WO2025167083A1 - Self-cleaning apparatus and cleaning system - Google Patents

Abstract

A self-cleaning apparatus and a cleaning system. The self-cleaning apparatus comprises: a mobile platform (10) which is configured to autonomously move on an operating surface; at least one first cleaning assembly (20) which is movably arranged on the mobile platform (10) and can switch between a first position and a second position; and at least one second cleaning assembly (30) which is movably arranged on the mobile platform (10) and can switch between a third position and a fourth position, wherein the first cleaning assembly (20) and the second cleaning assembly (30) are arranged spaced apart from each other and are located on the same side in the direction of travel of the self-cleaning apparatus.

Description

Self-cleaning equipment and cleaning systems

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese patent application No. 202410164668.3 filed on February 5, 2024, the entire contents of which are incorporated herein by reference.

Technical Field

The present application belongs to the field of electrical appliance technology, and specifically relates to a self-cleaning device and a cleaning system.

Background Art

With the advancement of science and technology and the development of society, cleaning systems for cleaning have gradually entered people's lives. The cleaning system includes a main brush. When the cleaning system is working, the main brush rotates to clean, which can reduce people's burden and bring convenience to people's lives.

However, since the overall shape of the cleaning system is generally circular, there are blind spots when cleaning and encountering corners, resulting in poor cleaning effects and affecting the user experience.

Summary of the Invention

In order to solve the technical problem that the current cleaning system has cleaning blind spots, resulting in poor cleaning effects and affecting user experience, the present application provides a self-cleaning device and a cleaning system.

In a first aspect of the present application, a self-cleaning device is provided, comprising: a mobile platform configured to self-move on an operating surface, the mobile platform having a central axis along the traveling direction of the mobile platform; at least one first cleaning component movably provided on the mobile platform and switchable between a first position and a second position, wherein when the first cleaning component is in the first position, the distance between the first cleaning component and the central axis is a first distance, and when the first cleaning component is in the second position, the distance between the first cleaning component and the central axis is a second distance, and the second distance is greater than the first distance; at least one second cleaning component movably provided on the mobile platform and switchable between a third position and a fourth position, wherein when the second cleaning component is in the third position, the distance between the second cleaning component and the central axis is a third distance, and when the second cleaning component is in the fourth position, the distance between the second cleaning component and the central axis is a fourth distance, and the fourth distance is greater than the third distance; wherein the first cleaning component and the second cleaning component are spaced apart and located on the same side of the traveling direction of the self-cleaning device.

In some embodiments, when cleaning a corner or an obstacle with a corner, the first cleaning assembly may be located in the second position, and the second cleaning assembly may be located in the fourth position.

In some embodiments, when cleaning a corner or an obstacle with a corner, the first cleaning assembly may be located in the second position, and the second cleaning assembly may be located in the third position.

In some embodiments, when cleaning the edge of a wall or an obstacle, the first cleaning assembly may be located in a first position, and the second cleaning assembly may be located in a fourth position.

In some embodiments, the first cleaning component includes: a fixed arm for being installed at the bottom of the mobile platform; a swing arm, one end of which is rotatably connected to the fixed arm and the other end of which is equipped with a rotatable first cleaning member; a power component connected to the fixed arm, and the power component is configured to drive the swing arm to swing, so as to drive the first cleaning member to move between the first position and the second position.

In some embodiments, the power assembly includes a transmission assembly, and the transmission assembly can drive the swing arm to swing and the first cleaning member to rotate under the drive of a driving member.

In some embodiments, the transmission assembly includes: a linkage shaft, which rotates around its own central axis and is connected to the fixed arm and the swing arm, and the driving member is driven and connected to the linkage shaft, and can drive the linkage shaft to rotate; a first transmission assembly, whose input end is connected to the linkage shaft, and the output end is connected to the swing arm, and when the linkage shaft rotates, the swing arm can be driven to swing through the first transmission assembly; a second transmission assembly, whose input end is connected to the first transmission assembly, and the output end is connected to the first cleaning member, and when the linkage shaft rotates, the first cleaning member can be driven to rotate through the first transmission assembly and the second transmission assembly.

In some embodiments, the second cleaning component includes: a rotating arm, rotatably connected to the mobile platform; a first elastic member, a first end of which is connected to the rotating arm, and a second end of the first elastic member is relatively fixed to the mobile platform; a second cleaning member, which is arranged on the rotating arm; and a first driving assembly, which is used to cooperate with the first elastic member to rotate the rotating arm to drive the second cleaning member to switch between the third position and the fourth position.

In some embodiments, when the second cleaning member switches between the third position and the fourth position, the first driving assembly abuts against the rotating arm to rotate the rotating arm.

In some embodiments, one end of the rotating arm is connected to the first cam, and the other end is connected to the second cleaning member. When the second cleaning member switches between the third position and the fourth position, the first driving assembly abuts against the protrusion of the first cam to rotate the rotating arm.

In some embodiments, the first driving assembly is used to drive the first cam to rotate in a first direction so that the second cleaning member switches from the fourth position to the third position, and the first elastic member is used to drive the first cam to rotate in a second direction so that the second cleaning member switches from the third position to the fourth position.

In some embodiments, the first driving assembly deforms the first elastic member through the first cam to accumulate elastic potential energy; the first elastic member releases the elastic potential energy to drive the first cam to rotate in the second direction, so that the second cleaning member switches from the third position to the fourth position.

In some embodiments, when the number of the first cleaning components is two and the number of the second cleaning components is two, the two first cleaning components are respectively located on both sides of the travel direction of the self-cleaning device, and the two second cleaning components are respectively located on both sides of the travel direction of the self-cleaning device.

In some embodiments, the first cleaning assembly includes a dry cleaning assembly, and the second cleaning assembly includes a wet cleaning assembly; wherein, along the traveling direction of the self-cleaning device, the first cleaning assembly is located in front of the second cleaning assembly.

In some embodiments, the wet cleaning assembly is rotatable relative to the work surface.

In some embodiments, the wet cleaning assembly is liftable relative to the work surface.

In some embodiments, the wet cleaning assembly can vibrate relative to the work surface.

In some embodiments, the dry cleaning assembly can be raised and lowered relative to the work surface.

In a second aspect of the present application, a cleaning system is provided, comprising a cleaning base station and the self-cleaning device.

According to the self-cleaning device provided by one or more embodiments of the present application, since the mobile platform is configured to move on the operating surface, the mobile platform has a central axis along the driving direction of the mobile platform. When the automatic cleaning device starts working, the mobile platform can move on the operating surface to perform cleaning tasks. Since at least one first cleaning component can be movably provided on the mobile platform and can be switched between a first position and a second position, when the first cleaning component is in the first position, the distance between the first cleaning component and the central axis is a first distance, and when the first cleaning component is in the second position, the distance between the first cleaning component and the central axis is a second distance, and the second distance is greater than the first distance, at least one second cleaning component can be movably provided on the mobile platform and can be switched between a third position and a fourth position, when the second cleaning component is in the third position, the distance between the second cleaning component and the central axis is a third distance, and when the second cleaning component is in the fourth position, the second cleaning component The distance from the central axis is a fourth distance, which is greater than the third distance. The first cleaning assembly and the second cleaning assembly are spaced apart and located on the same side of the travel direction of the self-cleaning device. Therefore, when cleaning non-corner areas or obstacles without corners, the first cleaning assembly switches to the first position and the second cleaning assembly switches to the third position. At this time, the first cleaning assembly and the second cleaning assembly clean the operating surface below the mobile platform. When cleaning corners or obstacles with corners, the first cleaning assembly switches to the second position and the second cleaning assembly switches to the fourth position. At this time, the first cleaning assembly and the second cleaning assembly can clean a larger area around the mobile platform, increasing the cleaning area of the first cleaning assembly and the second cleaning assembly, allowing the first cleaning assembly and the second cleaning assembly to extend as much as possible outside the mobile platform, allowing the first cleaning assembly and the second cleaning assembly to extend into the corner area or the corner area for cleaning, thereby cleaning the corner area or the corner area. Therefore, the side brush module for the cleaning device provided by the embodiment of the present disclosure can clean the corner area or obstacles with corners in the room, realize cleaning of blind spots, improve the comprehensiveness of the cleaning range, and thus improve the user experience.

When cleaning corners or obstacles with corners, the second cleaning component can be located in the third position, and the first cleaning component is located in the second position, so that the first cleaning component can be extended outside the mobile platform. The first cleaning component can clean a larger area around the mobile platform, increasing the cleaning area of the first cleaning component. The first cleaning component can extend into the corner area of the corner or the obstacle for cleaning, thereby cleaning the corner area or the corner area of the obstacle, realizing the cleaning of the blind spot, improving the comprehensiveness of the cleaning range, and thus improving the user experience. When cleaning non-corners or obstacles without corners, the first cleaning component switches from the second position to the first position, so that the first cleaning component can perform routine cleaning.

When cleaning the edges of walls or obstacles, the first cleaning component can be in the first position and the second cleaning component is in the fourth position, so that the second cleaning component can be extended outside the mobile platform. The second cleaning component can clean a larger area around the mobile platform, increasing the cleaning area of the second cleaning component. The second cleaning component can extend to the edge of the wall or the edge of the obstacle for cleaning, thereby cleaning the edge of the wall or the edge of the obstacle, realizing the cleaning of the blind spot, improving the comprehensiveness of the cleaning range, and thus improving the user experience. When cleaning the edges of non-walls or non-obstacles, the second cleaning component switches from the fourth position to the third position, so that the second cleaning component can perform routine cleaning.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

FIG1 shows a schematic diagram of switching between a first cleaning component and a second cleaning component of a self-cleaning device in one or more embodiments of the present application.

FIG2 is a schematic diagram showing a self-cleaning device in which the first cleaning component is in a first position and the second cleaning component is in a third position in one or more embodiments of the present application.

FIG. 3 shows a bottom view of FIG. 1 .

FIG4 is a schematic diagram showing a self-cleaning device in which the first cleaning component is in the second position and the second cleaning component is in the fourth position in one or more embodiments of the present application.

FIG. 5 shows a bottom view of FIG. 4 .

FIG6 shows a schematic diagram of the three-dimensional structure of the first cleaning component in one or more embodiments of the present application.

FIG7 shows a schematic diagram of the three-dimensional structure of the first cleaning assembly in one or more embodiments of the present application, with the swing arm and part of the fixed arm hidden.

FIG8 shows a schematic diagram of the three-dimensional structure of the swing arm and the fixed arm in one or more embodiments of the present application.

FIG9 shows a schematic diagram of the three-dimensional structure of a transmission assembly in one or more embodiments of the present application.

FIG10 is a schematic diagram showing a three-dimensional structure of a portion of a transmission assembly in one or more embodiments of the present application.

FIG11 is a schematic diagram showing a three-dimensional structure of the structure within the swing arm in one or more embodiments of the present application.

FIG12 shows a schematic diagram of the three-dimensional structure of a portion of a transmission assembly in one or more embodiments of the present application.

FIG13 shows a schematic diagram of a three-dimensional structure of a portion of a fixed arm in one or more embodiments of the present application.

FIG14 is a schematic structural diagram showing the second cleaning element in one or more embodiments of the present application when the second cleaning element is in the third position.

FIG15 is a schematic structural diagram showing the second cleaning element in one or more embodiments of the present application when the second cleaning element is in the fourth position.

FIG16 is a schematic structural diagram of the embodiment shown in FIG15 from another perspective.

FIG17 is a schematic structural diagram showing another perspective of the embodiment shown in FIG15 .

FIG18 is a cross-sectional view taken along the A-A direction of the embodiment shown in FIG17.

FIG19 shows a schematic structural diagram of the second drive assembly in one or more embodiments of the present application.

FIG20 is a schematic structural diagram showing another perspective of the embodiment shown in FIG16 .

FIG21 shows a schematic structural diagram of the second shell in one or more embodiments of the present application.

FIG22 is a schematic structural diagram showing another perspective of the embodiment shown in FIG21 .

FIG23 shows a schematic structural diagram of a case where a protective layer is provided on the first cam in one or more embodiments of the present application.

FIG24 shows a schematic structural diagram of one or more embodiments of the present application in which a roller is provided on the abutting portion.

Description of reference numerals:

10-mobile platform; 101-forward portion; 102-rearward portion; 20-first cleaning assembly; 201-brush; 202-fixed arm; 203-swinging arm; 204-power assembly; 2041-driving member; 2042-transmission assembly; 20421-first gear; 20422-second gear; 20423-linkage shaft; 20424-first linkage shaft transmission gear; 20425-second linkage shaft transmission gear; 20426-third linkage shaft transmission gear; 20427-fourth linkage shaft transmission gear; 2043-second mounting shaft; 20441-third gear; 20442 - fourth gear; 20443 - output gear; 20444 - fifth gear; 20445 - sixth gear; 20446 - seventh gear; 20447 - eighth gear; 20448 - ninth gear; 2045 - swing push rod; 2046 - push rod transmission assembly; 20461 - first mounting shaft; 20462 - friction transmission wheel; 20463 - friction wheel; 20464 - second elastic member; 20465 - third elastic member; 20466 - first limiting member; 30 - second cleaning assembly; 301 - first driving assembly; 3011 - telescopic driving member; 3013 - rotating arm; 3 014-10th gear; 3015-2nd cam; 30151-sector tooth portion; 30152-abutting portion; 30153-first baffle; 30154-second baffle; 3016-first cam; 30161-convex portion; 30162-connecting portion; 3017-first elastic member; 3018-first housing; 30181-third limiting member; 30182-fourth limiting member; 30191-protective layer; 30192-roller; 302-second driving assembly; 3021-lifting driving unit; 3022-transmission unit; 3023-worm; 3024-gear set; 30241-vortex Wheel; 30242-first sub-gear; 30243-first toothed disc; 30244-second toothed disc; 30245-third sub-gear; 30246-connecting cylinder; 30247-guide portion; 3025-sleeve; 30251-slot; 30252-guide groove; 30253-limiting plane; 3026-second shell; 30261-first mounting cavity; 30262-second mounting cavity; 30263-bottom plate; 303-second cleaning member; 304-position detection device; 3041-first photoelectric switch; 3042-second photoelectric switch; 40-main brush; 100-self-cleaning device.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

In addition, this application may repeat reference numbers and/or reference letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and/or settings discussed. In addition, this application provides examples of various specific processes and materials, but those of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Please refer to Figures 1, 2, 3, 4 and 5. The first embodiment of the present application provides a self-cleaning device 100 including: a mobile platform 10, at least one first cleaning component 20 and at least one second cleaning component 30. The mobile platform 10 is configured to move on the operating surface, and the mobile platform 10 has a central axis along the driving direction of the mobile platform 10. At least one first cleaning component 20 can be movably arranged on the mobile platform 10 and can be switched between a first position and a second position. When the first cleaning component 20 is in the first position, the distance between the first cleaning component 20 and the central axis R is a first distance S1. When the first cleaning component 20 is in the second position, the distance between the first cleaning component 20 and the central axis R is a second distance S2. The second distance S2 is greater than the first distance S1. At least one second cleaning assembly 30 is movably mounted on the mobile platform 10 and can be switched between a third position and a fourth position. When the second cleaning assembly 30 is in the third position, the distance between the second cleaning assembly 30 and the central axis R is a third distance S3. When the second cleaning assembly 30 is in the fourth position, the distance between the second cleaning assembly 30 and the central axis R is a fourth distance S4, which is greater than the third distance S3. The first cleaning assembly 20 and the second cleaning assembly 30 are spaced apart and located on the same side of the travel direction of the self-cleaning device 100.

The number of the first cleaning assembly 20 may be one or more.

The number of the second cleaning assembly 30 may be one or more.

The self-cleaning device 100 can be a floor scrubber, a sweeping robot, a sweeping machine, etc., and the embodiment of the present application is not limited thereto.

Since the mobile platform 10 is configured to move on its own on the operating surface, the mobile platform 10 has a central axis along the driving direction of the mobile platform 10. When the automatic cleaning device starts working, the mobile platform 10 can move on its own on the operating surface to perform cleaning tasks. Since at least one first cleaning component 20 is movably provided on the mobile platform 10 and can be switched between a first position and a second position, when the first cleaning component 20 is in the first position, the distance between the first cleaning component 20 and the central axis R is a first distance S1, and when the first cleaning component 20 is in the second position, the distance between the first cleaning component 20 and the central axis R is a second distance S2, and the second distance S2 is greater than the first distance S1. At least one second cleaning component 30 is movably provided on the mobile platform 10 and can be switched between a third position and a fourth position. When the second cleaning component 30 is in the third position, the distance between the second cleaning component 30 and the central axis R is a third distance S3, and when the second cleaning component 30 is in the fourth position, the distance between the second cleaning component 30 and the central axis R is The fourth distance S4, the fourth distance S4 is greater than the third distance S3, the first cleaning component 20 and the second cleaning component 30 are arranged at intervals and are located on the same side of the driving direction of the self-cleaning device. Therefore, when cleaning non-corners or obstacles without corners, the first cleaning component 20 switches to the first position and the second cleaning component 30 switches to the third position. At this time, the first cleaning component 20 and the second cleaning component 30 clean the operating surface below the mobile platform 10. When cleaning corners or obstacles similar to corners, the first cleaning component 20 switches to the second position and the second cleaning component 30 switches to the fourth position. At this time, the first cleaning component 20 and the second cleaning component 30 can clean a larger area around the mobile platform 10, increasing the cleaning area of the first cleaning component and the second cleaning component, so that the first cleaning component 20 and the second cleaning component 30 extend as much as possible outside the mobile platform 10, and the first cleaning component 20 and the second cleaning component 30 can extend into the corner area or the corner area for cleaning, thereby cleaning the corner area or the corner area. Therefore, the side brush module for the cleaning equipment provided by the embodiment of the present disclosure can clean the corner areas of the room or obstacles with corners, realize the cleaning of blind spots, improve the comprehensiveness of the cleaning range, and thus improve the user experience.

When cleaning corners or obstacles similar to corners, the second cleaning component 30 can be located in the third position, and the first cleaning component 20 is located in the second position, so that the first cleaning component can be extended outside the mobile platform 10. The first cleaning component 20 can clean a larger area around the mobile platform 10, increasing the cleaning area of the first cleaning component 20. The first cleaning component 20 can extend into the corner area of the corner or the obstacle for cleaning, thereby cleaning the corner area or the corner area of the obstacle, realizing the cleaning of the blind spot, improving the comprehensiveness of the cleaning range, and thus improving the user experience. When cleaning obstacles that are not corners or similar to corners, the first cleaning component 20 switches from the second position to the first position, so that the first cleaning component 20 can perform routine cleaning.

When cleaning the edge of a wall or an obstacle, the first cleaning component 20 can be located in the first position and the second cleaning component 30 can be located in the fourth position, so that the second cleaning component 30 can extend outside the mobile platform 10. The second cleaning component 30 can clean a larger area around the mobile platform 10, increasing the cleaning area of the second cleaning component 30. The second cleaning component 30 can extend to the edge of the wall or the edge of the obstacle for cleaning, thereby cleaning the edge of the wall or the edge of the obstacle, realizing the cleaning of the blind spot, improving the comprehensiveness of the cleaning range, and thus improving the user experience. When it is not on the edge of a wall or an obstacle, the second cleaning component 30 switches from the fourth position to the third position, so that the second cleaning component 30 can perform routine cleaning.

In some embodiments, when cleaning corners or obstacles with corners, the first cleaning component 20 can be located in the second position, and the second cleaning component 30 can be located in the fourth position. The first cleaning component 20 and the second cleaning component 30 are both extended outside the mobile platform 10, so that the first cleaning component 20 and the second cleaning component 30 can work together to clean the corners or obstacles with corners at the same time, so as to clean the corner area or the corner area.

In some embodiments, when cleaning corners or obstacles with corners, the first cleaning component 20 can be located in the second position and the second cleaning component 30 can be located in the third position. That is, the first cleaning component 20 can be extended outside the mobile platform 10 to clean corners or obstacles with corners, and the second cleaning component 30 can perform conventional cleaning.

In some embodiments, when cleaning the edge of a wall or an obstacle, the first cleaning component 20 can be located in the first position and the second cleaning component 30 can be located in the fourth position. That is, the second cleaning component 30 can be extended outside the mobile platform 10 to clean the edge of the wall or the obstacle, and the first cleaning component 20 can perform routine cleaning.

In certain embodiments, along the direction of travel of the self-cleaning device 100, the mobile platform 10 has a relative first side and a second side. When the number of the first cleaning component 20 and the second cleaning component 30 is both one, the first cleaning component 20 and the second cleaning component 30 are both located on the first side or the second side. When the number of the first cleaning component 20 and the second cleaning component 30 is both two, one of the two first cleaning components 20 and one of the two second cleaning components 30 are both located on the first side, and the other first cleaning component of the two first cleaning components 20 and the other second cleaning component of the two second cleaning components 30 are both located on the second side.

In some embodiments, the self-cleaning device 100 further includes a sensor for detecting corners or obstacles. Since the mobile platform 10 is circular in shape, there is a blind spot at a right-angled corner. When the sensor of the self-cleaning device 100 identifies a corner or a corner-like site, at least a portion of the first cleaning component 20 actively extends out of the mobile platform 10 to clean the environment within the blind spot, thereby ensuring the cleaning effect and improving the user experience. After the blind spot is cleaned, that is, after the external force disappears or decreases, the first cleaning component 20 can retract to its initial position, ensuring that it can cope with complex terrain and reducing the impact of the environment on the self-cleaning device 100.

In conjunction with Figure 5, in some embodiments, since the first cleaning component 20 and the second cleaning component 30 are in the first position and the second cleaning component 30 are in the third position during normal cleaning, the width cleaned by the first cleaning component 20 and the second cleaning component 30 is narrower than the width of the mobile platform 10. Therefore, after cleaning back and forth, when encountering a wall or obstacle, there is a blind spot between the first cleaning component 20 and the second cleaning component 30 and the edge of the mobile platform 10 that cannot be wiped. When the sensor of the self-cleaning device 100 recognizes that there is an obstacle on the side of the mobile platform 10 along the wall sensor, the first cleaning component 20 switches to the second position and the second cleaning component 30 switches to the fourth position. That is to say, the first cleaning component 20 and the second cleaning component 30 will actively extend toward the side of the wall sensor (the side where the mobile platform 10 cleans along the wall) to clean the environment in the cleaning blind spot, thereby ensuring the cleaning effect and improving the user experience. After the blind spot is cleaned, that is, after the external force disappears or decreases, the first cleaning component 20 switches to the first position and the second cleaning component 30 can switch to the third position, ensuring that it can cope with complex terrain and reduce the impact of the environment on the self-cleaning device 100.

Referring to Figure 6, in some embodiments, the first cleaning assembly 20 includes a fixed arm 202, a swing arm 203, and a power assembly 204. The fixed arm 202 is mounted on the bottom of the mobile platform 100 of the cleaning device. One end of the swing arm 203 is rotatably connected to the fixed arm 202, and the other end is mounted with a rotatable first cleaning member, such as a brush 201. The power assembly 204 is connected to the fixed arm 202 and is configured to drive the swing arm 203 to swing, thereby moving the brush 201 between a first position and a second position. In some embodiments, the swing arm 203 is driven by the power assembly 204 to swing, thereby moving the brush 201 between the first position and the second position. When cleaning a wide, flat area, the brush 201 is in the first position, cleaning the work surface below the mobile platform 100. When cleaning near a corner, the brush 201 is in the second position, cleaning a larger area and extending into the corner to clean the entire area. Therefore, the first cleaning component 20 of the cleaning device provided in the embodiment of the present disclosure can clean the corner area of the room, improve the comprehensiveness of the cleaning range, and thus improve the user experience.

Referring to Figures 6, 7, and 8, in certain embodiments, the power assembly 204 includes a driver 2041 and a transmission assembly 2042. The driver 2041 drives the swing arm 203 to swing and the brush 201 to rotate via the transmission assembly 2042. Using a single driver 2041 to both drive the swing arm 203 to swing and the brush 201 to rotate reduces power source investment and saves costs. Exemplarily, the driver 2041 is a motor.

In some embodiments, the driving member 2041 includes a rotating output shaft. When the first cleaning component 20 is in the first position, the rotating output shaft rotates along a first clockwise direction M. When the first cleaning component 20 is in the second position, the rotating output shaft rotates along a second clockwise direction N. When the rotation direction of the rotating output shaft changes from the first clockwise direction M to the second clockwise direction N, the first cleaning component 20 switches from the first position to the second position.

In some embodiments, one of the fixed arm 202 and the swing arm 203 is provided with a limiting protrusion, and the other is provided with a stowage limit block and an extension limit block spaced apart around the swing center of the swing arm 203. The limiting protrusion is located between the stowage limit block and the extension limit block. When the swing arm 203 rotates about a first clockwise direction M until the limiting protrusion abuts the extension limit block, the brush 201 is confined to the second position. When the swing arm 203 rotates about a second clockwise direction N until the limiting protrusion abuts the stowage limit block, the brush 201 is confined to the first position. In this way, the swing angle of the swing arm 203 is limited, the movement range of the brush 201 is more accurately limited, and the accuracy of the operation of the first cleaning component 20 is improved.

In some embodiments, one of the first clockwise direction M and the second clockwise direction N is a clockwise direction, and the other is a counterclockwise direction.

In some embodiments, the brush 201 rotates in the same clockwise direction in both the first and second positions. The unchanged rotational direction of the brush 201 improves cleaning efficiency and prevents the rotational direction of the brush 201 from being affected by changes in the output direction of the drive member 2041, thereby ensuring cleaning efficiency.

In some embodiments, the transmission assembly 2042 includes a linkage shaft 20423, a first transmission assembly and a second driving assembly. The linkage shaft 20423 rotates around its own central axis and is connected to the fixed arm 202 and the swing arm 203. The driving member 2041 is driven and connected to the linkage shaft 20423, and can drive the linkage shaft 20423 to rotate; the input end of the first transmission assembly is connected to the linkage shaft 20423, and the output end is connected to the swing arm 203. When the linkage shaft 20423 rotates, the swing arm 203 can be driven to swing through the first transmission assembly; the input end of the second transmission assembly is connected to the first transmission assembly, and the output end is connected to the brush 201. When the linkage shaft 20423 rotates, the brush 201 can be driven to rotate through the first transmission assembly and the second transmission assembly.

In certain embodiments, the rotation of the output shaft of the driving member 2041 is sequentially transmitted through the linkage shaft 20423 and the first transmission assembly to the swing arm 203, driving the swing arm 203 to swing and thereby switching the position of the brush 201. The rotation of the output shaft of the driving member 2041 is sequentially transmitted through the linkage shaft 20423, the first transmission assembly, and the second transmission assembly to the brush 201, driving the brush 201 to rotate and thereby cleaning the work surface. In this way, a single driving member 2041 can drive both the rotation of the brush 201 and the swing of the swing arm 203.

Please refer to Figures 7 and 9. In some embodiments, the rotating output shaft of the driving member 2041 is coaxially connected to the first linkage shaft transmission gear 20424, the first linkage shaft transmission gear 20424 and the second linkage shaft transmission gear 20425, the third linkage shaft transmission gear 20426, and the fourth linkage shaft transmission gear 20427 are meshed in sequence, and the fourth linkage shaft transmission gear 20427 is sleeved on the linkage shaft 20423, and the linkage shaft 20423 can rotate synchronously with the fourth linkage shaft transmission gear 20427.

In some embodiments, the rotating output shaft of the driving member 2041 drives the first linkage shaft transmission gear 20424 to rotate, and the rotation of the first linkage shaft transmission gear 20424 is transmitted to the fourth linkage shaft transmission gear 20427 through the second linkage shaft transmission gear 20425 and the third linkage shaft transmission gear 20426 in turn, driving the fourth linkage shaft transmission gear 20427 to rotate, thereby driving the linkage shaft 20423 to rotate. In this way, the driving member 2041 drives the linkage shaft 20423.

Please refer to Figures 7, 8 and 9. In some embodiments, the first transmission assembly includes a first gear 20421 and a second gear 20422. The first gear 20421 is sleeved on the linkage shaft 20423 and can rotate along with the linkage shaft 20423. The second gear 20422 is rotatably connected to the swing arm 203. The first gear 20421 and the second gear 20422 are engaged with each other. When the first gear 20421 changes its rotation direction, it can drive the swing arm 203 to change its swing direction through the second gear 20422, so that the brush 201 switches between the first position and the second position.

In certain embodiments, when the driving member 2041 drives the linkage shaft 20423 to change its rotational direction, the first gear 20421 also changes its rotational direction, thereby driving the swing arm 203 to change its swing direction via the second gear 20422. Therefore, by changing the rotational direction of the output shaft of the driving member 2041, the swing direction of the swing arm 203 can be changed, thereby switching the brush 201 between the first position and the second position. The switching operation is simple and quick, saving time and effort.

Please refer to Figures 6 and 10. In some embodiments, the second gear 20422 is rotatably mounted on the swing arm 203 through the second mounting shaft 2043. When the brush 201 is in the first position, the limiting protrusion abuts against the retracting limiting block, and the first gear 20421 rotates around the second clockwise direction N, driving the second gear 20422 to rotate around the first clockwise direction M. The rotation of the second gear 20422 is transmitted to the brush 201 through the second transmission assembly, driving the brush 201 to rotate; when the brush 201 is in the second position, the driving member 2041 drives the first gear 20421 to change from the second clockwise direction N to the first clockwise direction M. When the first gear 20421 rotates around the first clockwise direction M, a force is applied to the teeth of the second gear 20422 at an angle to the axial direction of the second mounting shaft 2043. Part of the force drives the second gear 20422 to rotate around the second clockwise direction N, and the other part of the force is transmitted to The second mounting shaft 2043, this part of the force forms a rotational torque relative to the linkage shaft 20423, and the rotational torque drives the second mounting shaft 2043 to rotate around the linkage shaft 20423 along the first clockwise direction M, and the second mounting shaft 2043 drives the swing arm 203 to rotate around the linkage shaft 20423 along the first clockwise direction M, so that the limit protrusion moves away from the retracting limit block until the limit protrusion moves to abut against the extending limit block. At this time, due to the restriction of the extending limit block, the swing arm 203 cannot continue to rotate. At this time, the brush 201 is in the second position, completing the switching from the first position to the second position. When the brush 201 is in the second position, the limit protrusion abuts against the extending limit block, and the first gear 20421 rotates around the first clockwise direction M. When it is necessary to move from the second position to the first position, the rotation direction of the driving member 2041 is changed again. This cycle can realize the quick switching of the brush 201 between the first position and the second position.

In some embodiments, the second transmission assembly includes a first rotational transmission assembly and a second rotational transmission assembly. The first gear 20421 changes its rotational direction so that the second gear 20422 can be selectively connected to the input end of the first rotational transmission assembly or the input end of the second rotational transmission assembly. The output end of the first rotational transmission assembly and the output end of the second rotational transmission assembly are respectively connected to the brush 201. When the brush 201 is in the first position, the second gear 20422 is connected to the input end of the first rotational transmission assembly. When the second gear 20422 rotates in one clockwise direction, it can drive the brush 201 to rotate in a set clockwise direction through the first rotational transmission assembly. When the brush 201 is in the second position, the second gear 20422 is connected to the input end of the second rotational transmission assembly. When the second gear 20422 rotates in another clockwise direction, it can drive the brush 201 to rotate in a set clockwise direction through the second rotational transmission assembly. The set clockwise direction can be the first clockwise direction M or the second clockwise direction N, which is not specifically limited here.

In some embodiments, when the driving member 2041 drives the linkage shaft 20423 to change the rotation direction, the first gear 20421 changes the rotation direction accordingly, so that the second gear 20422 can be selectively connected to the input end of the first rotation transmission component or the input end of the second rotation transmission component. Therefore, when the rotation output shaft of the driving member 2041 changes direction, the second gear 20422 switches the rotation transmission component accordingly, so that when the first cleaning component 20 switches position by changing the output direction of the driving member 2041, the rotation direction of the brush 201 will not be affected by the change in the output direction of the driving member 2041. That is, when the driving member 2041 drives the swing arm 203 to extend or retract by changing the rotation direction, it will not affect the rotation direction of the brush 201, so that the rotation direction of the brush 201 rotates in a clockwise direction regardless of whether it is in the first position or the second position, thereby improving the cleanliness of cleaning.

In some embodiments, the first rotating transmission assembly includes a third gear 20441, a first intermediate transmission assembly and an output gear 20443, the third gear 20441 and the output gear 20443 are respectively connected to the input end and the output end of the first intermediate transmission assembly, the second rotating transmission assembly includes a fourth gear 20442, a second intermediate transmission assembly and an output gear 20443, the fourth gear 20442 and the output gear 20443 are respectively connected to the input end and the output end of the second intermediate transmission assembly, the output gear 20443 is rotatably connected to the swing arm 203, the brush 201 is coaxially connected to the output gear 20443, and the first gear 20421 changes the rotation direction so that the second gear 20422 can be selectively coaxially connected to the third gear 20441 or the fourth gear 20442.

In some embodiments, when the driving member 2041 drives the linkage shaft 20423 to change the rotation direction, the first gear 20421 changes the rotation direction accordingly, so that the second gear 20422 can be selectively coaxially connected to the third gear 20441 or the fourth gear 20442, and then transmits the motion to the third gear 20441 or the fourth gear 20442. Therefore, when the rotating output shaft of the driving member 2041 changes direction, the second gear 20422 switches the coaxially connected gears, thereby changing the route of the transmitted motion, so that when the first cleaning component 20 switches its position by changing the output direction of the driving member 2041, the rotation direction of the brush 201 will not be affected by the change in the rotation direction of the driving member 2041. That is, when the driving member 2041 drives the swing arm 203 to extend or retract by changing the rotation direction, it will not affect the rotation direction of the brush 201, so that the rotation direction of the brush 201 rotates in a clockwise direction regardless of whether it is in the first position or the second position, thereby improving the cleanliness of cleaning.

In some embodiments, the first gear 20421 and the second gear 20422 are both bevel gears, and ratchet teeth are provided on both sides of the second gear 20422. The second gear 20422 is movably and coaxially arranged between the third gear 20441 and the fourth gear 20442 along its axial direction, and ratchet teeth are provided on the sides of the third gear 20441 and the fourth gear 20442 facing the second gear 20422. The first gear 20421 changes the rotation direction so that the ratchet teeth of the second gear 20422 can selectively engage with the ratchet teeth of the third gear 20441 or the ratchet teeth of the fourth gear 20442.

In some embodiments, the first gear 20421 and the second gear 20422 are both helical gears and mesh with each other, so their rotation directions are opposite. Referring to FIG10 , the first gear 20421 rotates in the left direction and the second gear 20422 rotates in the right direction. When the first gear 20421 changes its rotation from the second clockwise direction N to the first clockwise direction M, the teeth of the first gear 20421 exert an oblique upward force on the teeth of the second gear 20422. The vertical component of the oblique upward force drives the second gear 20422 to rise vertically until the ratchet teeth on it engage with the ratchet teeth of the third gear 20441. The horizontal component of the oblique upward force drives the second gear 20422 to rotate along the second clockwise direction N. Since the ratchet teeth of the second gear 20422 engage with the ratchet teeth of the third gear 20441 at this time, the second gear 20422 drives the third gear 20441 to rotate synchronously. The rotational motion of the third gear 20441 is transmitted to the output gear 20443 through the first intermediate transmission assembly between the third gear 20441 and the output gear 20443, thereby driving the brush 201 to rotate. When the first gear 20421 changes its rotation from the first clockwise direction M to the second clockwise direction N, the teeth of the first gear 20421 exert an oblique downward force on the teeth of the second gear 20422. The vertical component of the oblique downward force drives the second gear 20422 to vertically descend until the ratchet teeth thereon engage with the ratchet teeth of the fourth gear 20442. The horizontal component of the oblique downward force drives the second gear 20422 to rotate along the second clockwise direction N. Since the ratchet teeth of the second gear 20422 engage with the ratchet teeth of the fourth gear 20442 at this time, the second gear 20422 drives the fourth gear 20442 to rotate synchronously. The rotational motion of the fourth gear 20442 is transmitted to the output gear 20443 through the second intermediate transmission assembly between the fourth gear 20442 and the output gear 20443, thereby driving the brush 201 to rotate.

In some embodiments, the ratchet teeth of the second gear 20422 can selectively engage with the ratchet teeth of the third gear 20441 or the ratchet teeth of the fourth gear 20442, thereby achieving switching of the two transmission motion lines, so that when the first cleaning component 20 switches position by changing the output direction of the driving member 2041, the rotation direction of the brush 201 will not be affected by the change in the rotation direction of the driving member 2041.

Referring to FIG. 10 , in certain embodiments, the second gear 20422 is rotatably mounted on the second mounting shaft 2043 and movably mounted along the axial direction of the second mounting shaft 2043, while the third gear 20441 and the fourth gear 20442 are rotatably mounted on the second mounting shaft 2043 only around the second mounting shaft 2043. In this manner, the second gear 20422 can rotate around the second mounting shaft 2043 under the action of the first gear 20421, ensuring that the second gear 20422 transfers its motion to the output gear 20443, thereby driving the brush 201 to rotate. Furthermore, under the action of the first gear 20421, the second gear 20422 can approach the third gear 20441 or the fourth gear 20442, thereby switching the transmission path and ensuring that the rotation direction of the brush 201 remains unchanged.

In some embodiments, the first intermediate transmission assembly includes a plurality of first transmission gears meshed in sequence, wherein along the transmission direction, the first first transmission gear is meshed with the third gear 20441, and the last first transmission gear is meshed with the output gear 20443; the second intermediate transmission assembly includes a plurality of second transmission gears meshed in sequence, wherein along the transmission direction, the first second transmission gear is meshed with the fourth gear 20442, and the last second transmission gear is meshed with the output gear 20443; the number of first transmission gears is one more or one less than the number of second transmission gears.

In some embodiments, since the two meshing gears rotate in opposite directions during transmission, when the input directions of the two gear sets are opposite and the number of gears in the two gear sets differs by one, the output directions can be made the same, so that the directions transmitted to the output gear 20443 by the two gear sets are the same, thereby keeping the rotation direction of the brush 201 unchanged.

In some embodiments, there are K first transmission gears and K-1 second transmission gears, and the K first transmission gears and the K-1 second transmission gears are not shared. Thus, the difference in the number of the two types of gears is one, so that the direction of rotation transmitted to the output gear 20443 by the first intermediate transmission assembly and the second intermediate transmission assembly is the same.

In some embodiments, there are K first transmission gears and K-1 second transmission gears, wherein K-2 first transmission gears and K-2 second transmission gears are shared. This reduces the number of gears and simplifies the structure of the transmission assembly 2042.

Referring to FIG. 9 and FIG. 11 , in some embodiments, four first transmission gears are provided and three second transmission gears are provided.

In some embodiments, two of the first transmission gears and two of the second transmission gears are shared. For example, the four first transmission gears are the fifth gear 20444, the sixth gear 20445, the seventh gear 20446, and the eighth gear 20447, and the three second transmission gears are the ninth gear 20448, the seventh gear 20446, and the eighth gear 20447. In other words, the seventh gear 20446 and the eighth gear 20447 serve as both the first transmission gear and the second transmission gear.

In some embodiments, the fixed arm 202 and the swing arm 203 are both hollow shells, and the first linkage shaft transmission gear 20424, the second linkage shaft transmission gear 20425, the third linkage shaft transmission gear 20426 and the fourth linkage shaft transmission gear 20427 are all rotatably connected to the hollow cavity of the fixed arm 202, and part of the linkage shaft 20423 is rotatably passed through the hollow cavity of the fixed arm 202; another part of the linkage shaft 20423 is rotatably passed through the hollow cavity of the swing arm 203, and the first gear 20421, the second gear 20422, the third gear 20441, the fourth gear 20442, the fifth gear 20444, the sixth gear 20445, the seventh gear 20446, the eighth gear 20447, the ninth gear 20448 and the output gear 20443 are all rotatably set in the hollow cavity of the swing arm 203. In this way, the stable installation of each gear is achieved, and the fixed arm 202 and the swing arm 203 play a protective role for the internal gears.

In some embodiments, the first intermediate transmission assembly includes a synchronous pulley assembly and a plurality of first transmission gears arranged in sequence along the transmission direction, and the synchronous pulley assembly is transmission-connected between the first first transmission gear and the third gear 20441, between any two adjacent first transmission gears, or between the last first transmission gear and the output gear 20443; the second intermediate transmission assembly includes a plurality of second transmission gears meshed in sequence, and along the transmission direction, the first second transmission gear is meshed with the fourth gear 20442, and the last second transmission gear is meshed with the output gear 20443; the number of first transmission gears is the same as the number of second transmission gears.

In certain embodiments, a synchronous pulley assembly includes two synchronous pulleys and a synchronous belt with two ends respectively wound around the two synchronous pulleys, and the two synchronous pulleys are respectively coaxially connected to two transmission gears. The two synchronous pulleys rotate synchronously under the transmission action of the synchronous belt, so that the two transmission gears connected to the two synchronous pulleys have the same direction of rotation. The two transmission gears can be the first first transmission gear and the third gear 20441, or any two adjacent first transmission gears, or the last first transmission gear and the output gear 20443. In this way, by adding a synchronous pulley assembly to a transmission path, a pair of adjacent transmission gears in one transmission path have the same direction of rotation, the remaining adjacent gears have opposite directions of rotation, and any two adjacent gears in another transmission path have opposite directions of rotation. Therefore, when the input directions of the two transmission paths are opposite, the output directions can be made the same, thereby keeping the rotation direction of the brush 201 unchanged.

Please refer to Figure 12. In some embodiments, the first transmission assembly includes a swing push rod 2045 and a push rod transmission assembly 2046. One end of the swing push rod 2045 is rotatably connected to the linkage shaft 20423, and the other end is connected to the push rod transmission assembly 2046. The linkage shaft 20423 is connected to the push rod transmission assembly 2046. When the linkage shaft 20423 changes its rotation direction, it can drive the swing push rod 2045 to change the direction of swinging around the linkage shaft 20423 through the push rod transmission assembly 2046, so as to drive the swing arm 203 to change the swing direction, so that the brush 201 switches between the first position and the second position.

In some embodiments, the driving member 2041 can drive the linkage shaft 20423 to change the rotation direction by changing the output direction, thereby driving the swing arm 203 to change the swing direction through the push rod transmission assembly 2046 and the swing push rod 2045. Therefore, by changing the rotation direction of the rotation output shaft of the driving member 2041, the swing direction of the swing arm 203 can be changed, thereby realizing the switching of the brush 201 between the first position and the second position.

In some embodiments, the push rod transmission assembly 2046 includes a first gear 20421, a first mounting shaft 20461, a friction transmission wheel 20462 and a friction wheel 20463. The first gear 20421 is sleeved on the linkage shaft 20423 and can rotate along with the linkage shaft 20423. The first mounting shaft 20461 is connected to the end of the swing push rod 2045 away from the linkage shaft 20423; the friction transmission wheel 20462 is sleeved on the first mounting shaft 20461 and can rotate relative to the first mounting shaft 20461. The first gear 20421 and the friction transmission wheel 20462 are sleeved on the first mounting shaft 20461 and can rotate relative to the first mounting shaft 20461. The moving wheel 20462 is engaged with each other; the friction wheel 20463 is sleeved on the first mounting shaft 20461 and can rotate relative to the first mounting shaft 20461, the friction wheel 20463 is connected to the friction transmission wheel 20462, and the friction wheel 20463 can roll along the wall of the fixed arm 202; wherein, when the first gear 20421 changes the rotation direction, it can drive the friction wheel 20463 to change the rolling direction through the friction transmission wheel 20462, thereby causing the swing push rod 2045 to change the swing direction, so that the brush 201 switches between the first position and the second position.

In some embodiments, when the first gear 20421 rotates, it drives the friction transmission wheel 20462 to rotate, and the friction transmission wheel 20462 drives the friction wheel 20463 to rotate, and the friction wheel 20463 rolls along the wall of the fixed arm 202, that is, the friction wheel 20463 moves relative to the wall of the fixed arm 202, that is, the end of the swing push rod 2045 connected to the first mounting shaft 20461 moves as the friction wheel 20463 moves, and moves relative to the wall of the fixed arm 202, while the position of the end of the swing push rod 2045 connected to the linkage shaft 20423 relative to the wall of the fixed arm 202 remains almost unchanged. Therefore, the position of the swing push rod 2045 changes. Specifically, the swing push rod 2045 swings around the linkage shaft 20423, and the end of the swing push rod 2045 away from the linkage shaft 20423 pushes the swing arm 203 to swing. In this way, the push rod transmission assembly 2046 is transmitted to the swing push rod 2045, so that the swing direction of the swing arm 203 can be changed by changing the rotation direction of the rotation output shaft of the driving member 2041, thereby realizing convenient position switching.

In certain embodiments, the side surfaces of the friction drive wheel 20462 and the friction wheel 20463 are in contact, and the push rod transmission assembly further includes a pressure boosting assembly that applies a first pressing force on the friction drive wheel 20462 toward the friction wheel 20463 and/or applies a second pressing force on the friction wheel 20463 toward the friction drive wheel 20462, so that the friction force between the friction drive wheel 20462 and the friction wheel 20463 can drive the friction wheel 20463 to rotate synchronously with the friction drive wheel 20462. In this way, compared to a direct rigid connection between the friction drive wheel 20462 and the friction wheel 20463, damage to the friction wheel 20463 and the fixed arm 202 under overload conditions can be avoided.

In some embodiments, the boost assembly includes a first limit member 20466 and a second elastic member 20464, the first limit member 20466 is connected to the first mounting shaft 20461 and is located on the side of the friction wheel 20463 away from the friction transmission wheel 20462, and the second elastic member 20464 is elastically compressed between the first limit member 20466 and the friction wheel 20463; and/or, the boost assembly includes a second limit member and a third elastic member 20465, the second limit member is connected to the first mounting shaft 20461 and is located on the side of the friction transmission wheel 20462 away from the friction wheel 20463, and the third elastic member 20465 is elastically compressed between the second limit member and the friction transmission wheel 20462.

In some embodiments, a portion of the swing push rod 2045 serves as a second stopper, pressing against the side of the third elastic member 20465 facing away from the friction transmission wheel 20462. In this way, the first pressing force and the second pressing force are elastic pressures, further preventing damage to the friction wheel 20463 and the fixed arm 202 in the event of an overload.

Please refer to Figures 9 and 13. In some embodiments, the wheel surface of the friction wheel 20463 is a corrugated surface, and the surface in rolling contact between the fixed arm 202 and the friction wheel 20463 is a corrugated surface that is adapted to the wheel surface of the friction wheel 20463, which is used to increase the rolling friction between the two, thereby ensuring that the friction wheel 20463 rolls along the fixed arm 202 when subjected to force, and further ensuring that the friction wheel 20463 drives the swing push rod 2045 to swing when rolling.

In some embodiments, the first transmission component includes a first gear 20421 and a second gear 20422, which drives the swing arm 203 to swing, which is a first swing transmission scheme; the first transmission component includes a swing push rod 2045 and a push rod transmission component 2046, which drives the swing arm 203 to swing, which is a second swing transmission scheme. In some embodiments, the first cleaning component 20 can adopt only the first swing transmission scheme, or can adopt the first swing transmission scheme and the second swing transmission scheme at the same time.

The following describes the working steps of the cleaning equipment provided in some embodiments of the present application:

S1. When the brush 201 is in the first position, the limiting protrusion abuts against the folding limiting block, and the driving member 2041 drives the first gear 20421 to rotate around the second clockwise direction N, driving the second gear 20422 to rotate around the first clockwise direction M. The ratchet of the second gear 20422 engages with the ratchet of the fourth gear 20442, and the second gear 20422 drives the fourth gear 20442 to rotate synchronously. The rotation of the fourth gear 20442 is transmitted to the output gear 20443 through the ninth gear 20448, the seventh gear 20446, and the eighth gear 20447 in sequence, driving the brush 201 to rotate around the first clockwise direction M.

S2. When the mobile platform 100 moves to the corner position, the driving member 2041 changes the output direction, so that the direction of the first gear 20421 changes from the second clockwise direction N to the first clockwise direction M, and the first gear 20421 drives the second gear 20422 to change from the first clockwise direction M to the second clockwise direction N. At this time, the second gear 20422 exerts a force on the second installation shaft 2043 under the action of the first gear 20421. This force drives the second installation shaft 2043 to drive the swing arm 203 to rotate along the first clockwise direction M around the linkage shaft 20423, so that the brush 201 moves away from the mobile platform 100, and the limiting protrusion moves away from the retracting limit block and toward the extending limit block. When the swing arm 203 moves until the limiting protrusion abuts against the extending limit block, the swing arm 203 stops swinging. At this time, the brush 201 is in the second position;

After the second gear 20422 changes its direction from the first clockwise direction M to the second clockwise direction N, the ratchet teeth of the second gear 20422 disengage from the ratchet teeth of the fourth gear 20442 and engage with the ratchet teeth of the third gear 20441. The second gear 20422 drives the third gear 20441 to rotate synchronously. The rotation of the third gear 20441 is transmitted to the output gear 20443 in sequence through the fifth gear 20444, the sixth gear 20445, the seventh gear 20446, and the eighth gear 20447, driving the brush 201 to rotate around the first clockwise direction M, and the brush 201 cleans the corner area.

S3. After the corner area is cleaned, the driving member 2041 changes the output direction again, so that the direction of the first gear 20421 changes from the first clockwise direction M to the second clockwise direction N, and the first gear 20421 drives the second gear 20422 to change from the second clockwise direction N to the first clockwise direction M. At this time, the second gear 20422 applies a force to the second installation shaft 2043 under the action of the first gear 20421. This force drives the second installation shaft 2043 to drive the swing arm 203 to rotate along the second clockwise direction N around the linkage shaft 20423, so that the brush 201 approaches the movable platform 100, and the limiting protrusion moves away from the extending limit block and toward the retracting limit block. When the swing arm 203 moves until the limiting protrusion abuts against the retracting limit block, the swing arm 203 stops swinging. At this time, the brush 201 is in the first position;

After the direction of the second gear 20422 changes from the second clockwise direction N to the first clockwise direction M, the ratchet teeth of the second gear 20422 disengage from the ratchet teeth of the third gear 20441 and engage with the ratchet teeth of the fourth gear 20442. The second gear 20422 drives the fourth gear 20442 to rotate synchronously. The rotation of the fourth gear 20442 is transmitted to the output gear 20443 through the ninth gear 20448, the seventh gear 20446, and the eighth gear 20447 in sequence, driving the brush 201 to rotate around the first clockwise direction M.

In this way, during the cleaning process, if the corner area is encountered again, the actions of step S1 to step S3 are repeated.

In some embodiments, in the above steps S1 to S3, the position of the brush 201 can be switched by changing the output direction of the driving member 2041. The operation is simple and quick, and when the brush 201 is in the first position and the second position, the brush 201 rotates around the first clockwise direction M, and the rotation direction of the brush 201 will not be affected by the change in the output direction of the driving member 2041, thereby improving the cleaning effect.

In some embodiments, for cleaning, the first cleaning member 201 can be a side brush, which can rotate in the horizontal direction to clean the ground. The garbage around the mobile platform 10 can be swept to the bottom of the main brush 40, and then the main brush 40 rotates to sweep the garbage into the suction port. At the same time, the dust and other impurities around the mobile platform 10 can be adsorbed in the garbage box for centralized treatment through the suction motor.

Please refer to Figures 1 and 14. In some embodiments, the second cleaning component 30 includes a second cleaning member 303, a first driving component 301, a rotating arm 3013 and a first elastic member 3017. The rotating arm 3013 is rotatably connected to the machine body 110. The first end of the first elastic member 3017 is connected to the rotating arm 3013, and the second end of the first elastic member 3017 is relatively fixed to the machine body 110. The second cleaning member 303 is arranged on the rotating arm 3013. The first driving component 301 is used to cooperate with the first elastic member 3017 to rotate the rotating arm 3013 to drive the second cleaning member 303 to switch between the third position and the fourth position.

In certain embodiments, by providing a first drive assembly 301, a rotating arm 3013, and a first elastic member 3017, and providing a second cleaning member 303 on the rotating arm 3013, the first drive assembly and the first elastic member 3017 can be used to drive the second cleaning assembly 30 to switch between the third position and the fourth position according to the cleaning range requirements of the automatic cleaning device, so as to move the second cleaning assembly 30 to an operating position that meets the corresponding cleaning range requirements, thereby meeting the requirements of different mopping ranges, expanding the mopping range, and helping to improve the cleaning effect and enhance the user's cleaning experience. It should be noted that the first end of the first elastic member 3017 is connected to the rotating arm 3013, including the first end of the first elastic member 3017 being directly connected to the rotating arm 3013 and being indirectly connected through other components. Both the direct connection and the indirect connection of the first end of the first elastic member 3017 to the rotating arm 3013 are within the scope of protection of the present disclosure.

Please refer to Figure 14. In some embodiments, the first driving component drives the second cleaning member 303 to move to the third position through the rotating arm 3013. At this time, the force applied by the first driving component to the rotating arm 3013 is opposite to the direction of the force applied by the first elastic member 3017 to the rotating arm 3013, and the rotating arm 3013 is fixed by two opposite forces to prevent the rotating arm from swinging, thereby preventing the second cleaning member 303 from moving with the rotating arm 3013 during the cleaning process.

Please refer to Figure 15. In some embodiments, the first elastic member 3017 drives the second cleaning member 303 to move to the fourth position through the rotating arm 3013. At this time, the first elastic member 3017 drives the rotating arm 3013 to move to the extreme position and fixes the rotating arm 3013 by its own elastic force. When the second cleaning member 303 is in the third position or the fourth position, the elastic members can be in a deformed state to maintain the force applied to the rotating arm 3013. The second cleaning member 303 can generally be a flexible material with water absorption such as fabric or sponge. In this solution, the second cleaning member 303 can be a self-rotating cleaning element, a vibrating cleaning element, or a fixed cleaning element. Specifically, the second cleaning member 303 can be a tray, and the second cleaning member 303 removes stains on the ground through rotation.

Please refer to Figures 2, 3, 4 and 5. In some embodiments, the projections of the second cleaning member 303 in the third position and the fourth position may be at different positions of the projection area of the machine body 110. The projection of the second cleaning member 303 in the third position is within the projection area of the machine body 110, and at least part of the projection of the second cleaning member 303 in the fourth position is outside the projection area of the machine body 110. It can be understood that in other embodiments, the projections of the second cleaning member 303 in the third position and the fourth position may both be located within the projection area of the machine body 110, but at different positions. ; Alternatively, at least part of the projections of the second cleaning member 303 in the third position and the fourth position can be located within the projection area of the machine body 110, but their positions are different, that is, at least part of the second cleaning member 303 in the fourth position is located outside the machine body 110 in the horizontal direction, and at least part of the second cleaning member 303 in the third position is located inside the machine body 110 in the horizontal direction, and the area of the second cleaning component 30 in the fourth position outside the machine body 110 in the horizontal direction is larger than the area of the second cleaning component 30 in the third position outside the machine body 110 in the horizontal direction. Thus, the first driving assembly 301 can be used to drive the second cleaning member 303 to switch between the third position and the fourth position according to the cleaning range requirements of the automatic cleaning device 100, specifically according to the wet cleaning range requirements, so as to move the second cleaning member 303 to an operating position that meets the corresponding cleaning range requirements. That is, the second cleaning member 303 can perform a mopping operation in the third position, and the second cleaning member 303 can also perform a mopping operation in the fourth position to meet the requirements of different mopping ranges, thereby expanding the mopping range, that is, expanding the cleaning range of the automatic cleaning device 100, improving the cleaning effect, and improving the user's cleaning experience. It should be noted that when the second cleaning member 303 in the third position is completely located within the machine body 110 in the horizontal direction, the area of the second cleaning assembly 30 in the third position outside the machine body 110 in the horizontal direction is zero. At this time, the area of the second cleaning assembly 30 in the fourth position outside the machine body 110 in the horizontal direction is still larger than the area of the second cleaning assembly 30 in the third position outside the machine body 110 in the horizontal direction.

In certain embodiments, at least a portion of the second cleaning member 303 in the fourth position is horizontally located outside the machine body 110, that is, at least a portion of the second cleaning member 303 in the fourth position is located outside the edge projection area of the machine body 110. The fact that at least a portion of the second cleaning member 303 in the fourth position is located outside the edge projection area of the machine body 110 allows the cleaning range of the second cleaning member 303 in the fourth position to extend beyond the edge of the machine body 110's travel range, thereby enabling comprehensive cleaning of corners that the machine body 110 cannot fit within, thereby increasing the cleaning range of the second cleaning member 303 and improving the cleaning effect of the automatic cleaning device 100. The second cleaning member 303 in the fourth position can be entirely or partially located outside the edge projection area of the machine body 110, which can be set according to the specific structure. Among them, most of the second cleaning member 303 in the third position can be located within the edge projection area of the machine body 110, so that the cleaning range of the second cleaning member 303 in the third position can be located within the walking range of the machine body 110, thereby, the area within the walking range of the machine body 110 can be mopped, thereby reducing the possibility of the second cleaning member 303 protruding out of the machine body 110 and colliding with obstacles, which is conducive to improving the service life and reliability of the second cleaning member 303.

In some embodiments, the second cleaning member 303 can be selectively driven to switch between the third position and the fourth position according to whether the automatic cleaning device 100 needs to mop corners, such as moving the second cleaning member 303 to the third position for conventional wet cleaning operations, and moving the second cleaning member 303 to the fourth position for wet cleaning corners, thereby meeting the different functional requirements of the automatic cleaning device 100 and improving the intelligence of the automatic cleaning device 100.

In some embodiments, when the second cleaning member 303 switches between the third position and the fourth position, the first driving assembly 301 abuts against the rotating arm 3013 to rotate the rotating arm 3013, thereby ensuring that the rotating arm 3013 is stably driven to rotate, thereby ensuring that the second cleaning member 303 can stably switch between the third position and the fourth position. The first driving assembly 301 can directly abut against the rotating arm 3013, thereby directly driving the rotating arm 3013 to rotate through the rotation of the first driving assembly 301.

In some embodiments, the first drive assembly 301 may include a cam or other eccentric rotating mechanism, which abuts against the outer wall of the rotating arm 3013, and directly drives the rotating arm 3013 to rotate by driving the cam or other eccentric rotating mechanism to rotate.

In certain embodiments, one end of the rotating arm 3013 is connected to a first cam 3016, and the other end is connected to the second cleaning member 303. When the second cleaning member 303 switches between the third position and the fourth position, the first driving assembly abuts against the protrusion 30161 of the first cam 3016 to rotate the rotating arm 3013. The protrusion of the first cam 3016 is the portion of the first cam 3016 that protrudes radially outward. The first driving assembly abuts against the protrusion of the first cam 3016, thereby applying a force to the protrusion of the first cam 3016, thereby causing the first driving assembly to drive the first cam 3016 to rotate. The rotating arm 3013 is connected to the first cam 3016 at one end, and the rotation of the first cam drives the rotating arm to rotate, thereby driving the second cleaning assembly 30 at the other end of the rotating arm to switch between the third position and the fourth position.

In some embodiments, the first end of the first elastic member 3017 is connected to the first cam 3016, the first end of the first elastic member 3017 may also be connected to the rotating arm 3013, or the first end of the first elastic member 3017 may also be connected to the first cam 3016 and the rotating arm 3013 at the same time.

In certain embodiments, taking the elastic member as a tension spring as an example, one end of the first elastic member 3017 may be indirectly or directly fixedly connected to the machine body, that is, maintained relatively stationary with the machine body, and the other end may be connected solely to the first cam 3016, to the rotating arm 3013, or to both the first cam 3016 and the rotating arm 3013. For example, if the elastic member has a Y-shaped structure, it can be simultaneously connected to the first cam 3016 and the rotating arm 3013. Of course, it can also be simultaneously connected to the first cam 3016 and the rotating arm 3013 via a connecting member such as a connecting wire.

In some embodiments, the first elastic member 3017 is a tension spring, the first end of which is connected to the first cam 3016, and the second end of which is fixed relative to the machine body 110. By configuring the first elastic member 3017 as a tension spring, connecting the first end of the tension spring to the first cam 3016, and fixing the second end of the tension spring relative to the machine body 110, a stable elastic force can be provided, enabling the second cleaning member 303 to switch from the third position to the fourth position.

In some embodiments, the first elastic member 3017 is a torsion spring, which is disposed at the rotating shaft of the first cam 3016. The torsion spring can be coaxial with the rotating shaft of the first cam 3016, that is, the torsion spring can be sleeved on the outer peripheral side of the rotating shaft of the first cam 3016, with one end of the torsion spring connected to the first cam 3016 and the second end of the torsion spring relatively fixed to the machine body 110, thereby stably providing elastic force to enable the second cleaning member 303 to switch from the third position to the fourth position.

In some embodiments, the first elastic member 3017 is an elastic sheet, a first end of the elastic sheet is connected to the first cam 3016, and a second end of the elastic sheet is fixed relative to the machine body 110. The first end of the elastic sheet is connected to the first cam 3016, and the second end is fixed relative to the machine body 110. The elastic force generated by the deformation can stably drive the second cleaning member 303 to switch from the third position to the fourth position.

It is understandable that the first elastic member 3017 may also be an elastic member other than a tension spring, a torsion spring and an elastic sheet, which can provide elastic force to enable the second cleaning member 303 to switch from the third position to the fourth position.

In certain embodiments, the rotating arm 3013 is rotatably connected to the machine body 110, and the second cleaning member 303 is movably connected, transmission-connected, or fixedly connected to the rotating arm 3013. One end of the rotating arm 3013 is rotatably connected to the machine body 110, allowing the rotating arm 3013 to swing on the machine body 110, thereby driving the second cleaning assembly 30 to switch between the third position and the fourth position. The second cleaning member 303 is movably connected, transmission-connected, or fixedly connected to the rotating arm 3013, thereby allowing the second cleaning member 303 to contact the surface to be cleaned to perform the cleaning operation.

In certain embodiments, the first elastic member 3017 may also be connected to the protrusion 30161 of the first cam 3016. In this embodiment, a connecting portion 30162 is provided on the circumference of the first cam 3016. The connecting portion 30162 is used to connect to the first elastic member 3017, thereby increasing the distance between the first elastic member 3017 and the first drive assembly to avoid interference. The connecting portion 30162 may protrude outward in the radial direction of the first cam, and the first elastic member 3017 is connected to the end of the connecting portion 30162 to obtain greater torque. The connecting portion 30162 may be integrally molded with the other parts of the cam.

In certain embodiments, the first drive assembly is configured to drive the first cam 3016 to rotate in a first direction to switch the second cleaning member 303 from the fourth position to the third position. The first elastic member 3017 is configured to drive the first cam 3016 to rotate in a second direction to switch the second cleaning member 303 from the third position to the fourth position. The first direction and the second direction are two opposite directions. For example, the first direction is the counterclockwise direction in FIG. 6 , and the second direction is the clockwise direction in FIG. 6 . When the second cleaning member 303 is in the third position, the first elastic member 3017 is in a stretched state, thereby driving the first cam 3016 to rotate in the second direction to switch the second cleaning member 303 from the third position to the fourth position. When the second cleaning member 303 is in the fourth position, the first elastic member 3017 may also be in a stretched state, thereby locking the rotating arm through elastic force.

In some embodiments, the first driving assembly drives the first elastic member 3017 to deform via the first cam 3016 to accumulate elastic potential energy, and the first elastic member 3017 releases the elastic potential energy to drive the second cleaning member 303 to switch from the third position to the fourth position.

In certain embodiments, the first drive assembly includes a first drive unit and a second cam 3015. The first drive unit is configured to drive the second cam 3015 to rotate. The second cam 3015 abuts against the first cam 3016 to rotate the first cam 3016. The second cam 3015 includes an abutment portion, which is a radially outwardly extending portion of the second cam 3015. The abutment portion of the second cam 3015 abuts against the protrusion of the first cam 3016, thereby achieving transmission. The first drive unit is configured to output power, thereby driving the second cam 3015 and the first cam 3016 to rotate.

In some embodiments, the second cam can be directly disposed on the output end of the first driving unit so that the first driving unit directly drives the second cam to rotate. The output end of the first driving unit can also be transmission-connected to the second cam to also drive the second cam to rotate.

14, 15, and 16, in certain embodiments, the second cam 3015 includes a sector-shaped tooth portion 30151 and an abutment portion 30152. The tenth gear 3014 is power-connected to the telescopic drive member 3011 and meshes with the sector-shaped tooth portion 30151. The abutment portion 30152 abuts against the first cam 3016, which is coaxially disposed with the rotating arm 3013. The sector-shaped tooth portion 30151 and the abutment portion 30152 are spaced apart and arranged circumferentially around the rotating shaft of the second cam 3015, so that rotation of the second cam 3015 simultaneously drives rotation of the sector-shaped tooth portion 30151 and the abutment portion 30152. 6 , the telescopic driving member 3011 rotates in one direction, such as clockwise or counterclockwise, to rotate the tenth gear 3014. Since the sector-shaped tooth portion 30151 is meshed with the tenth gear 3014, the sector-shaped tooth portion 30151 can drive the second cam 3015 to rotate, thereby driving the abutting portion 30152 to rotate. The abutting portion 30152 abuts against the first cam 3016, thereby pushing the first cam 3016 to rotate. Since the first cam 3016 is coaxially arranged with the rotating arm 3013, the rotating arm 3013 can rotate synchronously with the first cam 3016, thereby driving the second cleaning member 303 installed in the rotating arm 3013 to move from the fourth position to the third position.

In some embodiments, the first driving unit includes a telescopic driving member 3011 and a tenth gear 3014, the telescopic driving member 3011 is connected to the tenth gear 3014, and the tenth gear 3014 is meshed with the sector-shaped tooth portion 30151, so that the telescopic driving member 3011 drives the abutment portion 30152 through the tenth gear 3014 and the sector-shaped tooth portion 30151 to rotate the first cam 3016, and the rotating arm 3013 is synchronously rotated to drive the second cleaning member 303 from the fourth position to the third position. The telescopic driving member 3011 is used to output power, and the telescopic driving member 3011 can be a motor. The tenth gear 3014 is coaxially arranged with the output end of the telescopic driving member 3011 and meshes with the sector-shaped tooth portion 30151, thereby causing the telescopic driving member 3011 to drive the tenth gear 3014, the second cam 3015 and the first cam 3016 to rotate, thereby driving the rotating arm 3013 to rotate synchronously to drive the second cleaning member 303 from the fourth position to the third position.

In some embodiments, when the second cleaning member 303 moves from the third position to the fourth position, the rotation direction of the abutment 30152 is opposite to the rotation direction of the abutment 30152 during the process of the second cleaning member 303 moving toward the direction of retraction of the machine body 110. Therefore, the abutment 30152 has no pushing force on the first cam 3016. In this way, under the action of the first elastic member 3017, the first cam 3016 will rotate in the opposite direction compared to the first cam 3016 during the process of the second cleaning member 303 moving toward the direction of retraction of the machine body 110, and push the abutment 30152 to rotate. Since the first cam 3016 is coaxially arranged with the rotating arm 3013, the rotating arm 3013 can rotate synchronously with the first cam 3016, thereby driving the second cleaning member 303 installed in the rotating arm 3013 to move from the third position to the fourth position.

In certain embodiments, when the second cleaning assembly 30 is in the fourth position, the second cam is separated from the first cam. The separation of the second cam 3015 from the first cam 3016 eliminates any interaction between the second and first cams, preventing the swing arm from shaking and driving the first cam 3016 to rotate. This prevents the force from being transmitted to the telescopic drive member 3011 via the first cam 3016 and the tenth gear 3014, thereby protecting the telescopic drive member 3011. When the second cleaning assembly 30 is in the fourth position, a gap is formed in the circumferential direction between the abutment portion of the second cam and the convex portion of the first cam, separating the abutment portion of the second cam from the convex portion of the first cam.

15 and 16 , in certain embodiments, the automatic cleaning device 100 further includes a first housing 3018, wherein the telescopic drive member 3011 and the rotating arm 3013 are located outside the first housing 3018, and the tenth gear 3014, the second cam 3015, the first cam 3016, and the first elastic member 3017 are all located within the first housing 3018. The tenth gear 3014 is disposed through the first housing 3018 and is in power connection with the telescopic drive member 3011, and the second end of the first elastic member 3017 is connected to the first housing 3018. The tenth gear 3014, the second cam 3015, the first cam 3016, and the first elastic member 3017 are all located within the first housing 3018. Thus, the first housing 3018 provides good protection, which helps extend service life and reliability, while also ensuring good transmission accuracy.

In some embodiments, the first housing 3018 may include a detachably connected first upper housing and a first lower housing, thereby facilitating assembly and disassembly of the first housing 3018, and also facilitating assembly and disassembly of the tenth gear 3014, the second cam 3015, the first cam 3016, and the first elastic member 3017, thereby facilitating assembly and disassembly of the first drive assembly 301. Specifically, the first upper housing and the first lower housing may be detachably connected using at least one of screws, a snap-fit structure, a mortise and tenon structure, and a magnetic structure.

14 and 15 , in certain embodiments, the automatic cleaning device 100 further includes a position detection device 304 disposed within the housing and configured to detect the rotational position of the second cam 3015. The telescopic driving member 3011 rotates or stops rotating based on the detection result of the position detection device 304. The position detection device 304 is configured to detect the rotational position of the second cam 3015, thereby determining the rotational position of the first cam 3016. Thus, when the first cam 3016 rotates to an appropriate position, such as when the first cam 3016 rotates to drive the second cleaning member 303 to the third position or the fourth position via the rotating arm 3013, the telescopic driving member 3011 stops rotating based on the detection result of the position detection device 304, thereby maintaining the second cleaning member 303 in the third position or the fourth position, thereby achieving accurate switching between the third position and the fourth position. It is understood that when the first cam 3016 rotates and the second cleaning member 303 is not moved to the third position or the fourth position via the rotating arm 3013, the telescopic driving member 3011 can continue to rotate based on the detection result of the position detection device 304 at this time, so as to drive the second cleaning member 303 to continue to move toward the target operating position, such as the third position or the fourth position. The position detection device 304 can include a photoelectric switch, a mechanical switch, or other detection mechanism that meets the requirements.

Please refer to Figures 14 and 15. In some embodiments, the position detection device 304 includes a first photoelectric switch 3041 and a second photoelectric switch 3042 distributed on both sides of the second cam 3015. The second cam 3015 also includes a first baffle 30153 and a second baffle 30154 distributed on both sides of the abutment portion 30152. The first baffle 30153 is suitable for being inserted into the first photoelectric switch 3041 to enable the first photoelectric switch 3041 to change the detection signal. The second baffle 30154 is suitable for being inserted into the second photoelectric switch 3042 to enable the second photoelectric switch 3042 to change the detection signal.

In some embodiments, a first photoelectric switch 3041 and a second photoelectric switch 3042 are provided on either side of the second cam 3015, respectively, to detect whether the second cleaning member 303 has reached the third position and the fourth position, respectively. This improves the accuracy of detecting whether the second cleaning member 303 has reached the target operating position. A photoelectric switch typically includes a light emitting portion and a light receiving portion. Whether the light receiving portion receives the light signal from the light emitting portion changes the detection signal of the photoelectric switch. By arranging the first baffle 30153 and the second baffle 30154 on the second cam 3015, the rotation of the second cam 3015 can drive the first baffle 30153 and the second baffle 30154 to rotate synchronously. The first baffle 30153 and the second baffle 30154 are distributed on both sides of the abutment portion 30152. When the second cam 3015 rotates to a suitable position, the first baffle 30153 is inserted into the first photoelectric switch 3041 to change the detection signal of the first photoelectric switch 3041. For example, the first baffle 30153 is located between the light emitting part and the light receiving part of the first photoelectric switch 3041, preventing the light receiving part from receiving the light signal emitted by the light emitting part, so that the first photoelectric switch 3041 changes the detection signal, indicating that the first cam 3016 rotates to a suitable position, so that the second cleaning member 303 is in the third position. At this time, the telescopic driving member 3011 can stop rotating according to the detection signal of the first photoelectric switch 3041, so that the second cleaning member 303 is maintained in the third position.

In some embodiments, when the second cam 3015 rotates to a suitable position, the second baffle 30154 is inserted into the second photoelectric switch 3042 to cause the second photoelectric switch 3042 to change the detection signal. For example, the second baffle 30154 is located between the light emitting part and the light receiving part of the second photoelectric switch 3042 to prevent the light receiving part from receiving the light signal emitted by the light emitting part, so that the second photoelectric switch 3042 changes the detection signal, indicating that the first cam 3016 rotates to a suitable position, so that the second cleaning element 141 is in the fourth position. At this time, the telescopic drive member 3011 can stop rotating according to the detection signal of the second photoelectric switch 3042, so that the second cleaning element 141 is maintained at the fourth position.

In some embodiments, the automatic cleaning device 100 further includes: an angle detection device, which is provided on the telescopic drive member 3011 and is used to detect the angle of the output shaft of the telescopic drive member 3011. The telescopic drive member 3011 also rotates or stops rotating according to the detection result of the angle detection device.

In certain embodiments, the angle detection device is configured to detect the rotation angle of the output shaft of the telescopic drive member 3011, thereby determining the rotation angle of the tenth gear 3014, the rotation angle of the second cam 3015, and, in turn, the rotation angle of the first cam 3016. Thus, when the first cam 3016 rotates to a suitable angle, such as when the first cam 3016 rotates to drive the second cleaning member 303 to the third or fourth position via the rotating arm 3013, the telescopic drive member 3011 stops rotating based on the detection result of the angle detection device at that time, thereby maintaining the second cleaning member 303 in the third or fourth position, thereby achieving accurate switching between the third or fourth positions. It is understood that when the first cam 3016 rotates but does not drive the second cleaning member 303 to the third or fourth position via the rotating arm 3013, the telescopic drive member 3011 can continue to rotate based on the detection result of the angle detection device at that time, thereby driving the second cleaning member 303 to continue moving toward the target operating position, such as the third or fourth position.

Please refer to Figure 16. In some embodiments, a third limiting member 30181 and a fourth limiting member 30182 distributed on the periphery of the first cam 3016 are further provided in the first shell 3018. The third limiting member 30181 is located on the side of the protrusion 30161 away from the abutting portion 30152, and the third limiting member 30181 is used to abut with the protrusion 30161 to limit the rotation of the first cam 3016. The fourth limiting member 30182 is located on the side of the connecting portion 30162 away from the abutting portion 30152, and the fourth limiting member 30182 is used to abut with the connecting portion 30162 to limit the rotation of the first cam 3016. Thus, the rotation of the first cam 3016 can be limited. For example, after the first cam 3016 rotates to a suitable position, the protrusion 30161 of the first cam 3016 abuts against the third limiting member 30181, preventing the first cam 3016 from moving further toward the third limiting member 30181. This allows the second cleaning member 303 to be reliably and accurately maintained in the third position. Simultaneously, after the first cam 3016 rotates to a suitable position, the connection portion 30162 of the first cam 3016 abuts against the fourth limiting member 30182. This prevents the first cam 3016 from moving further toward the fourth limiting member 30182. This allows the second cleaning member 303 to be reliably and accurately maintained in the fourth position.

In some embodiments, in this state, even if the telescopic drive member 3011 continues to rotate, under the action of the third limit member 30181 or the fourth limit member 30182, the first cam 3016 will not continue to rotate. Therefore, even when the position detection device 304 and the angle detection device fail, the second cleaning member 303 can be reliably maintained in the third position or the fourth position, achieving double confirmation and improving the accuracy and reliability of the second cleaning member 303 reaching the target operating position.

In certain embodiments, an anti-wear structure is provided on the first drive assembly 301 and/or the first cam 3016, and the first drive assembly 301 abuts against the first cam 3016 via the anti-wear structure. Providing the anti-wear structure on the first drive assembly 301 and/or the first cam 3016 and transmitting force between the first drive assembly 301 and the first cam 3016 through the anti-wear structure protects the first drive assembly 301 and the first cam 3016, reduces wear on the first drive assembly 301 and the first cam 3016, and ensures a long service life.

In some embodiments, the anti-wear structure can be set on the first drive component 301, or on the convex portion of the first cam 3016, or on the convex portions of the first drive component 301 and the first cam 3016 at the same time. When the first drive component 301 and the convex portion of the first cam 3016 transmit force, that is, when the first drive component 301 and the first cam 3016 are squeezed, the anti-wear structure is located between the first drive component 301 and the convex portion of the first cam 3016.

Referring to FIG. 24 , in certain embodiments, the anti-wear structure includes rollers 30192 and/or a protective layer 30191 having a smooth outer surface. The rollers 30192 can be provided to ensure that the friction between the first drive assembly 301 and the first cam 3016 is rolling friction, which is lower than the sliding friction between the first drive assembly 301 and the first cam 3016. The smooth outer surface of the protective layer 30191 also reduces friction and protects the first cam 3016. After extended use, if severe friction damage occurs, only the protective layer 30191 needs to be replaced, resulting in lower maintenance costs.

In some embodiments, a roller 30192 may be provided on the first driving component 301 , and a protective layer 30191 with a smooth outer surface may be provided on the convex portion of the first cam 3016 , and the first driving component 3010 contacts the protective layer 30191 on the convex portion of the first cam 3016 through the roller 30192 .

Please refer to Figure 23. In some embodiments, a roller 30192 may be provided on the protrusion of the first cam 3016. A protective layer 30191 with a smooth outer surface is provided on the first driving component 301. The first cam 3016 contacts the protective layer 30191 on the first driving component 301 through the roller 30192.

In some embodiments, a protective layer 30191 with a smooth outer surface is provided on the protrusion of the first cam 3016 and the first driving assembly 301 , and the first cam 3016 and the first driving assembly 301 are in conflict with each other through the protective layer 30191 .

In some embodiments, the convex portion of the first cam 3016 and the first drive assembly 301 may both be provided with a roller 30192, and the roller 30192 on the convex portion of the first cam 3016 and the roller 30192 on the first drive assembly 301 are staggered, that is, the two rollers 30192 do not abut against each other, and the convex portion of the first cam 3016 abuts against the first drive assembly 301 through the roller 30192 thereon, and the first drive assembly 301 abuts against the convex portion of the first cam 3016 through the roller 30192 thereon.

In certain embodiments, a smooth protective layer 30191 is provided on the outer wall of the protrusion 30161 of the first cam 3016. This smooth protective layer 30191 can reduce friction between the protrusion 30161 of the first cam 3016 and the second cam 3015, protecting the first and second cams 3016, 3015 and extending the service life of the first and second cams 3016, 3015. The protective layer 30191 can be a metal sheet or other wear-resistant material, including but not limited to PK and powder metallurgy.

In some embodiments, the metal sheet is disposed on the contact surface between the protrusion 30161 and the second cam 3015 , that is, when the protrusion 30161 and the second cam 3015 interact with each other, the metal sheet is located between the protrusion 30161 and the second cam 3015 .

In certain embodiments, a roller 30192 is provided on the protrusion 30161 of the first cam 3016. The protrusion 30161 abuts the first drive assembly 301 via the roller 30192, enabling rolling friction between the protrusion 30161 and the first drive assembly 301, resulting in reduced friction. This prevents the protrusion 30161 and the first drive assembly 301 from excessive wear, thereby ensuring a longer service life for the first cam 3016 and the first drive assembly 301. The protrusion 30161 abuts the abutment 30152 of the second cam 3015 via the roller 30192. The axis of the roller 30192 is substantially parallel to the contact surface between the protrusion 30161 and the first drive assembly 301, thereby ensuring that the roller 30192 can roll stably on the first drive assembly.

In certain embodiments, when the first drive assembly 301 includes the second cam 3015, a roller 30192 is provided on the second cam 3015. The second cam 3015 abuts the first cam 3016 via the roller 30192, thereby enabling rolling friction between the protrusion 30161 and the first drive assembly 301. This reduces friction and prevents rapid wear of the protrusion 30161 and the first drive assembly 301, thereby ensuring a longer service life for the first cam 3016 and the second cam 3015. The axis of the roller 30192 is substantially parallel to the contact surface between the protrusion 30161 and the second cam 3015, thereby ensuring that the roller 30192 can roll stably on the second cam 3015.

Referring to Figure 19 , in some embodiments, the transmission device further includes a second drive assembly 302, which is connected to the second cleaning member 303 and is configured to drive the second cleaning member 303 to ascend and descend. The second drive assembly 302 is also configured to cause the second cleaning member 303 to vibrate and/or rotate about its central axis R. Thus, the second drive assembly 302 can be used to drive the second cleaning member 303, which is in the third or fourth position, to descend into contact with the surface to be cleaned and rotate, thereby achieving a mopping operation on the surface to be cleaned. When the mopping operation is completed, the second driving component 302 is used to drive the second cleaning member 303 to rise, so that the second cleaning member 303 can be separated from the surface to be cleaned and the second cleaning member 303 can be stored, so that the second cleaning member 303 will not come into contact with the surface to be cleaned during the movement of the automatic cleaning device 100. This can avoid the second cleaning member 303 coming into contact with the surface to be cleaned and causing secondary contamination of the surface to be cleaned in scenarios where mopping is not required, such as when the automatic cleaning device 100 travels back and forth between the base station or when cleaning carpets. This is beneficial to improving the cleanliness of the automatic cleaning device 100, and improving cleaning efficiency and user experience.

In some embodiments, the second driving assembly 302 can drive the lifting and rotation operations of the second cleaning member 303 according to whether the second cleaning member 303 is in contact with the surface to be cleaned, that is, the second cleaning member 303 needs to perform a cleaning function or a storage function, so as to meet the different functional requirements of the second cleaning member 303, that is, it is possible to realize the processing of the distinguishing strategy of cleaning or storage of the second cleaning member 303, thereby improving the cleaning performance of the self-cleaning device. It is understandable that the second cleaning member 303 can achieve both the cleaning function and the storage function in the third position. Among them, the second driving assembly 302 is also used to drive the second cleaning member 303 to vibrate, for example, vibrate in the horizontal direction, which can further improve the cleaning effect.

In certain embodiments, the first drive assembly 301 is used to drive the second cleaning member 303 to switch between the third position and the fourth position, and the second drive assembly 302 is used to drive the second cleaning member 303 to rise, fall, vibrate, and rotate. Through the coordination of the first drive assembly 301 and the second drive assembly 302, wet cleaning operations can be performed for different wet cleaning ranges, thereby expanding the cleaning range of the automatic cleaning device 100 and improving the cleaning effect. At the same time, it can meet the requirements of whether the second cleaning member 303 needs to contact the surface to be cleaned, that is, it can meet the requirements of the second cleaning member 303 for cleaning or storage, thereby improving the cleaning performance of the automatic cleaning device 100 and enhancing the user experience.

In some embodiments, a second driving assembly 302 can be used to drive the lifting and rotation of the second cleaning member 303. Compared with the related art that requires the use of two second driving assemblies to drive the lifting and rotation of the cleaning element respectively, the setting of one driving assembly is simplified. Therefore, it can meet the design requirements of compact structure and small size, which is conducive to reducing the occupied space and reducing costs, and is suitable for promotion and application.

Please refer to Figures 17, 18 and 19. In some embodiments, the second driving assembly 302 includes: a lifting driving part 3021 and a transmission part 3022. At least a portion of the transmission part 3022 is arranged in the rotating arm 3013 and is connected to the second cleaning member 303. The lifting driving part 3021 drives the second cleaning member 303 to lift and rotate through the transmission part 3022.

In some embodiments, since the transmission part 3022 is connected to the rotating arm 3013 and the second cleaning member 303, the transmission part 3022 can drive the second cleaning member 303 to rise and fall and rotate under the action of the lifting drive part 3021, and can drive the second cleaning member 303 to switch between the third position and the fourth position under the action of the rotating arm 3013.

In some embodiments, the second drive assembly 302 includes a lifting drive unit 3021, which can drive the lifting and rotation of the second cleaning member 303 through the lifting drive unit 3021. Compared with the related art that requires the use of two drive units to drive the lifting and rotation of the cleaning element respectively, the setting of one drive unit is simplified. Therefore, it can meet the design requirements of compact structure and small size, which is conducive to reducing occupied space and reducing costs, and is suitable for promotion and application.

18 and 19 , in certain embodiments, the transmission unit 3022 includes a lifting drive unit 3021 and a transmission unit 3022. At least a portion of the transmission unit 3022 is disposed within the rotating arm 3013 and connected to the second cleaning member 303. The lifting drive unit 3021 drives the second cleaning member 303 to rise and fall and rotate via the transmission unit 3022. Thus, the power of the lifting drive unit 3021 is transmitted to the gear set 3024 via the worm 3023. The gear set 3024 drives the sleeve 3025 to rise and fall and rotate, thereby driving the second cleaning member 303 to rise and fall and rotate. The worm 3023 cooperates with the gear set 3024 to achieve a compact mechanical structure, small size, and accurate transmission. This facilitates reducing the size of the transmission unit 3022, and thereby reducing the size of the second drive assembly 302, thereby meeting design requirements for a compact structure and a small size.

Please refer to Figures 18, 19 and 20. In some embodiments, the gear set 3024 includes: a turbine 30241, a first sub-gear 30242, a second sub-gear, a third sub-gear 30245 and a connecting cylinder 30246, wherein the turbine 30241 and the first sub-gear 30242 are coaxially arranged, the turbine 30241 is located outside the rotating arm 3013 and meshes with the worm 3023, the first sub-gear 30242, the second sub-gear, and the third sub-gear 30245 are all located inside the rotating arm 3013, and the second sub-gear includes a coaxial A first toothed disc 30243 and a second toothed disc 30244 are set, the first sub-gear 30242 is engaged with the first toothed disc 30243, the second toothed disc 30244 is engaged with the third sub-gear 30245, the connecting tube 30246 is coaxially arranged with the third sub-gear 30245 and is located outside the rotating arm 3013, the connecting tube 30246 is threadedly connected to the sleeve 3025, and the gear set 3024 rotates to make the sleeve 3025 and the connecting tube 30246 rotate relative to each other, thereby driving the sleeve 3025 to rise or fall relative to the connecting tube 30246.

In some embodiments, the lifting drive unit 3021 rotates to drive the worm 3023 to rotate. Since the turbine 30241 is engaged with the worm 3023, the turbine 30241 will be driven to rotate, and then the first sub-gear 30242 coaxially arranged with the turbine 30241 will be driven to rotate. Since the first sub-gear 30242 is engaged with the first gear plate 30243, the first gear plate 30243 and the second gear plate 30244 coaxially arranged with the first gear plate 30243 will be driven to rotate. Since the second gear plate 30244 is engaged with the third sub-gear 30245, the third sub-gear 30245 will be driven to rotate, and then the connecting tube 30246 coaxially arranged with the third sub-gear 30245 will be driven to rotate. Because the connecting cylinder 30246 and the sleeve 3025 are threadedly connected, the sleeve 3025 and the connecting cylinder 30246 rotate relative to each other to drive the sleeve 3025 to rise or fall relative to the connecting portion 30162, thereby driving the second cleaning member 303 installed in the sleeve 3025 to rise and rotate. This arrangement has a simple structure and high transmission accuracy.

In some embodiments, the first sub-gear 30242, the second sub-gear, and the third sub-gear 30245 are all located inside the rotating arm 3013. Thus, the rotating arm 3013 is used to provide installation space and a certain degree of protection for the first sub-gear 30242, the second sub-gear, and the third sub-gear 30245, which can extend the service life of the first sub-gear 30242, the second sub-gear, and the third sub-gear 30245, thereby improving the reliability of the second drive assembly 302, and at the same time, can meet the design requirements of compact structure and small size. It can be understood that the rotating shaft connecting the first sub-gear 30242 and the turbine 30241 is passed through the rotating arm 3013, and the rotating shaft connecting the third sub-gear 30245 and the connecting cylinder 30246 is passed through the rotating arm 3013, so as to transmit the power of the lifting drive part 3021 from the outside of the rotating arm 3013 to the inside of the rotating arm 3013 through the worm 3023 and the turbine 30241, and then transmit it to the outside of the rotating arm 3013 again through the connecting cylinder 30246, and drive the lifting and rotation of the second cleaning member 303 through the sleeve 3025.

Please refer to Figures 18 and 19. In some embodiments, the wall of the connecting tube 30246 is provided with a guide portion 30247 arranged in a spiral direction; the wall of the sleeve 3025 is provided with a slot 30251 for accommodating the connecting tube 30246, and the groove wall of the slot 30251 is provided with a spiral guide groove 30252 for accommodating the guide portion 30247.

In some embodiments, a slot 30251 is provided at the top of the sleeve 3025, and the slot 30251 of the sleeve 3025 is inserted into the wall of the connecting tube 30246, so that the guide portion 30247 on the wall of the connecting tube 30246 is accommodated in the guide groove 30252 of the slot 30251. Since the guide portion 30247 is arranged in a spiral shape and the guide groove 30252 is spiral, the guide portion 30247 moves in a spiral shape along the guide groove 30252, so that the sleeve 3025 can be rotated and lifted relative to the connecting tube 30246, that is, the connection method between the sleeve 3025 and the connecting tube 30246 can be regarded as a connection method of a screw nut. This setting has a simple structure and is easy to implement, and can use a set of structures to realize the lifting and rotation of the sleeve 3025, which is beneficial to reducing the volume of the second drive component.

18 and 19 , in certain embodiments, the guide portion 30247 is disposed on the outer wall of the connecting tube 30246, and the guide groove 30252 is disposed on the groove wall of the insertion slot 30251 away from the interior of the sleeve 3025. Alternatively, the guide portion 30247 is disposed on the inner wall of the connecting tube 30246, and the guide groove 30252 is disposed on the groove wall of the insertion slot 30251 closer to the interior of the sleeve 3025. The guide portion 30247 is a helical boss, such as an outwardly protruding thread. This helps improve the accuracy and reliability of the mutual restraint and guidance between the guide portion 30247 and the guide groove 30252, thereby enhancing the stability of the sleeve 3025 in the lifting and rotation relative to the connecting tube 30246.

Referring to Figure 19 , in some embodiments, the guide portion 30247 comprises a plurality of protrusions spaced apart at intervals, i.e., the protrusions are spaced apart along a spiral. This simplifies the structure of the guide portion 30247, helps reduce the material used for the guide portion 30247, and saves manufacturing costs. Specifically, the number of protrusions can be two, three, four, or another number.

In some embodiments, a retaining rib is provided on the wall of the slot 30251 near the opening. The retaining rib is used to abut against the guide portion 30247 to limit the lifting and lowering movement of the sleeve 3025 relative to the connecting tube 30246. That is, the retaining rib cooperates with the guide portion 30247 to limit the lowering limit of the sleeve 3025 relative to the connecting tube 30246. This prevents the guide portion 30247 from disengaging from the guide slot 30252, thereby separating the sleeve 3025 and the connecting tube 30246, thereby ensuring that the sleeve 3025 can be securely connected to the connecting tube 30246. At the same time, the second cleaning member 303 connected to the sleeve 3025 can reliably and fully contact the surface to be cleaned.

In certain embodiments, the guide portion 30247 abuts the bottom of the slot 30251 to limit the lifting movement of the sleeve 3025 relative to the connecting tube 30246. Specifically, the guide portion 30247 cooperates with the bottom of the slot 30251 to limit the maximum position at which the sleeve 3025 can rise relative to the connecting tube 30246. This prevents the second cleaning member 303 from continuing to rise after reaching the maximum position and damaging the second drive assembly, thereby improving reliability. Furthermore, a certain distance is maintained between the second cleaning member 303 at the maximum position and the surface to be cleaned, thereby reducing the impact on the self-propelled cleaning device's ability to climb slopes and overcome obstacles, as well as the impact on secondary contamination of the surface to be cleaned.

Referring to Figure 20, in certain embodiments, the inner wall of the sleeve 3025 is provided with a limiting plane 30253 that matches the second cleaning member 303. The provision of the limiting plane 30253 ensures that the second cleaning member 303 rotates with the rotation of the sleeve 3025, while the second cleaning member 303 does not rotate relative to the sleeve 3025, thereby ensuring that the second cleaning member 303 has good cleaning performance. The axial cross-section of the sleeve 3025 is hexagonal, meaning that the inner wall of the sleeve 3025 is provided with six planes. It is understood that all six planes can be limiting planes 30253, or a portion of the six planes can be limiting planes 30253. Specifically, the portion where the second cleaning member 303 connects to the sleeve 3025 can be configured as a hexagonal prism structure. Thus, the hexagonal prism structure cooperates with the six planes on the inner wall of the sleeve 3025 to limit the rotation of the second cleaning member 303 relative to the sleeve 3025. This provides a simple structure, ease of processing, and reliable limiting.

Please refer to Figures 18, 19 and 20. In some embodiments, the second drive assembly 302 also includes a second shell 3026 with an opening at one end. When the automatic cleaning device includes a first shell 3018, the second shell 3026 is engaged with the first shell 3018. The worm 3023, the turbine 30241, the rotating arm 3013 and the connecting tube 30246 are located in the space enclosed by the second shell 3026 and the first shell 3018. The opening of the second shell 3026 is located on the side away from the first shell 3018. The bottom end of the sleeve 3025 is suitable for extending out of the opening of the second shell 3026. The lifting drive part 3021 is located outside the second shell 3026, and the worm 3023 is passed through the second shell 3026 and is connected to the lifting drive part 3021. The bottom end of the sleeve 3025 is adapted to extend outside the opening of the second housing 3026 to ensure that the second cleaning member 303 connected to the sleeve 3025 can be lowered to contact the surface to be cleaned. At the same time, the bottom end of the second housing 3026 can be kept at a certain distance from the surface to be cleaned to prevent the second housing 3026 from affecting the self-propelled cleaning device's ability to climb slopes and overcome obstacles. The lifting drive unit 3021 is located outside the second housing 3026, and the worm 3023 is disposed through the second housing 3026 and connected to the lifting drive unit 3021. This allows the power of the lifting drive unit 3021 to be transmitted from the outside of the second housing 3026 to the inside of the second housing 3026.

Please refer to Figures 20, 21 and 22. In some embodiments, the second shell 3026 is divided into a first installation cavity 30261 and a second installation cavity 30262. The turbine 30241 is located in the first installation cavity 30261, and the sleeve 3025 is located in the second installation cavity 30262. The rotating arm 3013 extends to the first installation cavity 30261 and the second installation cavity 30262. The first sub-gear 30242 in the rotating arm 3013 is coaxially arranged with the turbine 30241 in the first installation cavity 30261, and the sleeve 3025 in the second installation cavity 30262 is connected to the connecting tube 30246 on the rotating arm 3013. Thus, the power of the lifting drive unit 3021 can be transmitted to the sleeve 3025 via the first installation cavity 30261 and the second installation cavity 30262 to drive the second cleaning member 303 to rise and fall and rotate.

In some embodiments, the shape of the second mounting cavity 30262 is adapted to the movement space of the rotating arm 3013, thereby ensuring that the cavity wall of the second mounting cavity 30262 does not hinder the movement of the rotating arm 3013. At the same time, it provides good protection for the rotating arm 3013 and reduces the volume of the second drive assembly 302 as much as possible to meet the design requirements of compact structure and small size.

In some embodiments, the second shell 3026 also includes a base plate 30263, which is detachably connected to the cavity wall of the first installation cavity 30261 to enclose the turbine 30241 in the first installation cavity 30261. The setting of the base plate 30263 provides good protection for the turbine 30241 and can reduce the contamination of the turbine 30241 by dirty liquid. Thus, the service life of the turbine 30241 can be increased, and the reliability of the second drive assembly 302 can be improved.

In some embodiments, the base plate 30263 can be detachably connected to the cavity wall of the first installation cavity 30261 by screws, a snap-fit structure, a mortise and tenon structure, a magnetic structure, etc.

In some embodiments, for cleaning, the second cleaning member 301 may be a mop that can rotate in the horizontal direction. The mop can be used to mop the floor and clean stubborn stains on the floor, thereby ensuring a cleaning effect and improving the user experience.

In some embodiments, in order to further ensure the cleaning effect, when the number of first cleaning components 20 is two and the number of second cleaning components 30 is two, the two first cleaning components 20 are respectively located on both sides of the traveling direction of the self-cleaning device 100, and the two second cleaning components 30 are respectively located on both sides of the traveling direction of the self-cleaning device 100.

In some embodiments, the two first cleaning assemblies 20 and the two second cleaning assemblies 30 can fully clean the floor, further ensuring the cleaning effect and improving the user experience. At the same time, during the cleaning process of the self-cleaning device 100, when any of the two sides of the mobile platform 10 encounters a corner or obstacle along the direction of travel of the self-cleaning device 100, it is only necessary to extend the first cleaning assembly 20 and the second cleaning assembly 30 on that side at least partially outside the mobile platform 10, so that the first cleaning assembly 20 and the second cleaning assembly 30 can clean the blind spot, so as to facilitate the cleaning of the blind spot, without turning the self-cleaning device 100 around, thereby improving the cleaning efficiency.

In some embodiments, to further improve the cleaning effect, the first cleaning assembly 20 includes a dry cleaning assembly and the second cleaning assembly 30 includes a wet cleaning assembly. In the direction of travel of the self-cleaning device 100, the first cleaning assembly 20 is located in front of the second cleaning assembly 30, and the main brush 40 is located between the first cleaning assembly 20 and the second cleaning assembly 30.

In some embodiments, the first cleaning component 20 sweeps the garbage around the mobile platform 10 to the bottom of the main brush 40, and then the main brush 40 rotates to sweep the garbage into the suction port 102. At the same time, the dust and other impurities around the mobile platform 10 can be adsorbed in the garbage box for centralized treatment through the suction motor. After the first cleaning component 20 and the main brush 40 have cleaned the garbage on the ground surface, the second cleaning component 30 is used to mop the floor to clean stubborn stains on the floor. At the same time, the garbage can be prevented from affecting the mopping effect of the second cleaning component 30, further ensuring the cleaning effect and improving the user experience.

In some embodiments, the mobile platform 10 has a forward part 101 and a rearward part 102, the first cleaning component 20 is arranged in the forward part 101, and the second cleaning component 30 is arranged in the rearward part 102. After the first cleaning component 20 and the main brush 40 clean the garbage on the ground surface, the second cleaning component 30 is used to mop the floor to clean stubborn stains on the floor. At the same time, the garbage can be prevented from affecting the mopping effect of the second cleaning component 30, thereby further ensuring the cleaning effect and improving the user experience.

In some embodiments, in order to prevent garbage from affecting the mopping effect of the second cleaning component 30, the first cleaning component 20 and the main brush 40 are located in front of the second cleaning component 30 along the driving direction of the cleaning device 100. That is, during the driving of the cleaning device 100, the first cleaning component 20 and the main brush 40 will first clean up the garbage and dust, and then the second cleaning component 30 will mop the floor to clean up stubborn stains on the floor. The garbage will not interfere with the movement of the second cleaning component 30, thereby ensuring the mopping effect of the second cleaning component 30 and further ensuring the cleaning effect.

In some embodiments, in order to further ensure the cleaning effect, the first cleaning component 20 can be raised and lowered relative to the operating surface, so that the first cleaning component 20 can be lifted and lowered, and the descending scale of the first cleaning component 20 can be effectively controlled, which plays a good role in the cleanliness of the floor.

In some embodiments, in order to further ensure the cleaning effect, the second cleaning component 30 vibrates relative to the operating surface, so that the second cleaning component 30 vibrates at a high frequency, so that the second cleaning component 30 can clean the stubborn stains on the ground, and clean the stubborn stains on the ground, further ensuring the cleaning effect and improving the user experience.

In some embodiments, in order to further ensure the cleaning effect, the second cleaning component 30 is lifted relative to the operating surface, which can realize the lifting and lowering of the first cleaning component 20, and can effectively control the descending scale of the first cleaning component 20, which plays a good role in the cleanliness of the floor.

A second embodiment of the present application provides a cleaning system, including a cleaning base station and the self-cleaning device 100 described above.

In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise" and "counterclockwise" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In addition, the terms "first," "second," and so on, used in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims (25)

A self-cleaning device (100) comprising: A mobile platform (10) is configured to move on an operating surface, wherein the mobile platform (10) has a central axis along a travel direction of the mobile platform (10); at least one first cleaning assembly (20) movably disposed on the mobile platform (10) and switchable between a first position and a second position, wherein when the first cleaning assembly (20) is located at the first position, the distance between the first cleaning assembly (20) and the central axis is a first distance, and when the first cleaning assembly (20) is located at the second position, the distance between the first cleaning assembly (20) and the central axis is a second distance, the second distance being greater than the first distance; and At least one second cleaning component (30) is movably arranged on the mobile platform (10) and can be switched between a third position and a fourth position. When the second cleaning component (30) is located at the third position, the distance between the second cleaning component (30) and the central axis is a third distance. When the second cleaning component (30) is located at the fourth position, the distance between the second cleaning component (30) and the central axis is a fourth distance. The fourth distance is greater than the third distance. The first cleaning assembly (20) and the second cleaning assembly (30) are arranged at intervals and are located on the same side of the travel direction of the self-cleaning device (100). The self-cleaning device (100) according to claim 1, wherein, when cleaning a corner or an obstacle with a corner, the first cleaning component (20) is located in the second position, and the second cleaning component (30) is located in the fourth position. The self-cleaning device (100) according to claim 1, wherein, when cleaning a corner or an obstacle with a corner, the first cleaning component (20) is located in the second position, and the second cleaning component (30) is located in the third position. The self-cleaning device (100) according to claim 1, wherein, when cleaning the edge of a wall or an obstacle, the first cleaning component (20) is located in the first position and the second cleaning component (30) is located in the fourth position. The self-cleaning device (100) according to claim 1, wherein, when cleaning the edge of a wall or an obstacle, the first cleaning component (20) is located in the second position, and the second cleaning component (30) is located in the fourth position. The self-cleaning device (100) according to any one of claims 1 to 4, wherein the first cleaning component (20) comprises: A fixed arm (202) for being mounted on the mobile platform (10); a swing arm (203), one end of which is rotatably connected to the fixed arm (202) and the other end of which is mounted a rotatable first cleaning member (201); and A power assembly (204) is connected to the fixed arm (202), and the power assembly (204) is configured to drive the swing arm (203) to swing, so as to drive the first cleaning member (201) to move between the first position and the second position. The self-cleaning device (100) according to claim 6, wherein the power component (204) includes a transmission component (2042), and the transmission component (2042) is capable of driving the swing arm (203) to swing and the first cleaning component (201) to rotate under the drive of the driving member (20411). The self-cleaning device (100) according to claim 7, wherein the transmission assembly (32) comprises: The linkage shaft (20423) is connected to the fixed arm (202) and the swing arm (203) in a rotational manner around its own central axis. The driving member (31) is drivingly connected to the linkage shaft (20423) and can drive the linkage shaft (20423) to rotate. a first transmission assembly, the input end of which is connected to the linkage shaft (20423), and the output end of which is connected to the swing arm (203), and when the linkage shaft (20423) rotates, the swing arm (203) can be driven to swing via the first transmission assembly; and A second transmission assembly, the input end of which is connected to the first transmission assembly, and the output end of which is connected to the first cleaning member (201), wherein the linkage shaft (20423) is capable of driving the first cleaning member (201) to rotate via the first transmission assembly and the second transmission assembly when the linkage shaft (20423) rotates. The self-cleaning device (100) according to any one of claims 1 to 4, wherein the second cleaning component (30) comprises: A rotating arm (3013) rotatably connected to the mobile platform (10); A second cleaning member (303) is provided on the rotating arm (3013); and The first driving assembly (301) causes the rotating arm (3013) to rotate, thereby driving the second cleaning member (303) to switch between the third position and the fourth position. The self-cleaning device (100) according to claim 9, wherein the second cleaning component (30) further comprises: a first end of a first elastic member (3017) is connected to the rotating arm (3013), and a second end of the first elastic member (3017) is relatively fixed to the movable platform (10). The self-cleaning device (100) according to claim 10, wherein the first driving component drives the second cleaning component to move to the third position through the rotating arm, and the force applied by the first driving component to the rotating arm is opposite to the direction of the force applied by the first elastic component to the rotating arm. The self-cleaning device (100) according to claim 10, wherein the first elastic member drives the second cleaning member to move to the fourth position via the rotating arm, the first elastic member drives the rotating arm to move to the extreme position, and fixes the rotating arm by its own elastic force. The self-cleaning device (100) according to claim 9, wherein, during the switching of the second cleaning member (303) between the third position and the fourth position, the first driving assembly (301) abuts against the rotating arm (3013) to rotate the rotating arm (3013). The self-cleaning device (100) according to claim 9, wherein the first driving assembly includes a cam, the first driving part is used to drive the cam to rotate, and the cam abuts against the outer wall of the rotating arm, thereby pushing the rotating arm to rotate. The self-cleaning device (100) according to claim 9, wherein one end of the rotating arm (3013) is connected to the first cam (3016), and the other end is connected to the second cleaning member (303), and when the second cleaning member (303) switches between the third position and the fourth position, the first driving assembly (301) abuts against the convex portion (30161) of the first cam (3016) to rotate the rotating arm (3013). The transmission device according to claim 15, wherein The first driving assembly (301) is used to drive the first cam (3016) to rotate in a first direction so as to switch the second cleaning member (303) from the fourth position to the third position. The first elastic member (3017) is used to drive the first cam (3016) to rotate in the second direction, so that the second cleaning member (303) switches from the third position to the fourth position. The transmission device according to claim 15, wherein The first driving assembly (301) deforms the first elastic member (3017) via the first cam (3016) to accumulate elastic potential energy; The first elastic member (3017) releases elastic potential energy to drive the first cam (3016) to rotate in the second direction, so that the second cleaning member (303) switches from the third position to the fourth position. The self-cleaning device (100) according to any one of claims 1 to 4, wherein, when the number of the first cleaning components (20) is two and the number of the second cleaning components (30) is two, the two first cleaning components (20) are respectively located on both sides of the driving direction of the self-cleaning device (100), and the two second cleaning components (30) are respectively located on both sides of the driving direction of the self-cleaning device (100). The self-cleaning device (100) according to any one of claims 1 to 4, wherein the first cleaning assembly (20) comprises a dry cleaning assembly, and the second cleaning assembly (30) comprises a wet cleaning assembly; Wherein, along the traveling direction of the self-cleaning device (100), the first cleaning component (20) is located in front of the second cleaning component (30). The self-cleaning device (100) according to any one of claims 1 to 4, wherein the first cleaning assembly (20) comprises a wet cleaning assembly, and the second cleaning assembly (30) comprises a dry cleaning assembly; Wherein, along the traveling direction of the self-cleaning device (100), the first cleaning component (20) is located in front of the second cleaning component (30). The self-cleaning device (100) according to claim 19 or 20, characterized in that the wet cleaning component is rotatable relative to the operating surface. The self-cleaning device (100) according to claim 19 or 20 is characterized in that the wet cleaning component can be raised and lowered relative to the operating surface. The self-cleaning device (100) according to claim 19 or 20, characterized in that the wet cleaning component can vibrate relative to the operating surface. The self-cleaning device (100) according to claim 19 or 20 is characterized in that the dry cleaning component can be raised and lowered relative to the operating surface. A cleaning system, characterized by comprising a cleaning base station and a self-cleaning device (100) according to any one of claims 1 to 24.