CN220735310U - Automatic cleaning device and cleaning robot system - Google Patents

Abstract

The utility model discloses an automatic cleaning device and a cleaning robot system. Wherein, the self-cleaning device includes: the cleaning device comprises a machine body, a cleaning assembly and a traveling system, wherein the cleaning assembly is connected with the machine body and comprises a driving part, a transmission device and cleaning elements, the driving part drives the cleaning elements to lift and rotate through the transmission device, and the traveling system is used for driving the machine body to move. From this, can be according to the demand of whether clean component and wait to clean surface contact, through drive division and transmission, realize clean component's lift and rotation operation, with satisfy clean component's different function demands, clean component's differentiation strategy's processing has been realized, self-cleaning equipment's cleaning performance has been improved, cleaning efficiency and use experience have been improved, simultaneously, utilize a drive division, can drive clean component's lift and rotation through transmission, clean subassembly compact structure can be satisfied, the less design demand of volume, be favorable to reducing clean subassembly's occupation space, and reduce cost.

Description

Automatic cleaning device and cleaning robot system

Technical Field

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

Background

With the iterative updating and development of technology, self-cleaning devices have entered into ordinary home life, such as and gradually become popular. In the current self-cleaning equipment, the self-cleaning equipment has the function of mopping, such as a mopping robot or a sweeping and mopping integrated machine, but the self-driven lifting of the mopping assembly cannot be realized, so that in the cleaning process of the self-cleaning equipment, the strategy distinguishing treatment cannot be realized in some scenes without mopping, the cleaning performance of the self-cleaning equipment is influenced, and the cleaning efficiency and the use experience are reduced.

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 device comprises a machine body, a cleaning assembly and a traveling system, wherein the cleaning assembly is connected with the machine body and comprises a driving part, a transmission device and cleaning elements, the driving part drives the cleaning elements to lift and rotate through the transmission device, and the traveling system is used for driving the machine body to move.

Further, the transmission device includes: the transmission rod is connected with the driving part and is provided with a lead screw and a driving wheel; the first transmission assembly is in transmission connection with the lead screw and the cleaning element, the transmission rod rotates, and the lead screw drives the first transmission assembly to move so as to enable the cleaning element to rotate; the second transmission assembly is in transmission connection with the transmission wheel and the cleaning element, the transmission rod rotates, and the transmission wheel drives the second transmission assembly to move so as to enable the cleaning element to lift.

Further, the first transmission assembly comprises a first gear and a second gear, and the first gear is in power connection with the screw rod and meshed with the second gear; the transmission device further comprises a sleeve connected with the cleaning element, and the sleeve is connected with the second gear; the screw rod rotates to drive the first gear to rotate, and the sleeve is driven to rotate through the second gear so that the cleaning element rotates.

Further, the first gear includes a first helical tooth portion and a first straight tooth portion, the first helical tooth portion is engaged with the lead screw, and the first straight tooth portion is engaged with the second gear.

Further, the second gear is provided with a through hole along the axial direction, and the sleeve is penetrated through the through hole and is rotationally connected with the second transmission assembly, so that the second transmission assembly can drive the sleeve to axially move relative to the second gear; wherein, the inner wall of through hole is provided with spacing portion, and telescopic outer wall is provided with the location portion, and spacing portion and location portion looks adaptation are in order to restrict the rotation of sleeve for the second gear.

Further, the second transmission assembly includes: the first end of the connecting rod is eccentrically hinged on the fifth gear, and the second end of the connecting rod is movably connected with the sleeve; the driving wheel rotates, the third gear drives the fourth gear to rotate, and the fifth gear rotates to drive the connecting rod to move so that the sleeve moves up and down in the through hole relative to the second gear.

Further, the cleaning assembly further comprises: the clutch mechanism is connected between the fourth gear and the fifth gear; the clutch mechanism is in an engaged state and can be used for connecting the fourth gear with the fifth gear in a power mode, and the clutch mechanism is in a disengaged state and can be used for separating the fourth gear from the fifth gear in a power mode.

Further, the second transmission assembly further comprises a connecting shaft penetrating through the fourth gear and the fifth gear, the fourth gear is arranged on the connecting shaft in a sliding manner, and the fifth gear is connected with the connecting shaft; the clutch mechanism comprises a fixed clutch tooth and a movable clutch tooth, the fixed clutch tooth is arranged on the end face of the fifth gear, which is far away from the connecting rod, and the movable clutch tooth is arranged on the end face of the fourth gear; the third gear comprises a second helical tooth part which is meshed and connected with the fourth gear, the third gear rotates in one direction to enable the fourth gear to drive the movable clutch teeth to move in the direction away from the fixed clutch teeth so as to enable the movable clutch teeth to be separated from the fixed clutch teeth, and the third gear rotates in the other direction to enable the fourth gear to drive the movable clutch teeth to move in the direction close to the fixed clutch teeth so as to enable the movable clutch teeth to be engaged with the fixed clutch teeth.

Further, the third gear further comprises a second straight tooth part in meshed connection with the driving wheel, and the second straight tooth part and the connecting rod are positioned on two sides of the second inclined tooth part.

Further, the second transmission assembly further includes: the second end of the connecting rod is connected with the sleeve through the bearing, and the second end of the connecting rod is hinged to the bearing.

Further, the automatic cleaning apparatus further includes: the gear box is connected with the machine body, the transmission rod and the sleeve penetrate through the gear box, the driving part and the cleaning element are located outside the gear box, and the first transmission assembly and the second transmission assembly are located inside the gear box.

Further, the gear box comprises a base and an upper cover which are detachably connected, the base comprises a bottom plate and a side plate, a first gear and a second gear are arranged on the base, a transmission rod penetrates through the side plate, a third gear and a connecting shaft are arranged on the side plate, and a sleeve penetrates through the bottom plate, the second gear and a connecting rod.

Further, the automatic cleaning apparatus further includes: and a position detecting device provided on the machine body and/or the cleaning member for detecting a rising position of the cleaning member, the driving part rotating or stopping rotating according to a detection result of the position detecting device.

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.

According to the self-cleaning equipment and the cleaning robot system provided by the embodiment of the utility model, the self-cleaning equipment comprises the machine main body, the cleaning component and the traveling system, wherein the cleaning component is connected with the machine main body and has a mopping function, the traveling system is connected with the machine main body and is used for driving the machine main body to move, the cleaning component comprises the driving part, the transmission device and the cleaning element, and the driving part drives the cleaning element to lift and rotate through the transmission device, so that the lifting and rotating operation of the cleaning element can be realized through the driving part and the transmission device according to the requirement of whether the cleaning element is in contact with a surface to be cleaned or not, so as to meet the different functional requirements of the cleaning element, namely, the treatment of the distinguishing strategy of the cleaning element can be realized, the cleaning performance of the self-cleaning equipment is improved, and the cleaning efficiency and the use experience are improved. Meanwhile, the cleaning assembly in the embodiment can drive the cleaning element to lift and rotate through the transmission device by utilizing one driving part, and compared with the prior art that the cleaning element is required to be driven to lift and rotate by utilizing two driving parts respectively, the cleaning assembly simplifies the arrangement of one driving part, thereby meeting the design requirements of compact structure and small volume of the cleaning assembly, being beneficial to reducing the occupied space of the cleaning assembly, reducing the cost and being suitable for popularization and application.

The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.

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 configuration of a robotic cleaning device according to an alternative embodiment of the utility model;

FIG. 2 is a schematic view of the embodiment of FIG. 1 from one perspective;

FIG. 3 is a schematic view of a cleaning assembly according to an alternative embodiment of the present utility model;

FIG. 4 is a schematic view of a portion of the structure of a cleaning assembly according to an alternative embodiment of the present utility model;

FIG. 5 is a schematic view of the embodiment of FIG. 4 from one perspective;

FIG. 6 is a schematic structural view of a clutch mechanism according to an alternative embodiment of the present utility model;

fig. 7 is a schematic structural view of a second gear and sleeve according to an alternative embodiment of the present utility model from one perspective.

Description of the reference numerals

100 automatic cleaning equipment, 110 machine main body, 111 forward part, 112 backward part, 120 sensing system, 121 determining device, 122 buffer, 140 traveling system, 141 driving wheel module, 142 driven wheel, 150 cleaning system, 151 dry cleaning system, 152 side brush, 170 man-machine interaction system, 180 cleaning component, 181 driving part, 182 transmission device, 183 cleaning element, 184 transmission rod, 1841 lead screw, 1842 transmission wheel, 185 first transmission component, 1851 first gear, 1852 second gear, 1853 first helical gear, 1854 first straight gear, 1855 limit part, 186 second transmission component, 1861 third gear, 1862 fourth gear, 1863 fifth gear, 1864 connecting rod, 1865 connecting shaft, 1866 fixed clutch gear, 1867 movable clutch gear, 1868 second helical gear, 1869 second straight gear, 1860 bearing, 187 sleeve, 1871 positioning part, 188 gear box, 1881 base, 1882 upper cover, 1883 base plate, 1884 side plate.

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 7, an embodiment of the present utility model provides a robot cleaner and a cleaning robot system, wherein the cleaning robot system includes a 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 traveling system 140, a cleaning system 150, an energy system, and a man-machine interaction system 170. It is understood that the robotic cleaning device 100 may be a self-moving robotic cleaning device or other robotic cleaning device as desired. A self-moving automatic cleaning apparatus is an apparatus that automatically performs a cleaning operation on a certain area to be cleaned without a user's operation. Wherein the robot cleaning device performs a cleaning task from a base station when the robot cleaning device 100 starts to operate from the mobile robot cleaning device. When the self-moving robot cleaner 100 completes a cleaning task or other condition requiring suspension of the cleaning task, the self-moving robot cleaner 100 may return to the base station for charging, and/or moisturizing, and/or washing, and/or dust collection.

As shown in fig. 1, the machine body 110 includes a forward portion 111 and a rearward portion 112 having an approximately circular shape, but may have other shapes including, but not limited to, an approximately D-shape with a rounded front-to-rear and a rectangular or square shape with a rectangular front-to-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, 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 automatic cleaning apparatus 100 via a sensor system, such as an infrared sensor, disposed thereon as the drive wheel module 141 advances the automatic cleaning apparatus 100 across the floor during cleaning, and the automatic cleaning apparatus 100 may respond to the events, such as away from the obstacle, by controlling the drive wheel module 141 through the events, such as an obstacle, wall, detected by the bumper 122.

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 a real-time positioning and map building (SLAM, full name Simultaneous Localization And Mapping), for drawing a real-time map of the environment where the automatic cleaning device 100 is located according to the obstacle information fed back by the laser ranging device. 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.

As shown in fig. 2, a traveling system 140 is coupled to the machine body 110, and the traveling system may drive the machine body 110 to move, such as driving the machine body 110 to travel across the ground, based on a driving command having distance and angle information (e.g., x, y, and θ components). The running system 140 includes a driving wheel module 141, and the driving wheel module 141 may control both left and right wheels at the same time, and in order to control the movement of the machine more precisely, it is preferable that the driving wheel module 141 include left and right driving wheel modules, respectively. 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 142, the driven wheels 142 including, but not limited to, universal wheels. The driving wheel module 141 includes a road wheel and a driving motor, and a control circuit for controlling the driving motor, and the driving wheel module 141 may be further connected to a circuit for measuring a 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 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 170 includes keys on the host panel for the user 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 equipment, a map of the environment where the equipment is located and the position where the machine is located can be displayed to a user at a mobile phone client, and richer and humanized functional items can be provided for the user.

The cleaning system 150 includes a wet cleaning system, i.e., the robot 100 may be a floor cleaning machine, or the cleaning system 150 includes a wet cleaning system and a dry cleaning system 151, i.e., the robot 100 is a floor cleaning machine.

As shown in fig. 2, the dry cleaning system 151 provided in the embodiment of the present utility model may include 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 151 may also include a side brush 152 having a rotational axis that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.

Wherein, the wet cleaning system of the present utility model may comprise: the cleaning assembly 180, the water delivery mechanism, the liquid storage tank and the like, wherein the cleaning assembly 180 is connected with the machine main body 110 and can be arranged below the liquid storage tank, the cleaning assembly 180 comprises a cleaning element 183, and cleaning liquid in the liquid storage tank is transmitted to the cleaning element 183 through the water delivery mechanism, so that the cleaning element 183 performs wet cleaning on a plane to be cleaned. In other embodiments of the present utility model, the cleaning liquid in the liquid storage tank can be directly sprayed onto the surface to be cleaned, and the cleaning element 183 can uniformly apply the cleaning liquid to clean the surface. It will be appreciated that the self-moving cleaning apparatus 100 is provided with a water filling port communicating with the liquid storage tank, and with the water filling port, the liquid outside the self-moving cleaning apparatus 100 can be replenished into the liquid storage tank, so as to realize the water replenishing operation for the liquid storage tank.

As shown in fig. 3, 4 and 5, the cleaning assembly 180 provided in the embodiment of the present utility model includes a driving part 181, a transmission device 182, and the foregoing cleaning element 183, where the cleaning assembly 180 is connected to the machine body 110, and thus, in a process that the traveling system 140 drives the machine body 110 to move along the surface to be cleaned, the cleaning assembly 180 moves along with the movement of the machine body 110, so as to implement a mopping function of the surface to be cleaned. Wherein, the drive portion 181 drives the lifting and rotating of the cleaning element 183 through the transmission device 182, thereby, according to the requirement of whether the cleaning element 183 contacts the surface to be cleaned, lifting and rotating operation of the cleaning element 183 can be realized through the drive portion 181 and the transmission device 182, so as to meet different functional requirements of the cleaning element 183, namely, the treatment of the distinguishing strategy of the cleaning element 183 can be realized, the cleaning performance of the self-cleaning device is improved, and the cleaning efficiency and the use experience are improved. Meanwhile, in the cleaning assembly 180 of the present embodiment, the cleaning element 183 can be driven to lift and rotate by using the driving part 181 through the transmission device 182, and compared with the related art that the cleaning element needs to be driven to lift and rotate by using two driving parts respectively, the cleaning assembly 180 simplifies the arrangement of one driving part, thereby meeting the design requirements of compact structure and smaller volume of the cleaning assembly 180, being beneficial to reducing the occupied space of the cleaning assembly 180, reducing the cost and being suitable for popularization and application.

Wherein the cleaning element 183 may be located at the rear of the dry cleaning system 151 in the advancing direction of the self-moving cleaning apparatus 100, the cleaning element 183 may be a flexible substance having water absorption property, such as a cloth, a sponge, or the like. In this embodiment, the cleaning element 183 may be at least one rotating turntable, the water in the self-moving robot tank being directed to the cleaning element 183, the wetted cleaning element 183 removing dirt from the floor by a rotational movement.

Further, when the driving part 181 can be controlled by the control module to drive the cleaning element 183 to be lifted through the transmission device 182 in some situations where the cleaning device 100 is not required to be dragged to and fro or carpet cleaning is performed in the moving process, it can be understood that the lifting of the cleaning element 183 can be that the lowest lower surface of the cleaning element 183 is higher than the lowest lower surface of the driving wheel, so that the cleaning element 183 is not contacted with the surface to be cleaned in the moving process of the automatic cleaning device 100 by the driving wheel in this situation, thereby avoiding the secondary pollution caused by the contact of the cleaning element 183 with the surface to be cleaned in the situations where the cleaning device 100 is not required to be dragged to the ground, which is beneficial to improving the cleaning performance, the cleaning efficiency and the use experience of the automatic cleaning device 100.

When the automatic cleaning device 100 is moving, in some situations where the floor needs to be cleaned, such as wet treatment, the control module may be used to control the driving part 181, drive the cleaning element 183 through the transmission device 182 to descend, so that the lowest lower surface of the cleaning element 183 is in interference contact with the surface to be cleaned, and meanwhile, control the driving part 181 through the control module, and drive the cleaning element 183 through the transmission device 182 to rotate, so that the cleaning element 183 is in interference with the surface to be cleaned in the process of driving the automatic cleaning device 100 to move, so as to realize the cleaning operation of the surface to be cleaned.

As shown in fig. 4 and 5, in some possible embodiments provided by the present utility model, the transmission 182 includes: the cleaning device comprises a transmission rod 184, a first transmission assembly 185 and a second transmission assembly 186, wherein the transmission rod 184 is connected with a driving part 181, so that the driving part 181 can drive the transmission rod 184 to rotate, a lead screw 1841 and a transmission wheel 1842 are arranged on the transmission rod 184, the first transmission assembly 185 is in transmission connection with the lead screw 1841 and the cleaning element 183, so that the transmission rod 184 rotates, and the lead screw 1841 drives the first transmission assembly 185 to move to enable the cleaning element 183 to rotate; the second transmission assembly 186 is in transmission connection with the transmission wheel 1842 and the cleaning element 183, so that the transmission rod 184 rotates, and the transmission wheel 1842 drives the second transmission assembly 186 to move so as to enable the cleaning element 183 to lift.

In this embodiment, by simultaneously arranging the screw 1841 and the driving wheel 1842 on the driving rod 184, the driving force of one driving unit 181 can be transmitted to the cleaning element 183 through the screw 1841 and the first driving component 185 to drive the cleaning element 183 to rotate, and transmitted to the cleaning element 183 through the driving wheel 1842 and the second driving component 186 to drive the cleaning element 183 to rotate, so that the cleaning element 183 can be driven to lift and rotate by one driving unit 181, the structure of the driving device 182 is simplified, and the design requirements of compact structure, small volume and low cost of the cleaning component 180 can be met.

The lead screw 1841 and the driving wheel 1842 may be connected to the driving rod 184, for example, the lead screw 1841 and the driving wheel 1842 may be connected to the driving rod 184 by welding, an adhesive, a connection structure, or the like, or the lead screw 1841 and the driving wheel 1842 may be formed on the driving rod 184, for example, the lead screw 1841 and the driving wheel 1842 may be directly processed on the driving rod 184 while the driving rod 184 is being processed. Specifically, the lead screw 1841 and the drive wheel 1842 may be spaced apart along the axis of the drive rod 184.

As shown in fig. 4, in some possible implementations provided by the present utility model, the first transmission assembly 185 includes a first gear 1851 and a second gear 1852, the first gear 1851 being in power connection with a lead screw 1841 and in engagement with the second gear 1852; the transmission 182 further comprises a sleeve 187 connected to the cleaning element 183, the sleeve 187 being connected to a second gear 1852.

Thereby, the driving part 181 drives the transmission rod 184 to rotate, the screw 1841 rotates to drive the first gear 1851 to rotate, the first gear 1851 rotates to drive the second gear 1852 meshed with the first gear 1851 to rotate, and the sleeve 187 is further driven to rotate, so that the cleaning element 183 connected to the sleeve 187 can rotate, thereby realizing the rotation operation of the cleaning element 183.

The first transmission component 185 is a gear transmission mechanism, and the gear transmission mechanism has high transmission precision, high transmission efficiency, reliable work and long service life, and is suitable for popularization and application.

Further, the first gear 1851 includes a first helical tooth portion 1853 and a first straight tooth portion 1854, the first helical tooth portion 1853 is engaged with the lead screw 1841, the first straight tooth portion 1854 is engaged with the second gear 1852, i.e., the second gear 1852 is a straight gear.

That is, the first gear 1851 is a stepped gear, and the power of the driving portion 181 can be transmitted to the second gear 1852 of the spur gear through the first helical gear 1853 and the first spur gear 1854 on the first gear 1851, so that compared with the prior art in which two gears of the helical gear and the spur gear are meshed with the screw and the second gear respectively, the structure is simplified, the design requirements of compact structure and small volume of the first transmission assembly 185 can be met, the volume of the cleaning assembly 180 is further reduced, and the space occupied by the cleaning assembly 180 is reduced.

As shown in fig. 4, 5 and 7, in some possible embodiments of the present utility model, the second gear 1852 is provided with a through hole along the axial direction, and the sleeve 187 is movably connected with the second transmission assembly 186 through the through hole, so that the second transmission assembly 186 can drive the sleeve 187 to move along the axial direction relative to the second gear 1852; wherein, the inner wall of the through hole is provided with a limiting portion 1855, the outer wall of the sleeve 187 is provided with a positioning portion 1871, and the limiting portion 1855 and the positioning portion 1871 are adapted to limit the rotation of the sleeve 187 relative to the second gear 1852.

In this embodiment, since the sleeve 187 is connected to the second transmission assembly 186 after penetrating through the through hole formed in the second gear 1852, the second transmission assembly 186 can drive the sleeve 187 to move along the axis relative to the second gear 1852 to implement lifting operation of the cleaning element 183, meanwhile, since the sleeve 187 is movably connected with the second transmission assembly 186, and the limiting portion 1855 on the inner wall of the through hole and the positioning portion 1871 on the outer wall of the sleeve 187 are adapted to limit rotation of the sleeve 187 relative to the second gear 1852, the rotation of the second gear 1852 can drive the sleeve 187 to rotate to implement rotation operation of the cleaning element 183, and therefore, by using one sleeve 187 to be respectively connected with the second gear 1852 of the first transmission assembly 185 and movably connected with the second transmission assembly 186, rotation operation and lifting operation of the cleaning element 183 can be implemented, the structure is compact and simple, the design requirements of the transmission assembly compact structure and small volume can be satisfied, and the space occupied by the cleaning assembly 180 can be further reduced.

As shown in fig. 7, the limiting portion 1855 may be a concave portion or a limiting surface disposed on an inner wall of the through hole of the second gear 1852, and the positioning portion 1871 may be a convex portion or a positioning surface disposed on an outer wall of the sleeve 187, so that the rotation of the sleeve 187 relative to the second gear 1852 can be limited by adapting the limiting portion 1855 to the positioning portion 1871. Specifically, as shown in fig. 5 and 7, the limiting portion 1855 is a concave portion disposed in the through hole, the positioning portion 1871 is a convex portion disposed on the outer wall of the sleeve 187, for example, the concave portion is a groove, and the convex portion is a bump, it is understood that the through hole may be a polygonal hole, and the outer edge of the sleeve 187 is a polygonal shape corresponding to the outer edge shape of the sleeve 187, for example, the through hole is a hexagonal hole.

As shown in fig. 4 and 5, in some possible implementations provided by the present utility model, the second transmission assembly 186 includes: third gear 1861, fourth gear 1862, fifth gear 1863 and connecting rod 1864, third gear 1861 and drive wheel 1842 meshing, and with fourth gear 1862 meshing, fourth gear 1862 and fifth gear 1863 coaxial setting and but power connection, the first end eccentric hinge of connecting rod 1864 is on fifth gear 1863, the second end and sleeve 187 swing joint of connecting rod 1864.

Thus, the driving part 181 drives the transmission rod 184 to rotate, the transmission wheel 1842 rotates to drive the third gear 1861 meshed with the transmission wheel 1842 to rotate, the third gear 1861 rotates to drive the fourth gear 1862 meshed with the third gear 1861 to rotate, and therefore, under the condition that the fourth gear 1862 and the fifth gear 1863 are in power connection, the fourth gear 1862 can drive the fifth gear 1863 to rotate, and then the connecting rod 1864 is driven to make eccentric motion relative to the fifth gear 1863, so that the sleeve 187 movably connected with the connecting rod 1864 moves up and down relative to the second gear 1852 in the through hole, and the cleaning element 183 connected to the sleeve 187 realizes the up and down operation.

In some possible embodiments provided by the present utility model, the cleaning assembly 180 further includes: a clutch mechanism connected between the fourth gear 1862 and the fifth gear 1863; wherein the clutch mechanism is in an engaged state capable of powering the fourth gear 1862 with the fifth gear 1863 and the clutch mechanism is in a disengaged state capable of powering the fourth gear 1862 away from the fifth gear 1863.

Thus, the arrangement of the clutch mechanism can enable the fourth gear 1862 and the fifth gear 1863 to meet the requirements of power connection and power separation, and further meet different working states of the cleaning element 183.

Specifically, the provision of the clutch mechanism enables power split after the cleaning element 183 has been moved up and down into place. When the cleaning element 183 is lowered to a designated position so that the cleaning element 183 can contact and interfere with a surface to be cleaned, such as when a mopping operation can be performed by a mopping tray, the fourth gear 1862 and the fifth gear 1863 can be separated by power through the clutch mechanism, the cleaning element 183 is driven to rotate by the driving part 181 through the transmission rod 184 and the first transmission assembly 185, so that the mopping operation can be realized, and the power of the driving part 181 cannot be transmitted to the cleaning element 183 through the second transmission assembly 186 due to the separation of the power of the fourth gear 1862 and the fifth gear 1863, namely, the cleaning element 183 cannot perform lifting operation, so that the reliability of the mopping operation of the cleaning element 183 can be ensured, and a good cleaning effect can be ensured.

When the cleaning element 183 is not required to perform the mopping operation, if the mopping operation is completed, the fourth gear 1862 and the fifth gear 1863 can be in power connection through the clutch mechanism, the cleaning element 183 is driven to ascend by the driving part 181 through the transmission rod 184 and the second transmission assembly 186, so that the cleaning element 183 is separated from the surface to be cleaned, and the ascending operation is realized.

In some possible embodiments provided by the present utility model, as shown in fig. 5, the second transmission assembly 186 further includes a connecting shaft 1865 penetrating the fourth gear 1862 and the fifth gear 1863, i.e., the fourth gear 1862 and the fifth gear 1863 are coaxially disposed, wherein the fourth gear 1862 is slidably disposed on the connecting shaft 1865, and the fifth gear 1863 is connected to the connecting shaft 1865.

As shown in fig. 6, the clutch mechanism includes a fixed clutch tooth 1866 and a movable clutch tooth 1867, the fixed clutch tooth 1866 is disposed on a side of the fifth gear 1863 remote from the connecting rod 1864, the movable clutch tooth 1867 is disposed on the fourth gear 1862, wherein the fourth gear 1862 is a first helical gear, the third gear 1861 includes a second helical tooth portion 1868 in meshing engagement with the fourth gear 1862, rotation of the third gear 1861 in one direction causes the fourth gear 1862 to move the movable clutch tooth 1867 in a direction away from the fixed clutch tooth 1866 to disengage the movable clutch tooth 1867 from the fixed clutch tooth 1866, and rotation of the third gear 1861 in the other direction causes the fourth gear 1862 to move the movable clutch tooth 1867 in a direction toward the fixed clutch tooth 1866 to engage the movable clutch tooth 1867 with the fixed clutch tooth 1866.

In this embodiment, the fixed clutch teeth 1866 and the movable clutch teeth 1867 of the clutch mechanism are respectively integrated on the fourth gear 1862 and the fifth gear 1863, so that the structure of the transmission device 183 can be simplified, the design requirements of compact structure and small volume of the transmission device 183 can be met, meanwhile, the cost of the cleaning assembly 180 can be reduced, the space occupied by the cleaning assembly 180 is reduced, and the cleaning assembly is suitable for popularization and application.

Specifically, when the third gear 1861 rotates in one direction, as shown in fig. 5, the third gear 1861 rotates clockwise, and the fourth gear 1862 is driven to rotate counterclockwise by the gear engagement, meanwhile, because the fourth gear 1862 is a first helical gear and is engaged with the second helical gear 1868 on the third gear 1861, the fourth gear 1862 rotates in a direction close to the fifth gear 1863 due to the axial force of the helical gear engagement, that is, the fourth gear 1862 is pressed against the fifth gear 1863, that is, the downward direction of the arrow in fig. 5 is the moving direction of the fourth gear 1862, and because the moving clutch gear 1867 on the fourth gear 1862 is connected with the fixed clutch gear 1866 on the fifth gear 1863, the counterclockwise rotation of the fourth gear 1862 is transmitted to the fifth gear 1863 through the moving clutch gear 1867 on the end surface and the fixed clutch gear 1866 on the end surface of the fifth gear 1863, and the connecting rod 1864 connected with the fifth gear 1863 drives the cleaning element to realize the lifting motion.

Conversely, when the third gear 1861 rotates in the other direction, as shown in fig. 5, the third gear 1861 rotates counterclockwise, the fourth gear 1862 is driven to rotate clockwise by the gear engagement, and simultaneously, the fourth gear 1862 moves away from the fifth gear 1863 due to the axial force of the bevel gear engagement, that is, the upward direction of the arrow in fig. 5 is the moving direction of the fourth gear 1862, and since the moving clutch teeth 1867 on the fourth gear 1862 are connected with the fixed clutch teeth on the fifth gear 1863, the clockwise rotation of the fourth gear 1862 is transmitted to the fifth gear 1863 through the moving clutch teeth 1867 on the end surface and the fixed clutch teeth 1866 on the end surface of the fifth gear 1863, so that the connecting rod 1864 connected with the fifth gear 1863 drives the cleaning element 183 to realize the descending motion.

It will be appreciated that with the proper arrangement of the movable and stationary clutch teeth 1867, 1866, the cleaning element 183 is lowered to the moved position, just as the fourth gear 1862 is moved axially, disengaging the fourth gear 1862 from the fifth gear 1863, effecting power separation. After the fourth gear 1862 is separated from the fifth gear 1863, the power of the driving part 181 cannot be transmitted to the fifth gear 1863 through the second transmission assembly 186, and thus, the elevating movement of the cleaning element 183 is stopped and only the rotating movement is performed. In this case, the cleaning element 183 cleans the floor by a rotational movement.

In some possible embodiments provided by the present utility model, as shown in fig. 5, third gear 1861 further includes a second spur gear 1869 in meshed engagement with drive wheel 1842, second spur gear 1869 and connecting rod 1864 being located on opposite sides of second helical gear 1868.

That is, the third gear 1861 is a stepped gear, the second helical gear 1868 on the third gear 1861 is meshed with the fourth gear 1862, and the second straight gear 1869 on the third gear 1861 is meshed with the driving wheel 1842, so that the power of the driving part 181 can be transferred to the fourth gear 1862 of the first helical gear through the driving wheel 1842 on the driving rod 184.

As shown in fig. 4, in some possible implementations provided by the present utility model, the second transmission assembly 186 further includes: bearing 1860, the second end of link 1864 is coupled to sleeve 187 by bearing 1860, and the second end of link 1864 is hinged to bearing 1860.

The bearing 1860 is disposed, so that the sleeve 187 will not interfere with the connecting rod 1864 when the sleeve 187 is driven by the first transmission component 185 to rotate, so as to ensure the reliability and flexibility of the sleeve 187 to drive the cleaning element 183 to rotate, and meanwhile, the second end of the connecting rod 1864 is hinged to the bearing 1860, so that when the fifth gear 1863 rotates to drive the connecting rod 1864 to make eccentric movement around the axis of the fifth gear 1863, the sleeve 187 can be smoothly and reliably driven to make lifting movement, so that the connecting rod 1864 and the sleeve 187 will not be jammed, so as to ensure the reliability and flexibility of the sleeve 187 to drive the cleaning element 183 to make lifting movement.

As shown in fig. 3 and 4, in some possible embodiments provided by the present utility model, the automatic cleaning apparatus 100 further includes: the gear case 188 is connected with the machine body 110, the transmission rod 184 and the sleeve 187 penetrate through the gear case 188, the driving part 181 and the cleaning element 183 are positioned outside the gear case 188, and the first transmission assembly 185 and the second transmission assembly 186 are positioned inside the gear case 188. The arrangement of the gear box 188 provides good protection for the first and second drive assemblies 185, 186, thereby facilitating an increase in the service life of the first and second drive assemblies 185, 186 and providing reliability of the cleaning assembly 180. Meanwhile, the entire cleaning assembly 180 can be mounted on the machine body by being connected with the machine body 110 through the gear case 188, and reliability and stability of connection of the cleaning assembly 180 with the machine body 110 are ensured. It is understood that the gear case 188 and the machine body 110 may be connected by at least one of a screw structure, a snap-fit structure, a mortise and tenon structure, and other connection structures. As shown in fig. 3, the gear case 188 may be connected to the machine body 110 through a screw structure through a hole formed therein, so as to facilitate disassembly and maintenance.

As shown in fig. 3 and 4, further, the gear box 188 includes a base 1881 and an upper cover 1882 that are detachably connected, so that the base 1881 and the upper cover 1882 can be detached and separated to repair and replace the first transmission assembly 185 and/or the second transmission assembly 186 located in the gear box 188, which is convenient to operate, and is beneficial to improving the repair efficiency and the repair experience. Specifically, the base 1881 and the upper cover 1882 may be detachably connected by at least one of a screw structure, a clamping structure, a mortise and tenon structure, and a pivoting structure.

Wherein, the base 1881 includes a bottom plate 1883 and a side plate 1884, the first gear 1851 and the second gear 1852 are disposed on the base 1881, the transmission rod 184 is disposed through the side plate 1884, the third gear 1861 and the connecting shaft 1865 are disposed on the side plate 1884, and the sleeve 187 is disposed through the bottom plate 1883 and the second gear 1852 and is connected with the connecting rod 1864. From this, make first drive assembly 185 and second drive assembly 186 can arrange on base 1881 rationally, can satisfy transmission 183 compact structure's design demand, simultaneously, make drive portion 181 and clean component 183 set up respectively in the lateral part and the bottom of gear box 188 for whole clean assembly 180's height and width dimension are reasonable, and then make clean assembly 180's whole volume less, and occupation space is less, are suitable for popularization and application.

In some possible embodiments provided by the present utility model, the automatic cleaning apparatus 100 further comprises: and a position detecting device provided on the machine body 110 and/or the cleaning element 183, the position detecting device detecting a rising position of the cleaning element 183, and the driving part 181 rotating or stopping rotating according to a detection result of the position detecting device.

Wherein, the position detecting device is used for detecting the rising position of the cleaning element 183, it can be understood that when the cleaning element 183 rises to the rising limit position, if the rising is continued, the sleeve 187 may be separated from the through hole of the second gear 1852, thereby affecting the rotation operation of the cleaning element 183. Therefore, the lifting position of the cleaning element 183 is detected by the position detecting device, when the cleaning element 183 is lifted to the lifting limit position, the position detecting device sends a position signal to the control module, and the control module controls the driving part 181 to stop rotating according to the received position signal, so that the situation that the sleeve 187 drives the cleaning element 183 to lift continuously and separate from the through hole of the second gear 1852 can be avoided, and the reliability of the rotation operation of the cleaning element 183 is ensured.

It will be appreciated that when the cleaning element 183 is not raised to the raised limit position, the position detection device will not send a signal to the control module, which can control the driving portion 181 to continue to rotate, so that the sleeve 187 drives the cleaning element 183 to continue to rise.

Specifically, the position detecting device may be a hall sensor or other detecting devices meeting the requirements, and the present utility model is not particularly limited thereto.

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 (14)

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

the cleaning device comprises a machine body (110), a cleaning assembly (180) and a traveling system (140), wherein the cleaning assembly (180) is connected with the machine body (110), the cleaning assembly (180) comprises a driving part (181), a transmission device (182) and a cleaning element (183), the driving part (181) drives the cleaning element (183) to lift and rotate through the transmission device (182), and the traveling system (140) is used for driving the machine body (110) to move.

2. The robotic cleaning device (100) of claim 1, wherein the transmission (182) comprises:

the transmission rod (184), the transmission rod (184) is connected with the driving part (181), and a lead screw (1841) and a driving wheel (1842) are arranged on the transmission rod (184);

a first transmission assembly (185) in transmission connection with the lead screw (1841) and the cleaning element (183), wherein the transmission rod (184) rotates, and the first transmission assembly (185) is driven to move through the lead screw (1841) so as to enable the cleaning element (183) to rotate;

and the second transmission assembly (186) is in transmission connection with the transmission wheel (1842) and the cleaning element (183), the transmission rod (184) rotates, and the transmission wheel (1842) drives the second transmission assembly (186) to move so as to enable the cleaning element (183) to lift.

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

the first transmission assembly (185) comprises a first gear (1851) and a second gear (1852), the first gear (1851) being in power connection with the lead screw (1841) and being in engagement with the second gear (1852);

the transmission (182) further comprises a sleeve (187) connected to the cleaning element (183), the sleeve (187) being connected to the second gear (1852);

Wherein the screw (1841) rotates to drive the first gear (1851) to rotate, and the sleeve (187) is driven to rotate by the second gear (1852) to rotate the cleaning element (183).

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

the first gear (1851) comprises a first helical tooth portion (1853) and a first straight tooth portion (1854), the first helical tooth portion (1853) is meshed with the screw (1841), and the first straight tooth portion (1854) is meshed with the second gear (1852).

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

the second gear (1852) is provided with a through hole along the axial direction, and the sleeve (187) is penetrated through the through hole and is movably connected with the second transmission assembly (186), so that the second transmission assembly (186) can drive the sleeve (187) to move along the axial direction relative to the second gear (1852);

wherein, the inner wall of the through hole is provided with a limit part (1855), the outer wall of the sleeve (187) is provided with a positioning part (1871), and the limit part (1855) and the positioning part (1871) are adapted to limit the rotation of the sleeve (187) relative to the second gear (1852).

6. The robotic cleaning device (100) of claim 5, wherein the second transmission assembly (186) comprises:

the device comprises a third gear (1861), a fourth gear (1862), a fifth gear (1863) and a connecting rod (1864), wherein the third gear (1861) is meshed with the driving wheel (1842) and is meshed with the fourth gear (1862), the fourth gear (1862) and the fifth gear (1863) are coaxially arranged and can be in power connection, a first end of the connecting rod (1864) is eccentrically hinged to the fifth gear (1863), and a second end of the connecting rod (1864) is movably connected with the sleeve (187);

the driving wheel (1842) rotates, the third gear (1861) drives the fourth gear (1862) to rotate, and the fifth gear (1863) rotates to drive the connecting rod (1864) to move so that the sleeve (187) moves up and down in the through hole relative to the second gear (1852).

7. The robotic cleaning device (100) of claim 6, wherein the cleaning assembly (180) further comprises:

a clutch mechanism connecting between the fourth gear (1862) and the fifth gear (1863);

wherein the clutch mechanism is in an engaged state capable of dynamically connecting the fourth gear (1862) with the fifth gear (1863), and in a disengaged state capable of dynamically disconnecting the fourth gear (1862) from the fifth gear (1863).

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

the second transmission assembly (186) further comprises a connecting shaft (1865) penetrating through the fourth gear (1862) and the fifth gear (1863), the fourth gear (1862) is slidably arranged on the connecting shaft (1865), and the fifth gear (1863) is connected with the connecting shaft (1865);

the clutch mechanism comprises a fixed clutch tooth (1866) and a movable clutch tooth (1867), wherein the fixed clutch tooth (1866) is arranged on the end surface of the fifth gear (1863) far away from the connecting rod (1864), and the movable clutch tooth (1867) is arranged on the end surface of the fourth gear (1862);

the fourth gear (1862) is a first helical gear, the third gear (1861) comprises a second helical tooth part (1868) which is in meshed connection with the fourth gear (1862), the third gear (1861) rotates in one direction to enable the fourth gear (1862) to drive the movable clutch tooth (1867) to move in a direction away from the fixed clutch tooth (1866) so as to enable the movable clutch tooth (1867) to be separated from the fixed clutch tooth (1866), and the third gear (1861) rotates in the other direction to enable the fourth gear (1862) to drive the movable clutch tooth (1867) to move in a direction close to the fixed clutch tooth (1866) so as to enable the movable clutch tooth (1867) to be engaged with the fixed clutch tooth (1866).

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

the third gear (1861) further comprises a second straight tooth part (1869) in meshed connection with the driving wheel (1842), and the second straight tooth part (1869) and the connecting rod (1864) are located on two sides of the second inclined tooth part (1868).

10. The robotic cleaning device (100) of claim 6, wherein the second transmission assembly (186) further comprises:

-a bearing (1860), the second end of the connecting rod (1864) being connected to the sleeve (187) by means of the bearing (1860), and the second end of the connecting rod (1864) being hinged to the bearing (1860).

11. The robotic cleaning device (100) of claim 8, further comprising:

the gear box (188), gear box (188) with machine main part (110) are connected, transfer line (184) with sleeve (187) wear to locate gear box (188), drive portion (181) with cleaning element (183) are located outside gear box (188), first drive assembly (185) second drive assembly (186) are located inside gear box (188).

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

The gear box (188) comprises a base (1881) and an upper cover (1882) which are detachably connected, the base (1881) comprises a bottom plate (1883) and a side plate (1884), a first gear (1851) and a second gear (1852) are arranged on the base (1881), a transmission rod (184) penetrates through the side plate (1884), a third gear (1861) and a connecting shaft (1865) are arranged on the side plate (1884), and a sleeve (187) penetrates through the bottom plate (1883) and the second gear (1852) is connected with the connecting rod (1864).

13. The robotic cleaning device (100) of any one of claims 1-12, further comprising:

and a position detecting device provided on the machine body (110) and/or the cleaning member (183) for detecting a rising position of the cleaning member (183), the driving part (181) being rotated or stopped according to a detection result of the position detecting device.

14. A cleaning robot system, comprising:

a base station; and

the robotic cleaning device (100) according to any one of claims 1-13, the robotic cleaning device (100) being adapted to dock onto the base station.