device further comprises a second transmission assembly positioned in the swing arm, the input end of the second transmission assembly is meshed with the second tooth part, and the output end of the second transmission assembly penetrates through the swing arm to be connected with the cleaning element.

Further, the swing arm comprises an upper cover and a lower cover which surround to form a transmission cavity, the transmission wheel, the gear train and part of the clutch mechanism are positioned in the transmission cavity, the first fixed clutch teeth are arranged on the upper cover, the second fixed clutch teeth are arranged on the lower cover, and the cleaning element is positioned at the bottom of the lower cover.

Further, the clutch mechanism also comprises a deflector rod, and the deflector rod is arranged in the swing arm in a penetrating way and is abutted with the clutch gear; the machine body is provided with a first limiting part, when the first power part drives the first movable clutch teeth to be engaged with the first fixed clutch teeth so that the swing arm drives the cleaning element to move to the second position, the first limiting part interferes with the deflector rod to drive the deflector rod to move from the initial position to the trigger position, and the first movable clutch teeth are separated from the first fixed clutch teeth.

Further, the deflector rod comprises a connecting part and a rod part which are connected, the outer part of the rod part is used for interfering with the first limiting part, the connecting part penetrates through the swing arm and is connected with the connecting shaft in a rotating way, the end part in the swing arm is abutted with the clutch gear, the first certain clutch teeth are distributed on the periphery side of the connecting part, and the end face of the connecting part, which is positioned outside the swing arm, is provided with a third inclined tooth part; the machine body is provided with a fourth helical gear part opposite to the third helical gear part, the third helical gear part is in butt joint with the fourth helical gear part in the initial position, and the third helical gear is separated from the fourth helical gear in the trigger position.

Further, a second limiting piece is further arranged on the machine body, and when the driving part drives the second movable clutch tooth to be engaged with the second fixed clutch tooth so that the swing arm drives the cleaning element to move to the first position, the second limiting piece interferes with the deflector rod to drive the deflector rod to move from the trigger position to the initial position.

Further, a guide inclined plane is arranged on the end face of the swing arm, facing the rod part, and is obliquely upwards arranged along the movement direction of the deflector rod from the trigger position to the initial position.

Further, the automatic cleaning apparatus further includes: and the first power part is used for rotating or stopping rotating according to the detection result of the position detection device.

Further, the automatic cleaning apparatus further includes: and the buffer device is rotatably arranged on the machine body and is used for buffering the swing arm when the cleaning element in the second position is acted on by a force towards the center of the machine body.

Further, the buffer device includes: the rotating shaft is connected to the machine body, and the buffer swing rod is rotatably arranged on the rotating shaft; the buffer swing rod comprises a zero position, and the buffer swing rod at the zero position is in contact with the swing arm when the cleaning element is at the second position and is positioned between the swing arm and the center of the machine body.

Further, the buffer device also comprises a reset piece connected to the rotating shaft and/or the buffer swing rod, and the reset piece is used for providing thrust for the buffer swing rod so as to reset the buffer swing rod to the zero position.

Further, a first magnetic attraction piece is arranged on the buffering swing rod, a second magnetic attraction piece is arranged on the swing arm, and when the cleaning element is in the second position, the first magnetic attraction piece and the second magnetic attraction piece attract each other so that the swing arm is in contact with the buffering swing rod.

Further, the automatic cleaning apparatus further includes: the second cleaning component comprises a cleaning head connected to the bottom of the machine body, and the cleaning head is positioned in the edge projection area of the machine body and fixed relative to the edge projection area.

Further, in a lateral direction of the machine body, the cleaning head is arranged opposite to a portion of the cleaning elements in the second position.

Further, the second cleaning assembly further comprises a drive unit drivingly connected to the machine body and the cleaning head for driving the cleaning head to reciprocate along the target surface.

Further, the automatic cleaning apparatus further includes: the liquid storage tank is arranged on the machine body and used for containing cleaning liquid, and the water delivery mechanism comprises a water delivery driving part which is respectively connected with the cleaning element and the cleaning head and is also communicated with the liquid storage tank so as to correspondingly convey the cleaning liquid in the liquid storage tank to the cleaning element or the cleaning head.

Further, the automatic cleaning apparatus further includes: the third cleaning component comprises a side brush movably arranged at the bottom of the machine body, wherein the side brush and the avoidance cavity are positioned at the same side of the machine body and are arranged front and back.

Further, the cleaning element further includes a third position between the first position and the second position, the cleaning element in the third position being located outside of the edge projection area of the machine body.

An embodiment of a second aspect of the present utility model provides a cleaning robot system including: a base station; and the robotic cleaning device of any one of the first aspects, the robotic cleaning device adapted to dock onto a base station.

Further, the base station includes: the base station body and the cleaning component are arranged on the base station body, and the cleaning component is used for removing sundries on the cleaning component through interference with the cleaning component of the automatic cleaning equipment.

Further, a third limiting piece is arranged on the base station body, when the automatic cleaning equipment is parked on the base station, the third limiting piece is located between the first limiting piece and the second limiting piece of the automatic cleaning equipment, so that when the cleaning element is located at a third position, the third limiting piece interferes with a deflector rod of the automatic cleaning equipment to drive the deflector rod to move from an initial position to a trigger position.

The utility model provides an automatic cleaning device and a cleaning robot system, wherein the automatic cleaning device comprises a machine main body and a first cleaning assembly, the first cleaning assembly comprises a cleaning element movably connected with the machine main body, the cleaning element is provided with a first position which is contained in the machine main body, and a second position which is positioned outside the machine main body, and the cleaning element in the first position is higher than the cleaning element in the second position. Therefore, according to the requirement of whether the first cleaning component needs to perform wet cleaning operation, the cleaning element can be selectively moved into the machine body to be stored or moved out of the machine body to perform wet cleaning operation so as to meet different working requirements of the cleaning element, and meanwhile, the cleaning element which is clean or dirty and does not need to work can be stored in the machine body so as to improve the reliability and the cleaning performance of the cleaning element, reduce the possibility of secondary pollution of the dirty cleaning element to the surface to be cleaned and improve the cleaning effect.

The foregoing description is only an overview of the present utility model, and is intended to be implemented in accordance with the teachings of the present utility model in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present utility model more readily apparent.

Drawings

The following drawings of the present utility model are included as part of the description of embodiments of the utility model. The drawings illustrate embodiments of the utility model and their description to explain the principles of the utility model.

In the accompanying drawings:

FIG. 1 is a schematic view of a robotic cleaning device with cleaning elements in a second position according to an alternative embodiment of the utility model;

FIG. 2 is a schematic view of a robotic cleaning device with cleaning elements in a first position, a second position, and a third position, respectively, according to an alternative embodiment of the present utility model;

FIG. 3 is a schematic view of a portion of the robotic cleaning device with the cleaning elements in a second position in accordance with an alternative embodiment of the utility model;

FIG. 4 shows an enlarged schematic view at A of the embodiment shown in FIG. 3;

FIG. 5 is a schematic view of yet another portion of the robotic cleaning device with the cleaning elements in a second position in accordance with an alternative embodiment of the utility model;

FIG. 6 shows an enlarged schematic view of the embodiment of FIG. 5 at B;

FIG. 7 is a schematic view of a portion of a first cleaning assembly according to an alternative embodiment of the present utility model;

FIG. 8 is another partial cross-sectional view of the robotic cleaning device with the cleaning element in a second position in accordance with an alternative embodiment of the utility model;

FIG. 9 shows an enlarged schematic view of the embodiment of FIG. 8 at C;

FIG. 10 is a schematic view of the structure of a drive wheel according to an alternative embodiment of the utility model;

FIG. 11 is a schematic view of yet another portion of the robotic cleaning device with the cleaning elements in a second position in accordance with an alternative embodiment of the utility model;

FIG. 12 is a schematic structural view of a clutch gear according to an alternative embodiment of the present utility model;

FIG. 13 is a schematic view of the structure of an upper cover according to an alternative embodiment of the present utility model;

FIG. 14 is a schematic view of the structure of a lower cover according to an alternative embodiment of the present utility model;

FIG. 15 is a schematic view of a lever structure in accordance with an alternative embodiment of the present utility model;

FIG. 16 is a schematic view of a buffering rocker according to an alternative embodiment of the present utility model;

FIG. 17 is an exploded view of a second cleaning assembly according to an alternative embodiment of the present utility model;

FIG. 18 is a schematic diagram of a drive platform according to an alternative embodiment of the present utility model;

fig. 19 is a schematic view showing the structure of the connecting rod and the vibration member according to an alternative embodiment of the present utility model.

Description of the reference numerals

100 automatic cleaning apparatus, 110 machine body, 111 forward portion, 112 rearward portion, 113 receiving cavity, 114 evading cavity, 115 first limiter, 116 second limiter, 120 sensing system, 121 determining device, 122 buffer, 130 first cleaning assembly, 131 cleaning element, 132 drive, 1321 base, 1322 power, 1323 evading notch, 1324 first track, 1325 second track, 133 first transmission, 134 first transmission assembly, 1341 drive shaft, 1342 drive wheel, 1343 gear train, 1344 limit face, 1345 positioning face, 135 swing arm, 1351 upper cover, 1352 lower cover, 136 clutch mechanism, 1361 connecting shaft, 1362 clutch gear, 1363 first moving clutch teeth, 1364 second moving clutch teeth, 1365 first helical teeth, 1366 second teeth, 1367 first fixed clutch teeth, 1368 second fixed clutch teeth, 1371 connecting portion, 1372 rod portion, 1373 third helical teeth 137, 138 second transmission assembly, second transmission device, second rotary shaft, 140, 1352 buffer shaft, 1622 drive shaft, 1612 flexible drive shaft, 1612, and vibration table, 1612 drive shaft, and vibration table, 1612 drive area, and vibration table, 1611, 1612, and flexible drive area, 1611, and so as to be mounted.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that the present utility model may be practiced without one or more of these specific details.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present utility model. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present utility model will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

As shown in fig. 1 to 19, an embodiment of the present utility model provides a robot cleaner 100 and a cleaning robot system, wherein the cleaning robot system includes the robot cleaner 100 and a base station, i.e., the base station is used in cooperation with the robot cleaner 100.

Further, as shown in fig. 1 and 2, the automatic cleaning apparatus 100 may include a machine main body 110, a sensing system 120, a control module, a driving system, a cleaning system, an energy system, and a man-machine interaction system. It is understood that the robotic cleaning device 100 may be a self-moving cleaning device or other robotic cleaning device 100 as desired. The automatic cleaning apparatus 100 is an apparatus that automatically performs a cleaning operation in a certain area to be cleaned without a user's operation. Wherein when the automatic cleaning apparatus 100 starts to operate, the automatic cleaning apparatus 100 performs a cleaning task from a base station. When the robotic cleaning device 100 completes a cleaning task or other situation requiring a suspension of the cleaning task, the robotic cleaning device 100 may return to the base station for charging or other operations.

As shown in fig. 1, the machine body 110 includes a forward portion 111 and a rearward portion 112 having an approximately circular shape, both front and rear being circular, and may have other shapes including, but not limited to, an approximately D-shape of a front and rear circle and a rectangular or square shape of a front and rear.

As shown in fig. 1, the sensing system 120 includes a position determining device 121 on the machine body 110, a collision sensor and a proximity sensor provided on a buffer 122 of the forward portion 111 of the machine body 110, a cliff sensor provided at a lower portion of the machine body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, an odometer, etc. provided inside the machine body 110, for providing various position information and movement state information of the machine to the control module. The position determining device 121 includes, but is not limited to, a camera, a laser ranging device LDS, a full scale Laser Distance Sensor.

As shown in fig. 1, the forward portion 111 of the machine body 110 may carry a bumper 122, and the bumper 122 may detect one or more events in the travel path of the robotic cleaning device 100 via a sensor system, such as an infrared sensor, disposed thereon as the drive wheel module advances the robotic cleaning device 100 across the floor during cleaning, and the robotic cleaning device 100 may control the drive wheel module to cause the robotic cleaning device 100 to respond to the events, such as away from the obstacle, by the events detected by the bumper 122, such as an obstacle, wall.

The control module is disposed on a circuit board in the machine body 110, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, and a positioning algorithm, such as an instant positioning and mapping SLAM, a generic name Simultaneous Localization And Mapping, according to the obstacle information fed back by the laser ranging device, and draws an instant map in the environment where the automatic cleaning device 100 is located. And comprehensively judging what working state and position the automatic cleaning device 100 is currently in, and what pose the automatic cleaning device 100 is in by combining distance information and speed information fed back by sensing devices such as sensors, cliffs, magnetometers, accelerometers, gyroscopes and odometers arranged on the buffer 122, for example, a threshold is crossed, carpets are arranged on the cliffs, the upper part or the lower part of the automatic cleaning device 100 is blocked, dust boxes are full and are picked up, and a specific next action strategy is given for different situations, so that the automatic cleaning device 100 has better cleaning performance and user experience.

The drive system may maneuver the machine body 110 to travel across the ground based on drive commands having distance and angle information, such as x, y, and θ components. The drive system comprises a drive wheel module which can control both the left and right wheels simultaneously, preferably the drive wheel module comprises a left drive wheel module and a right drive wheel module, respectively, in order to control the movement of the machine more accurately. The left and right drive wheel modules are disposed along a lateral axis defined by the machine body 110. To enable more stable movement or greater movement capability of the robotic cleaning device 100 over the floor, the robotic cleaning device 100 may include one or more driven wheels, including but not limited to universal wheels. The driving wheel module comprises a travelling wheel, a driving motor and a control circuit for controlling the driving motor, and the driving wheel module can be connected with a circuit for measuring driving current and an odometer. The drive wheel may have a biased drop down suspension system movably secured, e.g., rotatably attached, to the machine body 110 and receiving a spring bias biased downward and away from the machine body 110. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain footprint while the cleaning elements 131 of the robotic cleaning device 100 also contact the floor with a certain pressure.

The energy system includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the singlechip control circuit. The host computer charges through setting up the charging electrode in fuselage side or below and charging pile connection.

The man-machine interaction system comprises keys on a panel of the host machine, wherein the keys are used for users to select functions; the system also comprises a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; a cell phone client program may also be included. For the path navigation type automatic cleaning device 100, a map of the environment where the device is located and the position where the machine is located can be displayed to the user at the mobile phone client, and more abundant and humanized functional items can be provided to the user.

The cleaning system includes a wet cleaning system, i.e., the automatic cleaning apparatus 100 may be a floor cleaning machine, or the cleaning system includes a wet cleaning system and a dry cleaning system, i.e., the automatic cleaning apparatus 100 is a floor cleaning machine.

The dry cleaning system can comprise a rolling brush, a dust box, a fan and an air outlet. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dry cleaning system may also include an edge brush having a rotational axis 141, the rotational axis 141 being angled relative to the floor for moving debris into a roll brush area of the cleaning system.

Wherein the wet cleaning system may comprise: a first cleaning assembly 130, a water delivery mechanism, a reservoir, etc. The cleaning liquid in the liquid storage tank is transferred to the first cleaning component 130 through the water delivery mechanism, so that the first cleaning component 130 performs wet cleaning on the surface to be cleaned. In other embodiments of the present utility model, the cleaning solution in the tank may be sprayed directly onto the surface to be cleaned, and the first cleaning assembly 130 may uniformly apply the cleaning solution to clean the surface. Specifically, the driving part 132 of the water feeding mechanism may be a peristaltic pump, or other power mechanism.

In the case where the automatic cleaning apparatus 100 is a cleaning and mopping integrated machine, the rolling brush and the dust suction opening of the dry cleaning system are located in front of the first cleaning assembly 130 along the movement direction of the automatic cleaning apparatus 100, and the side brush may also be located in front of the cleaning element 131, so as to ensure that the cleaning sequence of cleaning after cleaning is performed by the machine body 110 during the running process.

As shown in fig. 1 and 2, in the automatic cleaning apparatus 100 provided in the embodiment of the present utility model, the first cleaning assembly 130 includes a cleaning element 131 movably connected to the machine body 110, the cleaning element 131 is configured to be rotatable, the cleaning element 131 has a first position accommodated in the machine body 110, and a second position located outside the machine body 110, and the cleaning element 131 in the first position is higher than the cleaning element 131 in the second position.

Wherein 130a in fig. 2 is the cleaning element 131 in the first position, 130b in fig. 1 is the cleaning element 131 in the second position, the cleaning element 131 is configured to be rotatable, for example, the cleaning element 131 may be a tray, or other movable cleaning elements meeting requirements, and the cleaning element 131 of the first cleaning assembly 130 is movably connected with the machine body 110, so that the cleaning element 131 may be moved to the first position to be stored in the machine body 110 for storage according to the functional requirement of the automatic cleaning device 100, or the cleaning element 131 may be moved to the second position to be located outside the machine body 110 for wet cleaning, for example, the cleaning element 131 in the second position interferes with the surface to be cleaned and rotates to implement the mopping function. Therefore, different functional requirements of the automatic cleaning device can be met, the intelligence of the automatic cleaning device 100 is improved, and the cleaning effect of the automatic cleaning device 100 is improved. The cleaning elements 131 may be self-rotating cleaning elements, they may also be vibrating cleaning elements, or they may also be stationary cleaning elements.

In the case that the cleaning element 131 does not need to work, the cleaning element 131 can be moved to the first position to be stored in the machine body 110, as shown by 130a in fig. 2, so that the problem that the cleaning element 131 is still exposed to the outside of the machine body 110 when not working and is damaged due to collision with an obstacle and the problem that the cleaning element is contacted with dirt and is polluted can be avoided, the reliability and the cleaning performance of the cleaning element 131 are improved, and the service life and the cleaning effect of the first cleaning assembly 130 are improved. Meanwhile, when the cleaning member 131 is exposed to the outside of the machine body 110 after the wet cleaning is completed, even if the cleaning member 131 is lifted to be separated from the surface to be cleaned, if the automatic cleaning apparatus 100 collides with an obstacle to vibrate during movement, or the cleaning apparatus turns sharply, etc., there is still a possibility that solid dirt and/or liquid dirt on the soiled cleaning member 131 falls under the effect of inertia to secondary pollution to the surface to be cleaned.

In the present utility model, after the cleaning element 131 completes wet cleaning, the dirty cleaning element 131 can be moved to the first position to be stored in the machine body 110, and the cleaning element 131 located at the first position is higher than the cleaning element 131 located at the second position, so that the dirty cleaning element 131 located at the first position can be separated from the surface to be cleaned and is not exposed outside the machine body 110, thereby avoiding the possibility of secondary pollution to the ground caused by the dirty mopping assembly after mopping, and improving the cleaning effect.

Wherein, when the cleaning member 131 needs to be wet cleaned, the cleaning member 131 can be moved to the second position to be located outside the machine body 110, as shown by 130b in fig. 2, since the cleaning member 131 located at the first position is higher than the cleaning member 131 located at the second position, since the same cleaning member 131 is switched between the first position and the second position, i.e. the bottommost end of the cleaning member 131 in the second position is lower than the bottommost end of the cleaning member 131 in the first position, thereby enabling the bottom end of the cleaning member 131 in the second position to interfere with the surface to be cleaned to realize the wet cleaning operation indicated to be cleaned.

That is, according to the first cleaning assembly 130 provided in the embodiment of the present utility model, the cleaning elements 131 can be selectively moved into the machine body 110 to be stored or moved out of the machine body 110 to be subjected to wet cleaning operation according to the requirements of whether the cleaning elements 131 are required to be subjected to wet cleaning operation, so as to meet the different functional operation requirements of the cleaning elements 131, and meanwhile, the cleaning elements 131 which are cleaned or stained and do not need to be worked can be stored in the machine body 110, so as to improve the reliability and the cleaning performance of the cleaning elements 131, reduce the possibility of secondary pollution of the dirty cleaning elements 131 to the surface to be cleaned, and improve the cleaning effect.

Since the automatic cleaning apparatus 100 generally performs winding along the boundary of the obstacle, i.e. moves along the edge, and keeps a certain safety distance with the obstacle when encountering the obstacle, the machine body 110 cannot be in seamless fit with the corners of the wall, the furniture legs, etc. in the area to be cleaned, thereby causing the problem that the cleaning element 131 cannot cover the area between the machine body 110 and the boundary of the obstacle to work, and further causing the problem of missing the drag in the area.

In the present utility model, at least a portion of the cleaning element 131 at the second position is located outside the edge projection area of the machine body 110, so that the cleaning range of the cleaning element 131 at the second position can exceed the edge of the walking range of the machine body 110, thereby realizing the overall cleaning of the corner position where the machine body 110 cannot be attached, so as to improve the cleaning range of the cleaning element 131 and the cleaning effect of the automatic cleaning device 100.

The cleaning elements 131 in the second position may be located entirely outside the edge projection area of the machine body 110, or may be located partially outside the edge projection area of the machine body 110, which may be set according to a specific structure.

Further, the cleaning element 131 can be selectively switched between the first position and the second position according to whether the automatic cleaning device 100 needs to mop the floor at the corners, for example, the cleaning element 131 is moved into the machine body 110 to be stored or moved out of the machine body 110 to perform the corner wet cleaning operation, so as to meet different functional requirements of the automatic cleaning device 100, and improve the intelligence of the automatic cleaning device 100.

In some possible embodiments provided by the present utility model, as shown in figure 17, the robotic cleaning device 100 may further comprise a second cleaning assembly 160, the second cleaning assembly 160 may also be a wet cleaning member, e.g. the second cleaning assembly 160 comprises a cleaning head 161 attached to the bottom of the machine body 110, e.g. the cleaning head 161 may be used for mounting a mop. Wherein the cleaning head 161 is located in an edge projection area of the machine body 110 such that the cleaning head 161 can wet clean an area covered by a traveling range of the machine body 110. Thus, when the automatic cleaning apparatus 100 performs non-edgewise operation, the control system of the automatic cleaning apparatus 100 may control the cleaning head 161 of the second cleaning assembly 160 to wet clean an area covered by the walking range of the machine body 110, and when the automatic cleaning apparatus 100 performs edgewise operation, the control system of the automatic cleaning apparatus 100 may control the cleaning elements 131 and the cleaning head 161 to simultaneously operate, specifically, control the cleaning elements 131 to operate from the first position to the second position, so as to clean corner positions where the machine body 110 cannot be attached, and further, use the cleaning elements 131 and the cleaning head 161 to cooperate to achieve overall cleaning, expand the cleaning range, and ensure a good cleaning effect.

It will be appreciated that in some possible embodiments, the control system of the automatic cleaning apparatus 100 may control the first cleaning assembly 130 to operate independently, i.e. can control the cleaning element 131 to operate independently, and the cleaning head 161 not to operate, so as to clean the corner positions where the machine body 110 cannot be attached, thereby saving energy. It will be appreciated that the control system may also control the operation of the cleaning head 161 alone.

The positions of the cleaning head 161 and the edge projection area of the machine body 110 are relatively fixed, that is, the cleaning head 161 cannot perform telescopic operation relative to the machine body 110 in the horizontal direction, so that the cleaning head 161 can perform cleaning operation on a designated area within the movement range of the machine body 110. Meanwhile, the second cleaning assembly 160 and the first cleaning assembly 130 may have different structures, so that the structure of the second cleaning assembly 160 may be simplified to a certain extent, the structure of the whole automatic cleaning apparatus 100 may be simplified, the cost may be reduced, the cleaning range may be enlarged, and a good cleaning effect may be ensured. The specific structure of the second cleaning assembly 160 will be described in detail later.

In some possible embodiments provided by the present utility model, a receiving cavity 113 and a avoiding cavity 114 are provided on a side portion of the machine body 110, where the receiving cavity 113 is used for receiving the cleaning element 131 in the first position, and the avoiding cavity 114 penetrates through a bottom portion of the machine body 110 and is used for avoiding the cleaning element 131 in the second position.

In this embodiment, as shown in fig. 1 and 2, the accommodating cavity 113 and the avoiding cavity 114 are both formed at the side of the machine body 110, so that the cleaning element 131 can be conveniently switched between the first position and the second position, for example, the cleaning element 131 can move in a space outside the outer edge of the side of the machine body 110 to switch between the first position and the second position, therefore, a larger movement space is provided for the cleaning element 131, and the movement process is not limited by the structure of the machine body 110, which is beneficial to improving the smoothness and flexibility of switching the cleaning element 131 between the first position and the second position.

Because the avoidance chamber 114 penetrates through the bottom of the machine body 110, a part of the cleaning element 131 in the second position is located outside the edge projection area of the machine body 110, and the other part of the cleaning element 131 is located inside the edge projection area of the machine body 110, and the arrangement is such that the cleaning range of the cleaning element 131 can cover the partial area covered by the walking range of the machine body 110 and the area outside the walking range of the machine body 110, so that the situation that the area covered by the edge of the machine body 110 is missed can be avoided, and the comprehensiveness and thoroughness of cleaning are improved.

In the case where the automatic cleaning apparatus 100 is further provided with the second cleaning assembly 160, the cleaning head 161 of the second cleaning assembly 160 is disposed opposite to a portion of the cleaning elements 131 in the second position in the lateral direction of the machine body 110.

By arranging the cleaning head 161 opposite to a part of the cleaning member 131 in the second position, a part of the cleaning range of the cleaning member 131 can be covered by the cleaning range of the cleaning head 161 during the advancing of the machine body 110 when the cleaning member 131 is in the second position, whereby the dirt in the boundary area can be drawn toward the area where the cleaning head 161 is located by the cleaning member 131 during the rotation of the cleaning member 131 for moving the dirt into the cleaning area of the cleaning head 161, i.e., the first cleaning assembly 130 functions like a side brush.

Further, the side brush and the avoiding cavity 114 are located on the same side of the machine body 110, and the side brush and the avoiding cavity 114 are arranged front and back, so that the machine body 110 can be ensured to perform dry cleaning on an edge angle position when performing edge movement, and the first cleaning member at the second position can perform wet cleaning on the edge angle position, so that the suction-before-drag operation is ensured, and a good cleaning effect is ensured.

As shown in fig. 1 and 2, in some possible embodiments of the present utility model, the receiving chamber 113 is located at a rear side portion of the machine body 110, and the escape chamber 114 is disposed adjacent to a lateral side portion of the machine body 110.

Wherein, the lateral direction is shown as X direction in fig. 1, wherein the left and right driving wheel modules of the driving system are disposed along a lateral axis defined by the machine body 110, the lateral direction is disposed in parallel with the lateral axis and passes through the center of the machine body 110, the lateral direction may be understood as extending in the left and right direction of the machine body 110, the longitudinal direction is through the center of the machine body 110 and perpendicular to the lateral direction, as shown as Y direction in fig. 1, the longitudinal direction may be understood as extending in the front and rear direction of the machine body 110, and the Z direction in fig. 1 may be understood as the height direction of the machine body 110.

As shown in fig. 1, since the buffer 122 is generally disposed at the forward portion 111 of the machine body 110, the accommodating chamber 113 is disposed at the rear side of the machine body 110, and the avoiding chamber 114 is disposed adjacent to the lateral side of the machine body 110, a sufficient installation space can be reserved for the buffer 122, that is, the accommodating chamber 113 and the avoiding chamber 114 do not occupy the buffer 122, so that the buffer 122 can have a larger coverage area to improve the reliability of the automatic cleaning apparatus 100, and meanwhile, the cleaning element 131 in the second position can be made to be as close to the lateral edge of the machine body 110 as possible to enlarge the cleaning coverage area. Specifically, the relief cavity 114 may be located behind the bumper 122, disposed adjacent to the bumper 122.

As shown in fig. 3 and 4, in some possible embodiments provided by the present utility model, the first cleaning assembly 130 further includes: a driving unit 132 provided on the machine body 110; the first transmission device 133 is in transmission connection with the driving part 132 and the cleaning element 131, and the driving part 132 drives the cleaning element 131 to switch between the first position and the second position through the first transmission device 133 and can drive the cleaning element 131 to rotate.

The switching of the cleaning element 131 between the first position and the second position may be lifting movement of the cleaning element 131, and when the cleaning element 131 in the second position interferes with and rotates with the surface to be cleaned, wet cleaning operation of the surface to be cleaned may be achieved, for example, the cleaning element 131 is a tray, and the tray rotation may enable floor cleaning operation.

Therefore, in the embodiment provided by the utility model, the first cleaning assembly 130 can drive the cleaning element 131 to lift and rotate by using the same driving part 132 through the first transmission device 133, and compared with the prior art that two driving parts are required to drive the cleaning element to lift and rotate respectively, the arrangement of one driving part is simplified, thereby meeting the design requirements of the first cleaning assembly 130 that the structure is compact and the volume is smaller, being beneficial to reducing the occupied space of the first cleaning assembly 130 and reducing the cost, and being suitable for popularization and application.

As shown in fig. 4, 5, 6 and 7, in some possible embodiments provided by the present utility model, the driving part 132 includes a base 1321 and a first power part 1322 provided on the machine body 110. The first power portion 1322 may be a motor, etc., in some specific examples (not shown in the figures), the first power portion 1322 may be disposed in the base 1321, and the base 1321 is utilized to perform a good protection function on the first power portion 1322, so that the first power portion 1322 is prevented from being immersed in water or showered, which is beneficial to prolonging the service life of the first power portion 1322 and improving the reliability of the first power portion 1322. In other specific examples, as shown in fig. 6 and 7, the first power portion 1322 may be disposed outside the base 1321, so as to reduce the volume of the base 1321, reasonably utilize the space inside the machine body 110, and meet the design requirements of compact structure and small volume of the self-moving cleaning device.

As shown in fig. 4, 5, 6, 7, 8 and 9, the first transmission 133 includes: the first transmission assembly 134, the swing arm 135 and the clutch mechanism 136, where the swing arm 135 is rotatably connected to the base 1321, for example, the swing arm 135 is rotatably connected to the base 1321 through the rotation shaft 141, so that the swing arm 135 can rotate around the base 1321, and it can be understood that the swing arm 135 in the embodiment of the present utility model can also lift around the base 1321, that is, the swing arm 135 can lift and rotate relative to the base 1321. The first transmission assembly 134 drivingly connects the first power portion 1322 and the clutch mechanism 136, whereby power of the first power portion 1322 can be transmitted to the clutch mechanism 136.

The clutch mechanism 136 is connected between the swing arm 135 and the cleaning element 131, wherein the clutch mechanism 136 is in an engaged state, and can enable the first transmission assembly 134 to be in power connection with the swing arm 135 so as to drive the swing arm 135 to rotate up and down relative to the base 1321 to drive the cleaning element 131 to move between the first position and the second position, and the clutch mechanism 136 is in a disengaged state, and can enable the first transmission assembly 134 to be in power connection with the cleaning element 131 so as to drive the cleaning element 131 to rotate. Therefore, the clutch mechanism 136 is configured to selectively transmit the power of the first power portion 1322 to the swing arm 135 to lift and rotate the swing arm 135, or transmit the power to the cleaning element 131 to rotate the cleaning element 131, and the lift and rotate of the swing arm 135 can drive the cleaning element 131 to lift and move, and switch between the first position and the second position, so that the same driving portion 132 can be implemented, and the cleaning element 131 can be driven to lift and rotate, so as to realize the mopping operation.

As shown in fig. 4, 6, 7, 8, and 9, in some possible implementations provided by the present utility model, the first transmission assembly 134 includes: the transmission shaft 1341, and the transmission wheel 1342 and the gear train 1343 which are positioned in the swing arm 135, wherein the transmission shaft 1341 is in power connection with the first power part 1322, and penetrates through the swing arm 135 and the transmission wheel 1342, the transmission wheel 1342 can synchronously rotate along with the transmission shaft 1341 and slide along the transmission shaft 1341, and the gear train 1343 is in transmission connection with the transmission wheel 1342 and the clutch mechanism 136.

Thus, the power of the first power part 1322 is transmitted to the clutch mechanism 136 through the transmission shaft 1341, the transmission wheel 1342 and the gear train 1343, and since the transmission wheel 1342 can synchronously rotate with the transmission shaft 1341 and slide along the transmission shaft 1341, that is, the transmission wheel 1342 can synchronously rotate with the transmission shaft 1341 and slide along the axial direction of the transmission shaft 1341, such as slide up and down along the transmission shaft 1341, the power of the transmission shaft 1341 can be transmitted to the gear train 1343 to be transmitted to the swing arm 135 or the cleaning element 131 through the clutch mechanism 136 when the swing arm 135 is at different heights.

Further, as shown in fig. 7, the first power unit 1322 is in driving connection with the transmission shaft 1341 through a gear set disposed outside the swing arm 135, so that the transmission shaft 1341 is driven to rotate through the gear set when the first power unit 1322 works, and the transmission wheel 1342 can synchronously rotate with the transmission shaft 1341 and slide along the transmission shaft 1341, and transmits power to the clutch mechanism 136 through the gear train 1343 in the swing arm 135.

As shown in fig. 6, the side surface of the transmission shaft 1341 is provided with a limiting surface 1344, the limiting surface 1344 may be a plane, and the number of planes may be one or two, for example, the transmission shaft 1341 may be a flat shaft or a D-shaped shaft.

As shown in fig. 10, the driving wheel 1342 is provided with a through hole through which the driving shaft 1341 passes, and the inner wall of the through hole is provided with positioning surfaces 1345, where the number of the positioning surfaces 1345 is equal to the number of the limiting surfaces 1344, for example, the number of the positioning surfaces 1345 may be one or two, i.e. the through hole may be a flat hole or a D-shaped hole, so, when the limiting surfaces 1344 and the positioning surfaces 1345 are matched, the driving wheel 1342 can limit the rotation of the driving wheel 1342 relative to the driving shaft 1341, so that the driving wheel 1342 can rotate along with the rotation of the driving shaft 1341. Meanwhile, the transmission shaft 1341 is penetrated through the transmission wheel 1342 through a through hole, so that the transmission wheel 1342 can slide up and down along the transmission shaft 1341.

As shown in fig. 4, 6, 8, 9, and 11, in some possible embodiments provided by the present utility model, the clutch mechanism 136 includes: a connecting shaft 1361, a clutch gear 1362, and a first fixed clutch tooth 1367 and a second fixed clutch tooth 1368 which are oppositely arranged inside the swing arm 135, wherein the first fixed clutch tooth 1367 is arranged at the inner top of the swing arm 135, and the second fixed clutch tooth 1368 is arranged at the inner bottom of the swing arm 135.

Further, as shown in fig. 11, 13 and 14, the swing arm 135 includes an upper cover 1351 and a lower cover 1352, the upper cover 1351 is located above the lower cover 1352, the upper cover 1351 and the lower cover 1352 enclose a transmission chamber, the transmission wheel 1342, the gear train 1343, and part of the clutch mechanism 136 are located in the transmission chamber, a first fixed clutch tooth 1367 is disposed on the upper cover 1351, a second fixed clutch tooth 1368 is disposed on the lower cover 1352, and the cleaning element 131 is located at the bottom of the lower cover 1352 to contact a surface to be cleaned. In particular, the upper and lower covers 1351, 1352 may be detachable to facilitate maintenance and replacement of the drive wheel 1342, the gear train 1343, and the clutch 136 within the upper and lower covers 1351, 1352 after the upper and lower covers 1351, 1352 are detached.

As shown in fig. 8, 9 and 11, the link 1361 is provided on the swing arm 135, and if the link 1361 is connected to the swing arm 135 in the vertical direction, the clutch gear 1362 is sleeved outside the link 1361 and can slide along the link 1361.

As shown in fig. 12, the clutch gear 1362 includes a first movable clutch tooth 1363 and a second movable clutch tooth 1364 provided on both end surfaces, respectively, and a first helical tooth portion 1365 and a second helical tooth portion 1366 provided coaxially, the first helical tooth portion 1365 being engaged with the gear train 1343, the second helical tooth portion 1366 being in driving connection with the cleaning member 131. Thus, the first power part 1322 rotates in one direction, such as the first power part 1322 rotates forward, so that the transmission shaft 1341 rotates clockwise along the position of fig. 6, because the clutch gear 1362 is meshed with the gear train 1343 through the first helical tooth part 1365, under the axial force of the helical gear, the clutch gear 1362 can move towards the direction approaching the first fixed clutch teeth 1367 through the transmission shaft 1341, the transmission wheel 1342 and the gear train 1343, such as the clutch gear 1362 moves upwards along the connecting shaft 1361, so that the first movable clutch teeth 1363 and the first fixed clutch teeth 1367 are engaged. At this time, the transmission between the first transmission assembly 134 and the first fixed clutch teeth 1367 on the swing arm 135 is interrupted, and the entire first transmission device 133 is locked with the upper portion of the swing arm 135, for example, the first transmission device 133 is locked with the upper cover 1351 of the swing arm 135, and no relative displacement can be generated between the first transmission assembly 134 and the upper cover 1351 of the swing arm 135, so that the swing arm 135 swings along with the rotation of the first power portion 1322 in the direction, so that the swing arm 135 rotates downward along the direction from the first position to the second position, and the swing arm 135 can drive the cleaning element 131 to move from the first position to the second position, so as to meet the requirement of the cleaning element 131 for mopping.

As shown in fig. 6, 8, 9 and 11, when the first power part 1322 rotates in the other direction, such as the first power part 1322 rotates reversely, the transmission shaft 1341 rotates in the counterclockwise direction along the position of fig. 6, since the clutch gear 1362 is engaged with the gear train 1343 through the first helical tooth part 1365, the clutch gear 1362 can be moved away from the first fixed clutch tooth 1367 under the axial force of the helical gear, such as the clutch gear 1362 moves downward along the connection shaft 1361, so that the second movable clutch tooth 1364 and the second fixed clutch tooth 1368 are engaged. At this time, the transmission between the first transmission assembly 134 and the second fixed clutch teeth 1368 on the swing arm 135 is interrupted, the entire first transmission device 133 is locked with the lower portion of the swing arm 135, for example, the first transmission device 133 is locked with the lower cover 1352 of the swing arm 135, and no relative displacement can be generated between the first transmission assembly 134 and the lower cover 1352 of the swing arm 135, so that the swing arm 135 swings along with the rotation of the first power portion 1322 in the direction, so that the swing arm 135 rises and rotates along the direction from the second position to the first position, and the swing arm 135 can drive the cleaning element 131 to move from the second position to the first position, so as to meet the requirement that the cleaning element 131 is accommodated in the machine body 110.

The gear train 1343 may include a plurality of gears, which are sequentially engaged to transfer power, and the specific structure of the gear train 1343 is not specifically described, so long as the power of the first power unit 1322 can be transferred to the clutch gear 1362 through the transmission shaft 1341, the transmission wheel 1342, and the gear train 1343, and the rotation of the driving unit 132 in one direction is ensured, such that the clutch gear 1362 moves in a direction approaching the first fixed clutch gear 1367, and the first power unit 1322 rotates in another direction, such that the clutch gear 1362 moves in a direction approaching the second fixed clutch gear 1368.

As shown in fig. 4, in some possible embodiments of the present utility model, an avoidance gap 1323 for avoiding the swing arm 135 is provided on the peripheral side of the base 1321, and the avoidance gap 1323 provides a movement space for the movement of the swing arm 135, so that the condition that the swing arm 135 interferes with the base 1321 during the rotation process to affect the swing arm 135 to drive the cleaning element 131 to move before the first position and the second position is avoided, and a sufficient movement range of the cleaning element 131 is ensured.

The upper surface and the lower surface of the avoidance gap 1323 are respectively provided with a first track 1324 and a second track 1325, the first track 1324 is located above the second track 1325, that is, the first track 1324 is located on the lower surface of the top of the avoidance gap 1323, and the second track 1325 is located on the upper surface of the bottom of the avoidance gap 1323. That is, the first rail 1324 is located above the swing arm 135, the second rail 1325 is located below the swing arm 135, and the first rail 1324 is disposed obliquely downward while being rotated, and the second rail 1325 is disposed obliquely downward while being rotated, along the moving direction of the cleaning member 131 from the first position to the second position.

As shown in fig. 6, the swing arm 135 is provided with a first roller and a second roller 139 that are located outside the swing arm 135, and the first roller runs along a first track 1324 during the descending rotation of the swing arm 135, that is, during the movement of the cleaning element 131 from the first position to the second position, so that the descending rotation of the swing arm 135 is guided by the cooperation of the first track 1324 and the first roller, so as to ensure that the swing arm 135 can swing smoothly and flexibly. During the ascending rotation of the swing arm 135, that is, during the movement of the cleaning element 131 from the second position to the first position, the second roller 139 moves along the second rail 1325, so that the descending rotation of the swing arm 135 is guided by the cooperation of the second rail 1325 and the second roller 139, so as to ensure that the swing arm 135 can swing smoothly and flexibly.

As shown in fig. 4, 6, 8 and 9, in some possible embodiments of the present utility model, the first transmission device 133 further includes a second transmission assembly 138 located in the swing arm 135, an input end of the second transmission assembly 138 is engaged with the second tooth 1366, and an output end of the second transmission assembly 138 is disposed through the swing arm 135 and connected to the cleaning element 131. Thus, when the clutch mechanism 136 is in the disengaged state, the power of the first power portion 1322 can be transmitted to the cleaning element 131 through the first transmission assembly 134, the clutch mechanism 136, and the second transmission assembly 138 to drive the cleaning element 131 to rotate.

The second transmission assembly 138 may include a gear set and a sleeve, where the sleeve is connected to the cleaning element 131, such as a sleeve connected to a tray, and the clutch gear 1362 rotates to rotate the sleeve through the gear set, thereby rotating the cleaning element 131. It will be appreciated that the second transmission assembly 138 may have other structures, and the present utility model is not limited thereto.

The second tooth portion 1366 may be a helical tooth or a straight tooth, and the arrangement manner depends on the specific structure of the second transmission assembly 138, which is not particularly limited in the present utility model.

As shown in fig. 4, 6, 10, 11, and 15, in some possible embodiments provided by the present utility model, the clutch mechanism 136 further includes a lever 137, where the lever 137 is disposed through the swing arm 135 and abuts against the clutch gear 1362; as shown in fig. 1, the machine body 110 is provided with a first limiting member 115, and the first limiting member 115 may be located in the avoidance chamber 114. When the first power portion 1322 drives the first movable clutch teeth 1363 and the first fixed clutch teeth 1367 to engage such that the swing arm 135 drives the cleaning element 131 to move to the second position, the first stopper 115 interferes with the shift lever 137 to drive the shift lever 137 from the initial position to the trigger position, so as to separate the first movable clutch teeth 1363 and the first fixed clutch teeth 1367.

Wherein the first movable clutch teeth 1363 and the first fixed clutch teeth 1367 are engaged to rotate the swing arm 135 downward relative to the base 1321 during movement of the cleaning member 131 from the first position to the second position. When the cleaning element 131 moves to the second position, that is, when the cleaning element 131 is located in the avoidance cavity 114, the first limiting member 115 in the avoidance cavity 114 interferes with the deflector rod 137 to drive the deflector rod 137 to move, and the deflector rod 137 moves from the initial position to the trigger position, so that the first movable clutch teeth 1363 and the first fixed clutch teeth 1367 are separated, that is, the clutch mechanism 136 is in a separated state. At this time, the first power portion 1322 continues to rotate, the power of the first power portion 1322 is transmitted to the cleaning element 131 through the first transmission assembly 134 and the clutch gear 1362, for example, the power of the first power portion 1322 is transmitted to the cleaning element 131 through the first transmission assembly 134, the clutch gear 1362 and the second transmission assembly 138 to drive the cleaning element 131 to rotate, so that the cleaning element 131 can rotate at the second position for mopping operation. The first limiting member 115 may be a first baffle or a protruding structure.

As shown in fig. 11 and 15, in the above embodiment, the lever 137 includes the connecting portion 1371 and the lever portion 1372 connected, the lever portion 1372 is located outside the swing arm 135 and is used for interfering with the first limiting member 115, the connecting portion 1371 is penetrating through the swing arm 135 and is rotationally connected with the connecting shaft 1361, the end portion of the connecting portion 1371 located in the swing arm 135 abuts against the clutch gear 1362, the first fixed clutch teeth 1367 are distributed on the periphery of the connecting portion 1371, that is, the lever 137 is disposed on the top of the swing arm 135, the connecting portion 1371 of the lever 137 penetrates through the swing arm 135 and contacts with the top of the clutch gear 1362, and avoids the first fixed clutch teeth 1367, so as to ensure that the first clutch teeth can be smoothly engaged with or separated from the first fixed clutch teeth 1367 on the upper cover 1351 of the swing arm 135. Wherein, connecting portion 1371 rotates with connecting axle 1361 to be connected, and connecting portion 1371 is rotatable around connecting axle 1361 for utilize connecting axle 1361 can realize simultaneously that clutch gear 1362, connecting portion 1371's rotation is connected, simplified the structure of clutch mechanism 136, can satisfy transmission 132 compact structure, the less design demand of volume, and can reduce cost.

The end surface of the connecting portion 1371 located outside the swing arm 135 is provided with a third helical tooth portion 1373, a fourth helical tooth portion opposite to the third helical tooth portion 1373 is provided on the machine body 110, the third helical tooth portion 1373 is in butt joint with the fourth helical tooth portion in the initial position, and the third helical tooth is separated from the fourth helical tooth in the trigger position.

Thus, as shown in fig. 6, when the first power portion 1322 drives the cleaning element 131 to be at the second position, the third helical tooth portion 1373 on the connecting portion 1371 moves away from the fourth helical tooth portion, that is, moves downward under the guidance of the fourth helical tooth portion on the machine body 110 in the process that the first stopper 115 interferes with the shift lever 137 to drive the shift lever 137 to move from the initial position to the trigger position. Thus, the connection 1371 can drive the clutch gear 1362 downward along the connection shaft 1361 such that the first movable clutch teeth 1363 of the clutch gear 1362 are disengaged from the first fixed clutch teeth 1367 on the swing arm 135. Since the first power portion 1322 always rotates during this process, after the lever 137 drives the first movable clutch gear 1363 to separate from the first fixed clutch gear 1367, the power of the first power portion 1322 is transmitted to the cleaning element 131 by the second gear 1366 on the clutch gear 1362, and specifically, the power of the first power portion 1322 is transmitted to the second transmission assembly 138 by the second gear 1366 on the clutch gear 1362 to rotate the cleaning element 131.

It will be appreciated that, since the first movable clutch teeth 1363 of the clutch gear 1362 are engaged with the first fixed clutch teeth 1367 under the axial force of the helical gear during the process of the first power portion 1322 driving the cleaning element 131 to be at the second position, the clutch gear 1362 has an upward movement tendency, so that when the shift lever 137 drives the first movable clutch teeth 1363 to be separated from the first fixed clutch teeth 1367, the clutch gear 1362 does not move downward under the interference of the shift lever 137 and the first limiting member 115, i.e. the second movable clutch teeth 1364 are not combined with the second fixed clutch teeth 1368, thereby ensuring that the clutch mechanism 136 is in a clutch state, so that the power of the first power portion 1322 is transferred to the second transfer assembly by the second tooth portions 1366 on the clutch gear 1362 to rotate the cleaning element 131.

As shown in fig. 1, in some possible embodiments of the present disclosure, the machine body 110 is further provided with a second limiting member 116, and the second limiting member 116 may be located in the receiving cavity 113. When the driving portion 132 drives the second movable clutch teeth 1364 and the second fixed clutch teeth 1368 to engage so that the swing arm 135 drives the cleaning element 131 to move to the first position, the second limiting member 116 interferes with the driving lever 137 to drive the driving lever 137 to move from the trigger position to the initial position. Thereby, the reset of the initial position of the deflector rod 137 is realized, namely, the third inclined tooth portion 1373 on the deflector rod 137 can be abutted with the fourth inclined tooth portion on the machine main body 110, so that the deflector rod 137 can accurately and reliably interfere with the first limiting piece 115 to realize the switching of the engagement state and the separation state of the clutch mechanism 136 when the next rotation of the swing arm 135 causes the cleaning element 131 to be in the second position.

In the above embodiment, the end surface of the swing arm 135 facing the lever portion 1372 is provided with a guiding inclined surface, and the guiding inclined surface is inclined upward along the moving direction of the shift lever 137 from the trigger position to the initial position, so that, in the case that the lever portion 1372 of the shift lever 137 interferes with the second limiting member 116, the lever portion 1372 can rotate upward along the guiding inclined surface to drive the connecting portion 1371 to rotate synchronously, and further the separated third helical tooth portion 1373 and fourth helical tooth portion gradually approach and engage.

In some possible embodiments provided by the present utility model, the automatic cleaning apparatus 100 further comprises: position detecting means, provided on the machine body 110 and/or the first cleaning assembly 130, for detecting whether the cleaning member 131 is in the first position. The position detecting device may be a contact type mechanical switch, a non-contact hall switch, or the like. The position detecting device may be provided on the machine body 110, the first cleaning member 130, or both the machine body 110 and the first cleaning member 130 to satisfy different types of settings of the position detecting device.

The first power portion 1322 is configured to rotate or stop rotating according to a detection result of the position detecting device, so that when the detection result of the position detecting device indicates that the cleaning element 131 is at the first position, it is indicated that the cleaning element 131 is stored in the storage cavity 113, and the control system of the automatic cleaning apparatus 100 can control the first power portion 1322 to stop rotating according to the detection result, so as to keep the cleaning element 131 at the first position, thereby avoiding the problem that the swing arm 135 is driven to swing by the continuous operation of the first power portion 1322 to cause the cleaning element 131 to collide with the machine body 110 and damage the machine body 110, and avoiding the problem that the energy is wasted due to the continuous operation of the first power portion 1322, which is beneficial to saving cleaning cost.

It will be appreciated that when the detection result of the position detection device indicates that the cleaning element 131 is not at the first position, it indicates that the cleaning element 131 needs to be moved to the second position outside the machine body 110, or to perform mopping at the second position, or to perform other operations, such as cleaning operations, at other positions outside the machine body 110, at this time, the control system of the automatic cleaning apparatus 100 may control the first power part 1322 to continue to rotate according to the detection result, so as to move the cleaning element 131 to the desired position or perform the mopping operation.

In a specific embodiment, the workflow of the first cleaning assembly 130 is as follows:

in the initial state, the cleaning member 131 is in the first position and is accommodated inside the machine body 110. When a side drag operation using the cleaning member 131 is required, the cleaning member 131 needs to be moved to the second position. At this time, the first power portion 1322 may rotate forward to drive the transmission shaft 1341 to rotate, and the power is transmitted to the clutch mechanism 136 by the transmission shaft 1341, the transmission wheel 1342 and the gear train 1343. Because the first helical tooth portion 1365 of the clutch mechanism 136 is meshed with the gear train 1343, the first movable clutch tooth 1363 of the clutch mechanism 136 is engaged with the first fixed clutch tooth 1367 of the swing arm 135 under the action of the helical gear meshing axial force, the transmission is interrupted, and the whole swing arm 135 becomes an actuating mechanism and moves synchronously with the driving wheel 1342 on the rotating shaft. During the rotation of the swing arm 135, the first roller outside the swing arm 135 touches the first rail 1324 on the base 1321 extending obliquely downward along the movement direction of the cleaning element 131 from the first position to the second position, and rolls along the first rail 1324, and the swing arm 135 moves downward. When the swing arm 135 drives the cleaning element 131 to be located at the second position, the first limiting piece 115 on the machine body 110 pushes the clutch driving lever 137 to move, and when the clutch driving lever 137 rotates, the clutch gear 1362 is pushed downwards, at this time, the first movable clutch teeth 1363 of the clutch gear 1362 are separated from the first fixed clutch teeth 1367 on the upper cover 1351 of the swing arm 135, and power is transmitted to the cleaning element 131 by the second tooth 1366 of the clutch gear 1362 to drive the cleaning element 131 to rotate, so as to realize normal mopping operation.

Wherein, in the mopping process, the automatic cleaning device 100 can also realize the liquid replenishment of the cleaning element 131, specifically, the water delivery mechanism can connect the liquid in the liquid storage tank to the liquid replenishment port above the cleaning element 131 through the provided water delivery driving part 150, and replenish the liquid for the cleaning element 131, so as to ensure good wet cleaning effect.

When the cleaning member 131 is required to be housed in the machine body 110 after completion of the mopping operation, the cleaning member 131 needs to be moved to the first position. At this time, the first power portion 1322 may rotate reversely to drive the transmission shaft 1341 to rotate, the power is transmitted to the clutch mechanism 136 by the transmission shaft 1341, the transmission wheel 1342 and the gear train 1343, and since the first helical tooth portion 1365 on the clutch mechanism 136 is meshed with the gear train 1343, the second movable clutch tooth 1364 of the clutch mechanism 136 is engaged with the second fixed clutch tooth 1368 on the swing arm 135 under the action of the helical gear meshing axial force, the transmission is interrupted, and the whole swing arm 135 becomes an actuator, and moves synchronously with the transmission wheel 1342 on the rotation shaft. During the rotation of the swing arm 135, the second roller 139 outside the swing arm 135 touches the second rail 1325 on the base 1321 extending obliquely downward along the movement direction of the cleaning member 131 from the first position to the second position, and rolls along the second rail 1325, and the swing arm 135 moves upward. When the cleaning device moves to the first position, the second limiting piece 116 on the machine body 110 pushes the clutch lever 137 to move, the clutch lever 137 is reset to the initial position, and at this time, the position detecting device on the machine body 110 detects that the cleaning element 131 is at the first position, and then the first power part 1322 is controlled to stop rotating.

As shown in fig. 4, in some possible implementations provided by the present utility model, the automatic cleaning apparatus 100 further includes: a damping device 140 rotatably provided on the machine body 110, further, the damping device 140 may be located in the escape cavity 114, the damping device 140 being configured to damp the swing arm 135 when the cleaning element 131 in the second position is subjected to a force toward the center of the machine body 110.

That is, when the cleaning member 131 collides with an obstacle in the second position, such as when the cleaning member 131 encounters a force provided by the obstacle toward the center of the machine body 110 during the side-pulling operation, the swing arm 135 is rotatably connected with the base 1321, and the driving wheel 1342 is rotatably connected with the driving shaft 1341, so that the swing arm 135 can drive the cleaning member 131 to swing toward the center of the machine body 110, at this time, due to the arrangement of the buffer device 140, the buffer device 140 can provide a buffer for the swing arm 135, thereby avoiding the possibility of the collision of the swing arm 135 with the machine body 110, which is beneficial to prolonging the service lives of the machine body 110 and the swing arm 135 and improving the reliability of the automatic cleaning apparatus 100.

Further, as shown in fig. 4 and 16, the buffer device 140 includes: the buffer swing link 142 is rotatably provided on the rotation shaft such that the buffer swing link 142 can rotate around the rotation shaft. Wherein the buffer swing link 142 includes a zero position, and the buffer swing link 142 in the zero position is in contact with the swing arm 135 when the cleaning member 131 is in the second position and is located between the swing arm 135 and the center of the machine body 110.

Therefore, when the cleaning element 131 collides with an obstacle and receives a force towards the center of the machine body 110 when the cleaning element 131 is in the second position, the swing arm 135 can drive the cleaning element 131 to swing towards the center of the machine body 110, and the buffer swing rod 142 can synchronously rotate inwards along with the swing arm 135 due to the contact of the buffer swing rod 142 and the swing arm 135, so that the movement of the swing arm 135 can be slowed down by the buffer swing rod 142, and a buffer effect is achieved.

Specifically, the buffering oscillating bar 142 may be a flexible member, and the buffering oscillating bar 142 has a certain deformability or elasticity, thereby providing a good buffering capability for the swing arm 135 in the process that the buffering oscillating bar 142 rotates synchronously with the swing arm 135.

Further, the buffering device 140 further includes a restoring member connected to the rotating shaft and/or the buffering oscillating bar 142, and the restoring member is configured to provide a pushing force to the buffering oscillating bar 142 to restore the buffering oscillating bar 142 to the zero position.

Therefore, after the cleaning element 131 is separated from the obstacle, that is, after the external force applied to the cleaning element 131 is removed, the reset piece can push the buffering swing rod 142 to rotate outwards, and the buffering swing rod 142 drives the swing arm 135 to reset to the position where the cleaning element 131 is located at the second position, so that the swing arm 135 can be ensured to be reset to the position where the cleaning element is not collided with the obstacle, and further the first cleaning assembly 130 can be ensured to work normally.

Meanwhile, when the cleaning element 131 collides with an obstacle to drive the swing arm 135 to swing towards the inside of the machine body 110, the swing arm 135 drives the buffer swing rod 142 to rotate towards the inside of the machine body 110 so as to deviate from the zero position, and the reset piece is used for providing thrust for the buffer swing rod 142 so as to reset the buffer swing rod 142 to the zero position, so that the reset piece can prevent the swing arm 135 from driving the buffer swing rod 142 to rotate towards the inside of the machine body 110, and further a good buffer effect is achieved.

The reset piece may be disposed on the rotating shaft, or the reset piece may be disposed on the buffering swing rod 142, or the reset piece may be disposed on the rotating shaft and the buffering swing rod 142 at the same time, or the reset piece may be disposed at other positions that meet the requirement. Specifically, the restoring member may be a restoring torsion spring, which may be disposed on the rotating shaft, or the restoring member may be other restoring structures, which are disposed on the buffering swing rod 142.

It will be appreciated that when the swing arm 135 is reset to the second position of the cleaning element 131 by the reset member of the buffer device 140, the first movable clutch teeth 1363 of the clutch gear 1362 are separated from the first fixed clutch teeth 1367 of the swing arm 135 by the action of the shift lever 137 and the first limiting member 115, and the power of the first power portion 1322 is transmitted to the cleaning element 131 by the second tooth 1366 of the clutch gear 1362, so that the swing arm 135 does not have a driving force to move toward the inside of the machine body 110, and at the same time, the swing arm 135 can be maintained at this position due to the blocking of the buffer swing lever 142.

Further, a first magnetic attraction member is disposed on the buffering swing rod 142, a second magnetic attraction member is disposed on the swing arm 135, and when the cleaning element 131 is at the second position, the first magnetic attraction member and the second magnetic attraction member attract each other to make the swing arm 135 contact with the buffering swing rod 142. Thus, when the cleaning element 131 is in the second position, the swing arm 135 and the buffer swing rod 142 can be reliably contacted, and further, the buffer device 140 can provide good buffer capability for the swing arm 135.

Specifically, the first magnetic attraction member and the second magnetic attraction member may be both magnets, or one of the first magnetic attraction member and the second magnetic attraction member may be a magnet, the other may be an iron sheet, or the like.

As shown in fig. 1, in some possible embodiments of the present utility model, the cleaning element further includes a third position between the first position and the second position, and the cleaning element 131 in the third position is located outside the edge projection area of the machine body 110, that is, the cleaning element 131 in the third position can extend to the outside of the machine body 110, thereby facilitating the cleaning operation of the cleaning element 131 in the third position.

The third position is located between the first position and the second position, and 130c in fig. 1 is the cleaning element 131 located at the third position, so that the above structure that the first cleaning assembly 130 drives the cleaning element 131 to switch between the first position and the second position can be used for reasonable arrangement, and the restriction that the cleaning element 131 is located at the third position can be realized, and under the condition of adding the functions of the first cleaning assembly 130, the structure is simplified as much as possible, and the design requirements of compact structure and small volume of the first cleaning assembly 130 can be met.

Further, the base station includes: a base station body, and a cleaning assembly provided on the base station body, the cleaning assembly removing foreign materials on the cleaning elements 131 through interference with the cleaning elements 131 of the automatic cleaning apparatus 100.

Therefore, when the automatic cleaning device 100 is parked on the base station or moved to a proper position of the base station, the cleaning component on the base station can be opposite to the cleaning element 131 in the third position, and the cleaning component can remove impurities on the cleaning element 131 through interference with the cleaning element 131, namely, the automatic cleaning device 100 can realize automatic cleaning on the cleaning component of the base station, thereby omitting the operation of manually cleaning the cleaning element 131 or replacing a new cleaning element 131, simplifying manual operation, improving manual cleaning experience, being beneficial to reducing cleaning cost and being suitable for popularization and application.

In some possible embodiments provided by the present utility model, a third limiting member is provided on the base station body, and is located between the first limiting member 115 and the second limiting member 116 when the automatic cleaning apparatus 100 is docked on the base station, so that when the cleaning element 131 is located at the third position, the third limiting member interferes with the lever 137 of the automatic cleaning apparatus 100 to drive the lever 137 to move from the initial position to the trigger position.

That is, when the automatic cleaning apparatus 100 is parked on the base station, the driving part 132 of the first cleaning assembly 130 drives the cleaning element 131 to move from the first position to the second position through the first transmission device 133, and since the third stopper is located between the first stopper 115 and the second stopper 116 of the automatic cleaning apparatus 100 parked on the base station, the third stopper limits the cleaning element 131 from moving to the second position, and thus, when the cleaning element 131 moves to the third position, the third stopper interferes with the deflector 137 to drive the deflector 137 to move from the initial position to the trigger position, so that the first movable clutch teeth 1363 and the first fixed clutch teeth 1367 of the clutch mechanism 136 are separated, the power of the driving part 132 can be transmitted to the cleaning element 131 through the second tooth parts 1366 of the clutch mechanism 136 to drive the cleaning element 131 to rotate, so that the cleaning element 131 is conveniently subjected to the cleaning operation.

It will be appreciated that the bottom of the cleaning element 131 in the third position is located between the bottom of the cleaning element 131 in the first position and the bottom of the cleaning element 131 in the second position.

The cleaning component arranged on the base station body can be movable relative to the base station body or fixed. When the cleaning assembly is movably arranged relative to the base station body, when the cleaning element 131 at the third position needs to be cleaned, the cleaning assembly can be moved to the position below the cleaning element 131 at the third position, or the cleaning element 131 at the third position is moved to the position above the cleaning assembly, and dirt on the cleaning element 131 is taken away through the protrusions arranged on the cleaning assembly in the rotating process of the cleaning element 131 by utilizing the space interference between the protrusions arranged on the cleaning assembly and the space interference generated by the cleaning element 131, so that the cleaning operation of the cleaning element 131 is realized.

Further, if the cleaning assembly is a movable cleaning assembly, the cleaning assembly can be controlled to move and the cleaning elements 131 rotate synchronously during the cleaning operation of the cleaning elements 131, so as to improve the cleaning efficiency and the cleaning effect. When the cleaning assembly is fixedly disposed with respect to the base station body, the cleaning operation can be performed by controlling only interference with the protrusions on the cleaning assembly during rotation of the cleaning member 131.

It will be appreciated that when the cleaning elements 131 complete the cleaning operation, the cleaning elements 131 may be moved to a first position to be received within the machine body 110, the cleaning assembly of the base station may be moved to a designated position to treat the washed out dirt, or, for a stationary cleaning assembly, the washed out dirt may be treated directly.

In some possible embodiments provided by the present utility model, as shown in fig. 17, the second cleaning assembly 160 further comprises a driving unit drivingly connected to the machine body 110 and the cleaning head 161 for driving the cleaning head 161 to reciprocate along the target surface.

Wherein the cleaning head 161 is for cleaning at least a part of a surface to be cleaned, and the driving unit is for driving the cleaning head 161 to substantially reciprocate along a target surface, which is a part of the surface to be cleaned. The cleaning head 161 reciprocates along the surface to be cleaned, and a cleaning cloth or a cleaning plate is arranged on the contact surface of the cleaning head 161 and the surface to be cleaned, and high-frequency friction is generated between the cleaning head 161 and the surface to be cleaned through the reciprocation, so that stains on the surface to be cleaned are removed.

The higher the friction frequency, which represents a greater number of friction times per unit time, the higher the frequency of reciprocation, also called reciprocation vibration, the greater the cleaning capacity than conventional reciprocation, such as rotation, friction cleaning, optionally the friction frequency is close to sound waves, the cleaning effect is much higher than that of rotation friction cleaning of tens of turns per minute. On the other hand, the tufts on the surface of the cleaning head 161 can be more neatly spread in the same direction due to the vibration of the high-frequency vibration, so that the overall cleaning effect is more uniform, instead of the cleaning effect being improved by only applying the downward pressure to increase the friction force under the condition of low-frequency rotation, the tufts can not spread in the same direction due to the downward pressure, and the effect is that the water mark on the operation surface after the high-frequency vibration cleaning is more uniform and no chaotic water mark is left.

The reciprocating motion may be repeated motion along any one or more directions in the operation surface, or may be vibration perpendicular to the operation surface, which is not limited strictly. Optionally, the direction of reciprocation of the cleaning module is substantially perpendicular to the machine travel direction, because the direction of reciprocation parallel to the machine travel direction may cause instability to the traveling machine itself, because the thrust and resistance in the travel direction may cause the drive wheel to slip easily, the effect of slipping is more pronounced in the case of a wet cleaning module, because wet slipping of the operating surface increases the possibility of slipping, which may cause inaccurate ranging of sensors such as odometers, gyroscopes, etc., in addition to smooth travel cleaning of the machine, thereby causing the navigation-type automatic cleaning device 100 to be unable to accurately locate and map, and in the event of frequent slipping, the effect on SLAM will not be negligible, thus requiring to avoid slipping machine behavior as much as possible. In addition to slipping, the component of motion of the cleaning head 161 in the direction of travel of the machine causes the machine to constantly be pushed forward and backward while traveling, so that the machine's travel is unstable and smooth.

As shown in fig. 17, in some possible embodiments provided by the present utility model, the driving unit includes: a driving platform 162 connected to the bottom surface of the machine body 110 for providing driving force; the support platform 163 is detachably connected to the driving platform 162, and is used for supporting the cleaning head 161, and can be lifted and lowered under the driving of the driving platform 162.

Thus, when the cleaning head 161 is required to be used for mopping, the supporting platform 163 can be driven by the driving platform 162 to descend, so that the cleaning head 161 is in contact with the surface to be cleaned, and the cleaning head 161 can be driven by the driving platform 162 to ascend when the surface to be cleaned which cannot be cleaned by the wet cleaning system is encountered or the automatic cleaning device 100 is stopped on a base station for filling water and cleaning the cleaning head 161.

It will be appreciated that in some possible embodiments, the cleaning head 161 may also be coupled to the machine body 110 by an active lift module. When the cleaning head 161 is temporarily not engaged in operation, for example, the automatic cleaning apparatus 100 is parked at a base station to clean the cleaning head 161 and fill the liquid tank with water; or when a surface to be cleaned, which cannot be cleaned by the wet cleaning system, is encountered, the cleaning head 161 is lifted by the active lift module.

It will be appreciated that the cleaning head 161, drive platform 162, support platform 163, water delivery mechanism, and reservoir, etc. may be powered by a motor or motors. The energy system provides power and energy for the motor and is controlled by the control module as a whole.

In some possible embodiments provided by the present utility model, the robotic cleaning device 100 further includes a second power section that may simultaneously power the cleaning head 161, the drive platform 162, the support platform 163, the water delivery mechanism, and the reservoir, or that may only power the drive platform 162.

As shown in fig. 18 and 19, the driving platform 162 includes: the second transmission device 1621 and the vibration part 1623, the second transmission device 1621 is connected with the second power part and the vibration part 1623 in a transmission way, the vibration part 1623 is arranged on one side of the driving platform 162 opposite to the second power part, and the second power part drives the vibration part 1623 to realize reciprocating motion through the second transmission device 1621.

The second transmission device 1621 may be at least one of a gear mechanism, a link mechanism, a worm gear mechanism, or other structures that meet the requirements, and the specific structure of the second transmission device 1621 is not specifically described, so long as the power of the second power portion can be transmitted to the vibration component 1623, and the related movement of the vibration component 1623 is realized.

Wherein, the second power portion can be the motor, and the motor includes forward output mode and reverse output mode, and second power portion forward rotation when the forward output mode, second power portion reverse rotation when the reverse output mode, in the forward output mode of second power portion, the vibrations 1623 of second power portion through second transmission can drive driving platform 162 basically reciprocating motion, in the reverse output mode of second power portion, the second power portion can drive driving platform 162 through second transmission 1621 and go up and down.

Further, as shown in fig. 17 and 18, the driving platform 162 further includes: the connecting rod 1622 extends along the edge of the driving platform 162 and connects the second transmission device 1621 and the vibration element 1623, so that the vibration element 1623 extends to a predetermined position, wherein the extending direction of the vibration element 1623 is perpendicular to the connecting rod 1622, so that the reciprocating direction of the vibration element 1623 is substantially perpendicular to the traveling direction of the machine body 110.

Wherein, the vibration element 1623 and the connecting rod 1622 are formed to be similar to an L-shaped structure, and the vibration element 1623 is driven by the connecting rod 1622 to reciprocate. The movable member and the fixed member of the driving platform 162 are connected to each other in a flexible manner in a direction substantially perpendicular to the traveling direction, that is, in a vibration direction of the vibration member 1623, by restricting movement in the traveling direction of the machine body by a connection having a small elasticity. The two motion limits described above cause the vibrator 1623 to move in a manner that is not exactly reciprocating, but rather substantially reciprocating. When the second cleaning assembly 160 is started, the second power unit starts to rotate forward, and drives the connecting rod 1622 to reciprocate along the surface of the driving platform 162 through the second transmission device 1621, and simultaneously drives the vibration element 1623 to reciprocate substantially along the surface of the driving platform 162, and the vibration element 1623 drives the cleaning substrate 1631 to reciprocate substantially along the surface of the supporting platform 163, and the cleaning substrate 1631 drives the movable region 1611 to reciprocate substantially along the surface to be cleaned. At this time, the water supply mechanism makes clear water flow out of the liquid storage tank and sprinkles the clear water on the cleaning head 161, and the cleaning head 161 cleans the surface to be cleaned by reciprocating motion.

As shown in fig. 17, in some possible implementations provided by the present utility model, the support platform 163 includes: the cleaning substrate 1631 is movably disposed on the support platform 163, and the cleaning substrate 1631 performs a substantially reciprocating motion under the vibration of the vibration member 1623.

As shown in fig. 17, the cleaning substrate 1631 includes: the assembly notch is disposed at a position contacting the shaking member 1623, and when the support platform 163 is coupled to the driving platform 162, the shaking member 1623 is assembled to the assembly notch, so that the cleaning substrate 1631 can be substantially reciprocated in synchronization with the shaking member 1623.

The machine body 110 of the cleaning substrate 1631 includes two first limiting positions in the traveling direction of the machine body 110, which are flexibly connected with the cleaning substrate 1631, but have a small elastic zoom space, so that the movement of the cleaning substrate 1631 relative to the support platform 163 in the traveling direction of the machine body 110 is limited; two second restriction bits are included in the direction perpendicular to the traveling direction of the machine body 110 of the cleaning substrate 1631, and restrict the range of the reciprocating motion of the cleaning substrate 1631 in the direction perpendicular to the traveling direction of the machine body 110. Further, a water outlet hole is provided near the fitting notch of the cleaning substrate 1631 for allowing water flowing out of the water outlet mechanism to flow to the cleaning head 161 through the water outlet hole.

As shown in fig. 17, in some possible embodiments provided by the present utility model, the support platform 163 further includes: an elastic detachment button 1633, disposed on at least one side of the support platform 163, for detachably coupling the support platform 163 to the jaw of the driving platform 162, such that the support platform 163 is detachably mechanically fixed to the driving platform 162, fixed with respect to the driving platform 162 and the robot cleaner 100 itself. The support platform 163 further includes at least one mounting region 1632 disposed on the support platform 163 for mounting the cleaning head 161. The mounting region 1632 may be formed of an adhesive material having an adhesive layer.

As shown in fig. 17, in some possible implementations provided by the present utility model, a cleaning head 161 includes: the active region 1611 is coupled to the cleaning substrate 1631 and is substantially reciprocated along the cleaning surface by the cleaning substrate 1631. The active region 1611 is disposed at a substantially central position of the cleaning head 161.

Specifically, the active region 1611 is provided with an adhesive layer on the side to which the cleaning substrate 1631 is connected, and the active region 1611 is connected to the cleaning substrate 1631 by the adhesive layer.

Further, as shown in fig. 17, the cleaning head 161 further includes: the fixed area 1612 is connected to the bottom of the support platform 163 through at least one mounting area 1632, and the fixed area 1612 cleans at least a portion of the operating surface as the support platform 163 moves.

Further, as shown in fig. 17, the cleaning head 161 further includes: a flexible connection 1613 disposed between the fixed region 1612 and the movable region 1611 for connecting the fixed region 1612 and the movable region 1611. The cleaning head 161 further includes: the sliding buckle 1614 extends along the edge of the cleaning head 161 and is detachably mounted at the clamping position of the supporting platform 163.

The cleaning head 161 may be made of a material having a certain elasticity, and the cleaning head 161 is fixed to the surface of the support platform 163 by an adhesive layer, thereby achieving a reciprocating motion. The cleaning head 161 is always in contact with the surface to be cleaned when the cleaning head 161 is in operation.

Further, the water feeding mechanism may simultaneously supply water to the cleaning member 131 and the cleaning head 161. The water feeding mechanism comprises water feeding driving parts 150 respectively connected with the cleaning elements 131 and the cleaning heads 161, and therefore, the water feeding driving parts 150 are respectively controlled through different water feeding driving parts 150, for example, the water feeding driving parts 150 can be peristaltic pumps, water pumps or other structures, one end of one water feeding driving part 150 is communicated with a liquid storage tank through a pipeline, and the other end of the water feeding driving part is communicated with the cleaning elements 131, so that cleaning liquid in the liquid storage tank is conveyed to the cleaning elements 131, and water supply for the cleaning elements 131 is realized. One end of the other water supply driving part 150 is communicated with the liquid storage tank through a pipeline, and the other end is communicated with the cleaning head 161 so as to convey the cleaning liquid in the liquid storage tank to the cleaning head 161, thereby realizing water supply for the cleaning head 161. Specifically, in some specific examples, the water supply driving part 150 supplying water to the cleaning member 131 may be provided inside the base 1321 to achieve waterproof and antifouling protection of the water supply driving part 150 through the base 1321, to extend the service life of the water supply driving part 150, and in other specific examples, the water supply driving part 150 supplying water to the cleaning member 131 may be provided outside the base 1321 to reduce the volume of the base 1321.

The present utility model has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the utility model to the embodiments described. In addition, it will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the utility model, which variations and modifications are within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. An automatic cleaning device (100), characterized by comprising:

a machine body (110) and a cleaning system, the cleaning system comprising a first cleaning assembly (130), the first cleaning assembly (130) comprising a cleaning element (131) in active connection with the machine body (110), the cleaning element (131) having a first position housed within the machine body (110) and a second position located outside the machine body (110), the cleaning element (131) in the first position being higher than the cleaning element (131) in the second position.

2. The robotic cleaning device (100) of claim 1, wherein,

at least part of the cleaning elements (131) in the second position are located outside an edge projection area of the machine body (110).

3. The robotic cleaning device (100) of claim 2, wherein,

the lateral part of machine main part (110) is provided with accomodates chamber (113) and dodges chamber (114), accomodate chamber (113) are used for holding be in cleaning element (131) of first position, dodge chamber (114) run through the bottom of machine main part (110) is used for dodging be in cleaning element (131) of second position.

4. The robotic cleaning device (100) of claim 3, wherein,

the accommodating cavity (113) is positioned at the rear side part of the machine body (110), and the avoiding cavity (114) is arranged adjacent to the transverse side part of the machine body (110).

5. The robotic cleaning device (100) of claim 1, wherein the first cleaning assembly (130) further comprises:

a drive unit (132) provided on the machine body (110);

a first transmission device (133) is in transmission connection with the driving part (132) and the cleaning element (131), wherein the driving part (132) drives the cleaning element (131) to switch between the first position and the second position through the first transmission device (133), and can drive the cleaning element (131) to rotate.

6. The robotic cleaning device (100) of claim 5, wherein,

the driving part (132) comprises a base (1321) and a first power part (1322) which are arranged on the machine main body (110);

the first transmission (133) includes: a first transmission assembly (134), a swing arm (135) and a clutch mechanism (136), wherein the swing arm (135) is rotationally connected with the base (1321), the first transmission assembly (134) is in transmission connection with the first power part (1322) and the clutch mechanism (136), and the clutch mechanism (136) is connected between the swing arm (135) and the cleaning element (131);

the clutch mechanism (136) is in an engaged state and can enable the first transmission assembly (134) to be in power connection with the swing arm (135) so as to drive the swing arm (135) to lift and rotate relative to the base (1321) to drive the cleaning element (131) to move between the first position and the second position, and the clutch mechanism (136) is in a separated state and can enable the first transmission assembly (134) to be in power connection with the cleaning element (131) so as to drive the cleaning element (131) to rotate.

7. The robotic cleaning device (100) of claim 6, wherein the first transmission assembly (134) comprises:

The transmission shaft (1341), and the transmission wheel (1342) and the gear train (1343) that are arranged in the swing arm (135), the transmission shaft (1341) is in power connection with the first power part (1322), and wears to locate the swing arm (135) with the transmission wheel (1342), the transmission wheel (1342) can rotate synchronously along with the transmission shaft (1341), and slides along the transmission shaft (1341), and the gear train (1343) is in transmission connection with the transmission wheel (1342) and the clutch mechanism (136).

8. The robotic cleaning device (100) of claim 7, wherein,

the side of transmission shaft (1341) is provided with spacing face (1344), drive wheel (1342) are provided with the confession transmission shaft (1341) wears to establish the through-hole, the inner wall of through-hole is provided with locating surface (1345), spacing face (1344) with locating surface (1345) phase-match is used for limiting drive wheel (1342) for the rotation of transmission shaft (1341).

9. The robotic cleaning device (100) of claim 7, wherein,

the clutch mechanism (136) includes: a connecting shaft (1361), a clutch gear (1362), and a first fixed clutch tooth (1367) and a second fixed clutch tooth (1368) which are oppositely arranged in the swing arm (135), wherein the connecting shaft (1361) is arranged on the swing arm (135), the clutch gear (1362) is sleeved outside the connecting shaft (1361) and can slide along the connecting shaft (1361), the clutch gear (1362) comprises a first movable clutch tooth (1363) and a second movable clutch tooth (1364) which are respectively arranged on two end surfaces, and a first helical tooth part (1365) and a second helical tooth part (1366) which are coaxially arranged, the first helical tooth part (1365) is meshed with the gear train (1343), and the second tooth part (1366) is in transmission connection with the cleaning element (131);

Wherein the first power part (1322) rotates in one direction, the clutch gear (1362) can be moved to a direction close to the first fixed clutch teeth (1367) through the gear train (1343) so as to enable the first movable clutch teeth (1363) and the first fixed clutch teeth (1367) to be engaged, so as to drive the swing arm (135) to rotate downwards along the direction from the first position to the second position, the first power part (1322) rotates in the other direction, and the clutch gear (1362) can be moved to a direction far away from the first fixed clutch teeth (1367) through the gear train (1343) so as to enable the second movable clutch teeth (1364) and the second fixed clutch teeth (1368) to be engaged, so as to drive the swing arm (135) to rotate upwards along the direction from the second position to the first position.

10. The robotic cleaning device (100) of claim 9, wherein,

the periphery of the base (1321) is provided with an avoidance gap (1323) for avoiding the swing arm (135), and a first rail (1324) and a second rail (1325) which are positioned on the upper surface and the lower surface of the avoidance gap (1323), wherein the first rail (1324) is spirally and downwards inclined, and the second rail (1325) is spirally and downwards inclined along the movement direction of the cleaning element (131) from the first position to the second position;

The swing arm (135) is provided with a first roller and a second roller (139) which are positioned outside the swing arm (135);

wherein, swing arm (135) decline rotation in-process, first gyro wheel is followed first track (1324) operation, swing arm (135) rise rotation in-process, second gyro wheel (139) are followed second track (1325) operation.

11. The robotic cleaning device (100) of claim 9, wherein,

the first transmission device (133) further comprises a second transmission assembly (138) located in the swing arm (135), the input end of the second transmission assembly (138) is meshed with the second tooth part (1366), and the output end of the second transmission assembly (138) penetrates through the swing arm (135) and is connected with the cleaning element (131).

12. The robotic cleaning device (100) of claim 11, wherein,

the swing arm (135) comprises an upper cover (1351) and a lower cover (1352) which surround to form a transmission cavity, the transmission wheel (1342), the gear train (1343) and part of the clutch mechanism (136) are located in the transmission cavity, first fixed clutch teeth (1367) are arranged on the upper cover (1351), second fixed clutch teeth (1368) are arranged on the lower cover (1352), and the cleaning element (131) is located at the bottom of the lower cover (1352).

13. The robotic cleaning device (100) of claim 9, wherein,

the clutch mechanism (136) further comprises a deflector rod (137), and the deflector rod (137) is arranged in a penetrating manner on the swing arm (135) and is abutted against the clutch gear (1362);

the machine body (110) is provided with a first limiting piece (115), when the first power part (1322) drives the first movable clutch tooth (1363) and the first fixed clutch tooth (1367) to be engaged so that the swing arm (135) drives the cleaning element (131) to move to the second position, the first limiting piece (115) interferes with the deflector rod (137) to drive the deflector rod (137) to move from the initial position to the triggering position so that the first movable clutch tooth (1363) and the first fixed clutch tooth (1367) are separated.

14. The robotic cleaning device (100) of claim 13, wherein,

the deflector rod (137) comprises a connecting portion (1371) and a rod portion (1372) which are connected, the rod portion (1372) is located outside the swing arm (135) and used for interfering with the first limiting piece (115), the connecting portion (1371) penetrates through the swing arm (135) and is rotationally connected with the connecting shaft (1361), the end portion, located in the swing arm (135), of the connecting portion (1371) is abutted to the clutch gear (1362), first certain clutch teeth (1367) are distributed on the periphery of the connecting portion (1371), and a third inclined tooth portion (1373) is arranged on the end face, located outside the swing arm (135), of the connecting portion (1371).

The machine body (110) is provided with a fourth helical tooth part opposite to the third helical tooth part (1373), the third helical tooth part (1373) is in butt joint with the fourth helical tooth part in the initial position, and the third helical tooth is separated from the fourth helical tooth part in the trigger position.

15. The robotic cleaning device (100) of claim 14, wherein,

the machine body (110) is further provided with a second limiting piece (116), and when the driving part (132) drives the second movable clutch teeth (1364) and the second fixed clutch teeth (1368) to be engaged so that the swing arm (135) drives the cleaning element (131) to move to the first position, the second limiting piece (116) interferes with the deflector rod (137) to drive the deflector rod (137) to move from the triggering position to the initial position.

16. The robotic cleaning device (100) of claim 15, wherein,

the end face of the swing arm (135) facing the rod part (1372) is provided with a guide inclined surface, and the guide inclined surface is obliquely upwards arranged along the movement direction of the deflector rod (137) from the trigger position to the initial position.

17. The robotic cleaning device (100) of any one of claims 6-16, further comprising:

And the position detection device is arranged on the machine main body (110) and/or the first cleaning assembly (130) and is used for detecting whether the cleaning element (131) is positioned at the first position, and the first power part (1322) is used for rotating or stopping rotating according to the detection result of the position detection device.

18. The robotic cleaning device (100) of any one of claims 6-16, further comprising:

a damping device (140) rotatably provided on the machine body (110), the damping device (140) being configured to damp the swing arm (135) when the cleaning element (131) in the second position is subjected to a force directed toward the center of the machine body (110).

19. The robotic cleaning device (100) of claim 18, wherein the buffer means (140) comprises:

a rotating shaft connected to the machine body (110), and a buffering swing link (142), the buffering swing link (142) being rotatably provided on the rotating shaft;

wherein the buffer rocker (142) includes a zero position, the buffer rocker (142) in the zero position being in contact with the swing arm (135) when the cleaning element (131) is in the second position and being located between the swing arm (135) and the center of the machine body (110).

20. The robotic cleaning device (100) of claim 19, wherein,

the buffer device (140) further comprises a reset piece connected to the rotating shaft and/or the buffer swing rod (142), and the reset piece is used for providing thrust for the buffer swing rod (142) so as to reset the buffer swing rod (142) to the zero position.

21. The robotic cleaning device (100) of claim 19, wherein,

the buffer swing rod (142) is provided with a first magnetic attraction piece, the swing arm (135) is provided with a second magnetic attraction piece, and when the cleaning element (131) is located at the second position, the first magnetic attraction piece and the second magnetic attraction piece attract each other so that the swing arm (135) is in contact with the buffer swing rod (142).

22. The robotic cleaning device (100) of claim 2, further comprising:

a second cleaning assembly (160) comprising a cleaning head (161) attached to the bottom of the machine body (110), the cleaning head (161) being located within and fixed relative to an edge projection area of the machine body (110).

23. The robotic cleaning device (100) of claim 22, wherein,

In a lateral direction of the machine body (110), the cleaning head (161) is arranged opposite to a portion of the cleaning element (131) in the second position.

24. The robotic cleaning device (100) of claim 22, wherein,

the second cleaning assembly (160) further comprises a driving unit in transmission connection with the machine body (110) and the cleaning head (161) for driving the cleaning head (161) to reciprocate along a target surface.

25. The robotic cleaning device (100) of claim 22, further comprising:

the cleaning device comprises a liquid storage tank and a water delivery mechanism, wherein the liquid storage tank is arranged on a machine body (110) and used for containing cleaning liquid, the water delivery mechanism comprises a water delivery driving part (150) which is respectively connected with a cleaning element (131) and a cleaning head (161), and the water delivery driving part (150) is also communicated with the liquid storage tank so as to correspondingly convey the cleaning liquid in the liquid storage tank to the cleaning element (131) or the cleaning head (161).

26. The robotic cleaning device (100) of claim 3, further comprising:

the third cleaning assembly comprises an edge brush movably arranged at the bottom of the machine body (110), and the edge brush and the avoidance cavity (114) are positioned on the same side of the machine body (110) and are arranged front and back.

27. The robotic cleaning device (100) of claim 1, wherein the cleaning element (131) further comprises a third position between the first position and the second position, the cleaning element (131) in the third position being located outside an edge projection area of the machine body (110).

28. A cleaning robot system, comprising:

a base station; and

the robotic cleaning device (100) according to any one of claims 1-27, the robotic cleaning device (100) being adapted to dock onto the base station.

29. The cleaning robot system of claim 28, wherein the base station comprises:

a base station body and a cleaning assembly provided on the base station body, the cleaning assembly removing foreign matters on the cleaning element (131) by interfering with the cleaning element (131) of the automatic cleaning apparatus (100).

30. The cleaning robot system of claim 29, wherein the cleaning robot system,

be provided with the third locating part on the basic station body, when self-cleaning equipment (100) berth is in on the basic station, the third locating part is located between first locating part (115) and second locating part (116) of self-cleaning equipment (100), so that when cleaning element (131) are located the third position, the third locating part with driving lever (137) of self-cleaning equipment (100) interfere in order to drive driving lever (137) are moved to the trigger position from initial position.