CN220735310U - Automatic cleaning equipment and cleaning robot systems - Google Patents

Abstract

The utility model discloses an automatic cleaning device and a cleaning robot system. The automatic cleaning device includes: a machine body, and a cleaning component and a walking system connected to the machine body. The cleaning component includes a driving unit, a transmission device and a cleaning element. The driving unit drives the lifting and rotation of the cleaning element through the transmission device, and the walking system is used to drive the machine body to move. Thus, according to the requirement of whether the cleaning element is in contact with the surface to be cleaned, the lifting and rotation operations of the cleaning element can be realized through the driving unit and the transmission device to meet the different functional requirements of the cleaning element, realize the processing of the distinguishing strategy of the cleaning element, improve the cleaning performance of the self-cleaning device, improve the cleaning efficiency and the use experience, and at the same time, a driving unit can be used to drive the lifting and rotation of the cleaning element through the transmission device, which can meet the design requirements of compact structure and small volume of the cleaning component, which is conducive to reducing the occupied space of the cleaning component and reducing costs.

Description

Automatic cleaning equipment and cleaning robot systems

Technical Field

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

Background technique

With the iteration and development of technology, self-cleaning equipment has entered the lives of ordinary families and has gradually become popular. Among the current self-cleaning equipment, there is a kind of mopping function, such as mopping robots or sweeping and mopping machines, but because its mopping component cannot achieve self-driven lifting, it is impossible to distinguish the strategies in some scenes where mopping is not required during the cleaning process of the self-cleaning equipment, which affects the cleaning performance of the self-cleaning equipment and reduces the cleaning efficiency and user experience.

Utility Model Content

A series of simplified concepts are introduced in the content of the utility model, which will be further described in detail in the detailed implementation. This part of the utility model does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

An embodiment of the first aspect of the utility model provides an automatic cleaning device, including: a machine body, and a cleaning component and a walking system connected to the machine body, the cleaning component including a driving part, a transmission device and a cleaning element, the driving part drives the lifting and rotation of the cleaning element through the transmission device, and the walking system is used to drive the machine body to move.

Furthermore, the transmission device includes: a transmission rod, which is connected to the driving part and is provided with a lead screw and a transmission wheel; a first transmission assembly, which is transmission-connected to the lead screw and the cleaning element, and when the transmission rod rotates, the first transmission assembly is driven to move through the lead screw to rotate the cleaning element; a second transmission assembly, which is transmission-connected to the transmission wheel and the cleaning element, and when the transmission rod rotates, the second transmission assembly is driven to move through the transmission wheel to lift and lower the cleaning element.

Furthermore, the first transmission assembly includes a first gear and a second gear, the first gear is dynamically connected to the lead screw and meshes with the second gear; the transmission device also includes a sleeve connected to the cleaning element, and the sleeve is connected to the second gear; wherein, the rotation of the lead screw drives the first gear to rotate, and the second gear drives the sleeve to rotate to rotate the cleaning element.

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

Furthermore, the second gear is provided with a through hole in the axial direction, and the sleeve is inserted into the through hole and rotatably connected to the second transmission assembly, so that the second transmission assembly can drive the sleeve to move axially relative to the second gear; wherein, a limiting portion is provided on the inner wall of the through hole, and a positioning portion is provided on the outer wall of the sleeve, and the limiting portion and the positioning portion are adapted to limit the rotation of the sleeve relative to the second gear.

Furthermore, the second transmission assembly includes: a third gear, a fourth gear, a fifth gear and a connecting rod, the third gear is meshed with the transmission wheel and with the fourth gear, the fourth gear and the fifth gear are coaxially arranged and can be dynamically connected, the first end of the connecting rod is eccentrically hinged on the fifth gear, and the second end of the connecting rod is movably connected to the sleeve; wherein, the transmission wheel rotates, the fourth gear is driven to rotate through the third gear, and the fifth gear rotates to drive the connecting rod to move so that the sleeve moves up and down in the through hole relative to the second gear.

Furthermore, the cleaning component also includes: a clutch mechanism, connecting the fourth gear and the fifth gear; wherein, when the clutch mechanism is in an engaged state, the fourth gear and the fifth gear can be dynamically connected, and when the clutch mechanism is in a disengaged state, the fourth gear and the fifth gear can be dynamically separated.

Furthermore, the second transmission assembly also includes a connecting shaft passing through the fourth gear and the fifth gear, the fourth gear is slidably arranged on the connecting shaft, and the fifth gear is connected to the connecting shaft; the clutch mechanism includes a fixed clutch tooth and a movable clutch tooth, the fixed clutch tooth is arranged on the end face of the fifth gear away from the connecting rod, and the movable clutch tooth is arranged on the end face of the fourth gear; wherein the fourth gear is a first helical gear, the third gear includes a second helical tooth portion meshingly connected to the fourth gear, the third gear rotates in one direction to enable the fourth gear to drive the movable clutch tooth to move in a direction away from the fixed clutch tooth so that the movable clutch tooth and the fixed clutch tooth are separated, and the third gear rotates in another direction to enable the fourth gear to drive the movable clutch tooth to move in a direction close to the fixed clutch tooth so that the movable clutch tooth and the fixed clutch tooth are engaged.

Furthermore, the third gear also includes a second spur tooth portion meshingly connected to the transmission wheel, and the second spur tooth portion and the connecting rod are located on both sides of the second helical tooth portion.

Furthermore, the second transmission assembly also includes: a bearing, the second end of the connecting rod is connected to the sleeve through the bearing, and the second end of the connecting rod is hinged to the bearing.

Furthermore, the automatic cleaning device also includes: a gear box, the gear box is connected to the machine body, the transmission rod and the sleeve are passed through the gear box, the driving part and the cleaning element are located outside the gear box, and the first transmission assembly and the second transmission assembly are located inside the gear box.

Furthermore, the gear box includes a detachably connected base and an upper cover, the base includes a bottom plate and a side plate, the first gear and the second gear are arranged on the base, the transmission rod is passed through the side plate, the third gear and the connecting shaft are arranged on the side plate, the sleeve is passed through the bottom plate, and the second gear is connected to the connecting rod.

Furthermore, the automatic cleaning device also includes: a position detection device, which is arranged on the machine body and/or the cleaning element and is used to detect the rising position of the cleaning element, and the driving part rotates or stops rotating according to the detection result of the position detection device.

An embodiment of the second aspect of the utility model provides a cleaning robot system, comprising: a base station; and the automatic cleaning device of any one of the first aspects, wherein the automatic cleaning device is suitable for docking on the base station.

According to the self-cleaning device and cleaning robot system provided by the embodiment of the utility model, the self-cleaning device includes a machine body, a cleaning component and a walking system. The cleaning component is connected to the machine body and has a mopping function. The walking system is connected to the machine body and is used to drive the machine body to move. The cleaning component includes a driving unit, a transmission device and a cleaning element. The driving unit drives the lifting and rotation of the cleaning element through the transmission device. Therefore, according to the requirement of whether the cleaning element is in contact with the surface to be cleaned, the lifting and rotation operation of the cleaning element can be realized through the driving unit and the transmission device to meet the different functional requirements of the cleaning element, that is, the processing of the distinguishing strategy of the cleaning element can be realized, the cleaning performance of the self-cleaning device is improved, and the cleaning efficiency and the use experience are improved. At the same time, the cleaning component in this embodiment uses a driving unit to drive the lifting and rotation of the cleaning element through the transmission device. Compared with the related art that requires two driving units to drive the lifting and rotation of the cleaning element respectively, the setting of a driving unit is simplified. Therefore, the design requirements of the cleaning component with a compact structure and a small volume can be met, which is conducive to reducing the occupied space of the cleaning component and reducing costs, and is suitable for popularization and application.

The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings of the present invention are used as a part of the embodiments of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principle of the present invention.

In the attached figure:

FIG1 is a schematic structural diagram of an automatic cleaning device according to an optional embodiment of the utility model;

FIG2 is a schematic structural diagram of the embodiment shown in FIG1 from a viewing angle;

FIG3 is a schematic structural diagram of a cleaning assembly according to an optional embodiment of the utility model;

FIG4 is a partial structural schematic diagram of a cleaning assembly according to an optional embodiment of the utility model;

FIG5 is a schematic structural diagram of the embodiment shown in FIG4 from a viewing angle;

FIG6 is a schematic structural diagram of a clutch mechanism according to an optional embodiment of the utility model;

FIG. 7 is a schematic structural diagram of a second gear and a sleeve from one perspective according to an optional embodiment of the present utility model.

Description of Reference Numerals

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

Detailed ways

In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solution provided by the utility model. However, it is obvious to those skilled in the art that the technical solution provided by the utility model can be implemented without one or more of these details.

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

Now, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present utility model thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

As shown in FIG. 1 to FIG. 7 , an embodiment of the utility model provides an automatic cleaning device and a cleaning robot system, wherein the cleaning robot system includes an automatic cleaning device 100 and a base station, that is, the base station is used in conjunction with the automatic cleaning device 100 .

Further, as shown in Figures 1 and 2, the automatic cleaning device 100 may include a machine body 110, a sensing system 120, a control module, a walking system 140, a cleaning system 150, an energy system and a human-computer interaction system 170. It is understandable that the automatic cleaning device 100 can be a self-moving automatic cleaning device or other automatic cleaning devices that meet the requirements. The self-moving automatic cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. Among them, when the self-moving automatic cleaning device 100 starts working, the automatic cleaning device starts from the base station to perform the cleaning task. When the self-moving automatic cleaning device 100 completes the cleaning task or other situations where the cleaning task needs to be terminated, the self-moving automatic cleaning device 100 can return to the base station for charging, and/or water replenishment, and/or cleaning, and/or dust collection and other operations.

As shown in FIG. 1 , the machine body 110 includes a forward portion 111 and a rearward portion 112 , and has an approximately circular shape. It may also have other shapes, including but not limited to an approximately D-shaped shape with a front and rear circle, and a rectangular or square shape with a front and rear.

As shown in FIG1 , the perception system 120 includes a position determination device 121 located on the machine body 110, a collision sensor and a proximity sensor arranged on a buffer 122 of the forward part 111 of the machine body 110, a cliff sensor arranged at the lower part of the machine body 110, and a magnetometer, accelerometer, gyroscope, odometer and other sensing devices arranged inside the machine body 110, which are used to provide various position information and motion state information of the machine to the control module. The position determination device 121 includes but is not limited to a camera and a laser distance sensor (LDS, full name Laser Distance Sensor).

As shown in Figure 1, the forward part 111 of the machine body 110 can carry the buffer 122. During the cleaning process, when the driving wheel module 141 propels the automatic cleaning device 100 to walk on the ground, the buffer 122 detects one or more events in the driving path of the automatic cleaning device 100 via a sensor system arranged thereon, such as an infrared sensor. The automatic cleaning device 100 can control the driving wheel module 141 to respond to the event, such as an obstacle or a wall, detected by the buffer 122, so that the automatic cleaning device 100 can respond to the event, such as staying away from the obstacle.

The control module is arranged on the circuit board in the machine body 110, and includes a computing processor, such as a central processing unit, an application processor, which communicates with a non-temporary memory, such as a hard disk, a flash memory, and a random access memory. The application processor uses a positioning algorithm, such as SLAM (Simultaneous Localization And Mapping), to draw a real-time map of the environment where the automatic cleaning device 100 is located according to the obstacle information fed back by the laser ranging device. And in combination with the distance information and speed information fed back by the sensor devices such as the sensor, cliff sensor, magnetometer, accelerometer, gyroscope, odometer, etc. set on the buffer 122, it is comprehensively judged what working state the automatic cleaning device 100 is currently in, where it is located, and the current posture of the automatic cleaning device 100, such as passing the threshold, being on the carpet, being on the cliff, being stuck above or below, the dust box is full, being picked up, etc., and specific next action strategies are given for different situations, so that the automatic cleaning device 100 has better cleaning performance and user experience.

As shown in FIG. 2 , the walking system 140 is connected to the machine body 110, and the walking system can drive the machine body 110 to move based on a drive command with distance and angle information (e.g., x, y and θ components), such as driving the machine body 110 to travel across the ground. The walking system 140 includes a driving wheel module 141, and the driving wheel module 141 can control the left and right wheels at the same time. In order to more accurately control the movement of the machine, it is preferred that the driving wheel module 141 includes a left driving wheel module and a right driving wheel module respectively. The left and right driving wheel modules are arranged along the transverse axis defined by the machine body 110. In order for the automatic cleaning device 100 to be able to move more stably or more powerfully on the ground, the automatic cleaning device 100 may include one or more driven wheels 142, and the driven wheels 142 include but are not limited to universal wheels. The driving wheel module 141 includes a walking wheel and a driving motor and a control circuit for controlling the driving motor. The driving wheel module 141 can also be connected to a circuit and an odometer for measuring the driving current. The drive wheel may have a biased drop-down suspension system, movably secured, for example rotatably attached, to the machine body 110, and receiving a spring bias biased downward and away from the machine body 110. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the automatic cleaning device 100 also contact the ground with a certain pressure.

The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are then connected to a single-chip microcomputer control circuit. The host is charged by connecting to a charging pile through charging electrodes arranged on the side or bottom of the fuselage.

The human-machine interaction system 170 includes buttons on the host panel for users to select functions; it may also include a display screen and/or indicator lights and/or speakers, which display the current state of the machine or function options to the user; it may also include a mobile client program. For a path navigation type automatic cleaning device, a map of the environment where the device is located and the location of the machine can be displayed to the user on the mobile client, which can provide users with more abundant and humanized function items.

The cleaning system 150 includes a wet cleaning system, that is, the automatic cleaning device 100 can be a mopping machine, or the cleaning system 150 includes a wet cleaning system and a dry cleaning system 151, that is, the automatic cleaning device 100 is a sweeping and mopping machine.

As shown in FIG. 2 , the dry cleaning system 151 provided in the embodiment of the utility model may include a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box. The dry cleaning system 151 may also include a side brush 152 with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move debris into the roller brush area of the cleaning system 150.

Among them, the wet cleaning system of the utility model may include: a cleaning component 180, a water supply mechanism, a liquid storage tank, etc., wherein the cleaning component 180 is connected to the machine body 110 and can be arranged below the liquid storage tank. The cleaning component 180 includes a cleaning element 183, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning element 183 through the water supply mechanism, so that the cleaning element 183 performs wet cleaning on the plane to be cleaned. In other embodiments of the utility model, the cleaning liquid inside the liquid storage tank can also be directly sprayed onto the plane to be cleaned, and the cleaning element 183 cleans the plane by evenly applying the cleaning liquid. It can be understood that the self-moving cleaning device 100 is provided with a water injection port connected to the liquid storage tank. By using the water injection port, the liquid outside the self-moving cleaning device 100 can be replenished into the liquid storage tank to achieve the water replenishment operation of the liquid storage tank.

As shown in Fig. 3, Fig. 4 and Fig. 5, the cleaning assembly 180 provided in the embodiment of the utility model includes a driving unit 181, a transmission device 182, and the aforementioned cleaning element 183, wherein the cleaning assembly 180 is connected to the machine body 110, thereby, when the walking system 140 drives the machine body 110 to move along the surface to be cleaned, the cleaning assembly 180 moves along with the movement of the machine body 110 to realize the mopping function of the surface to be cleaned. Among them, the driving unit 181 drives the lifting and rotation of the cleaning element 183 through the transmission device 182, thereby, according to the requirement of whether the cleaning element 183 contacts the surface to be cleaned, the lifting and rotation operation of the cleaning element 183 can be realized through the driving unit 181 and the transmission device 182, so as to meet the different functional requirements of the cleaning element 183, that is, the processing of the distinguishing strategy of the cleaning element 183 can be realized, the cleaning performance of the self-cleaning device is improved, and the cleaning efficiency and the use experience are improved. At the same time, the cleaning component 180 in this embodiment utilizes a driving unit 181 to drive the lifting and rotation of the cleaning element 183 through a transmission device 182. Compared with the related art that requires the use of two driving units to drive the lifting and rotation of the cleaning element respectively, the setting of a driving unit is simplified. Therefore, it can meet the design requirements of the cleaning component 180 with a compact structure and a small size, which is beneficial to reducing the space occupied by the cleaning component 180 and reducing costs, and is suitable for popularization and application.

In the forward direction of the self-propelled cleaning device 100, the cleaning element 183 can be located at the rear of the dry cleaning system 151, and the cleaning element 183 can generally be a flexible material with water absorption such as fabric and sponge. In this solution, the cleaning element 183 can be at least one rotating turntable, and the water in the liquid storage tank of the self-propelled robot is guided to the cleaning element 183, and the soaked cleaning element 183 removes the stains on the ground through the rotation motion.

Furthermore, when the automatic cleaning device 100 is moving, in some scenarios where mopping is not required, such as reciprocating or carpet cleaning, the control module can be used to control the drive unit 181 to drive the cleaning element 183 to rise through the transmission device 182. It can be understood that the cleaning element 183 can be raised so that the lowest lower surface of the cleaning element 183 is higher than the lowest lower surface of the driving wheel, so that in this case, the cleaning element 183 will not contact the surface to be cleaned during the movement of the automatic cleaning device 100 driven by the driving wheel. This can avoid the situation where the cleaning element 183 contacts the surface to be cleaned in a scenario where mopping is not required, causing secondary contamination of the surface to be cleaned, which is beneficial to improving the cleanliness of the automatic cleaning device 100, improving cleaning efficiency and user experience.

When the automatic cleaning device 100 is moving, in some scenarios where mopping is required, such as wet treatment of the floor, the control module can be used to control the drive unit 181, and the transmission device 182 can be used to drive the cleaning element 183 to descend, so that the lowest lower surface of the cleaning element 183 interferes with the surface to be cleaned. At the same time, the control module is used to control the drive unit 181, and the transmission device 182 can be used to drive the cleaning element 183 to rotate. As a result, when the driving wheel drives the automatic cleaning device 100 to move, the cleaning element 183 will interfere with the surface to be cleaned, so as to realize the mopping operation of the surface to be cleaned.

As shown in Figures 4 and 5, in some possible embodiments provided by the present invention, the transmission device 182 includes: a transmission rod 184, a first transmission assembly 185 and a second transmission assembly 186, wherein the transmission rod 184 is connected to the driving part 181, so that the driving part 181 can drive the transmission rod 184 to rotate, and a lead screw 1841 and a transmission wheel 1842 are provided on the transmission rod 184. The first transmission assembly 185 is connected to the lead screw 1841 and the cleaning element 183, so that the transmission rod 184 rotates, and the first transmission assembly 185 is driven by the lead screw 1841 to rotate the cleaning element 183; the second transmission assembly 186 is connected to the transmission wheel 1842 and the cleaning element 183, so that the transmission rod 184 rotates, and the second transmission assembly 186 is driven by the transmission wheel 1842 to move the cleaning element 183 to lift and lower.

In this embodiment, by simultaneously arranging a lead screw 1841 and a transmission wheel 1842 on the transmission rod 184, the power of a driving portion 181 can be transmitted to the cleaning element 183 through the lead screw 1841 and the first transmission assembly 185 to drive the cleaning element 183 to rotate, and is transmitted to the cleaning element 183 through the transmission wheel 1842 and the second transmission assembly 186 to drive the cleaning element 183 to rotate. As a result, the cleaning element 183 can be driven to rise and fall and rotate by a single driving portion 181, which simplifies the structure of the transmission device 182 and can meet the design requirements of the cleaning component 180 with a compact structure, a small size and a low cost.

The lead screw 1841 and the transmission wheel 1842 may be connected to the transmission rod 184, such as the lead screw 1841 and the transmission wheel 1842 may be connected to the transmission rod 184 by welding, adhesive, connection structure, etc., or the lead screw 1841 and the transmission wheel 1842 may be formed on the transmission rod 184, such as directly processing the lead screw 1841 and the transmission wheel 1842 on the transmission rod 184 while processing and manufacturing the transmission rod 184. Specifically, the lead screw 1841 and the transmission wheel 1842 may be arranged at intervals along the axial direction of the transmission rod 184.

As shown in Figure 4, in some possible embodiments provided by the present invention, the first transmission assembly 185 includes a first gear 1851 and a second gear 1852, the first gear 1851 is dynamically connected to the screw 1841 and meshes with the second gear 1852; the transmission device 182 also includes a sleeve 187 connected to the cleaning element 183, and the sleeve 187 is connected to the second gear 1852.

Thus, the driving unit 181 drives the transmission rod 184 to rotate, and the rotation of the lead screw 1841 can drive the first gear 1851 to rotate. The rotation of the first gear 1851 can drive the second gear 1852 meshing with the first gear 1851 to rotate, and then drive the sleeve 187 connected to the second gear 1852 to rotate, so that the cleaning element 183 connected to the sleeve 187 can rotate, thereby realizing the rotation operation of the cleaning element 183.

Among them, the first transmission assembly 185 is a gear transmission mechanism, which has high transmission accuracy, high transmission efficiency, reliable operation, long service life, and is suitable for popularization and application.

Further, the first gear 1851 includes a first helical tooth portion 1853 and a first straight tooth portion 1854 , the first helical tooth portion 1853 is meshed with the lead screw 1841 , and the first straight tooth portion 1854 is meshed with the second gear 1852 , that is, the second gear 1852 is a spur gear.

That is to say, the first gear 1851 is a stepped wheel. Through the first bevel tooth portion 1853 and the first straight tooth portion 1854 on the first gear 1851, the power of the driving part 181 can be transmitted to the second gear 1852 of the spur gear through the lead screw 1841 on the transmission rod 184. Compared with the related technology in which the bevel gear and the spur gear are respectively meshed with the lead screw and the second gear, such a setting simplifies the structure and can meet the design requirements of the first transmission component 185 with a compact structure and a small size, thereby reducing the size of the cleaning component 180 and reducing the space occupied by the cleaning component 180.

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

In this embodiment, since the sleeve 187 is passed through the through hole opened by the second gear 1852 and is connected to the second transmission assembly 186, the second transmission assembly 186 can drive the sleeve 187 to move along the axis relative to the second gear 1852 to realize the lifting and lowering operation of the cleaning element 183. At the same time, since the sleeve 187 is movably connected with the second transmission assembly 186, and the limiting portion 1855 on the inner wall of the through hole and the positioning portion 1871 on the outer wall of the sleeve 187 are adapted to limit the rotation of the sleeve 187 relative to the second gear 1852, the rotation of the second gear 1852 can drive the sleeve 187 to rotate to realize the rotation operation of the cleaning element 183. Therefore, using a sleeve 187, which is respectively connected to the second gear 1852 of the first transmission assembly 185 and movably connected to the second transmission assembly 186, the rotation operation and lifting and lowering operation of the cleaning element 183 can be realized. The structure is compact and simple, which can meet the design requirements of compact structure and small volume of the transmission assembly, and thus can reduce the space occupied by the cleaning assembly 180.

As shown in FIG. 7 , the limiting portion 1855 may be a recessed portion or a limiting surface provided on the inner wall of the through hole of the second gear 1852, and the positioning portion 1871 may be a convex portion or a positioning surface provided on the outer wall of the sleeve 187. Thus, by matching the limiting portion 1855 and the positioning portion 1871, the rotation of the sleeve 187 relative to the second gear 1852 can be limited. Specifically, as shown in FIG. 5 and FIG. 7 , the limiting portion 1855 is a recessed portion provided in the through hole, and the positioning portion 1871 is a convex portion provided on the outer wall of the sleeve 187. For example, the recessed portion is a groove, and the convex portion is a convex block. It can be understood that the through hole may also be a polygonal hole, and the outer edge shape of the sleeve 187 corresponds to the polygon. For example, if the through hole is a hexagonal hole, the outer edge shape of the sleeve 187 is a hexagon.

As shown in Figures 4 and 5, in some possible embodiments provided by the utility model, the second transmission assembly 186 includes: a third gear 1861, a fourth gear 1862, a fifth gear 1863 and a connecting rod 1864, the third gear 1861 is meshed with the transmission wheel 1842 and with the fourth gear 1862, the fourth gear 1862 and the fifth gear 1863 are coaxially arranged and can be dynamically connected, the first end of the connecting rod 1864 is eccentrically hinged on the fifth gear 1863, and the second end of the connecting rod 1864 is movably connected to the sleeve 187.

Thus, the driving unit 181 drives the transmission rod 184 to rotate, and the rotation of the transmission wheel 1842 can drive the third gear 1861 meshing with the transmission wheel 1842 to rotate, and the rotation of the third gear 1861 can drive the fourth gear 1862 meshing with the third gear 1861 to rotate. Therefore, when the fourth gear 1862 and the fifth gear 1863 are power-connected, the fifth gear 1863 can be driven to rotate through the fourth gear 1862, thereby driving the connecting rod 1864 to make an eccentric movement relative to the fifth gear 1863, so that the sleeve 187 movably connected to the connecting rod 1864 can move up and down in the through hole relative to the second gear 1852, so that the cleaning element 183 connected to the sleeve 187 can achieve a lifting operation.

In some possible embodiments provided by the present invention, the cleaning component 180 also includes: a clutch mechanism, which is connected between the fourth gear 1862 and the fifth gear 1863; wherein, when the clutch mechanism is in an engaged state, the fourth gear 1862 and the fifth gear 1863 can be dynamically connected, and when the clutch mechanism is in a disengaged state, the fourth gear 1862 and the fifth gear 1863 can be dynamically separated.

Therefore, the setting of the clutch mechanism can make the fourth gear 1862 and the fifth gear 1863 meet the requirements of power connection and power separation, and thus meet the different working states of the cleaning element 183.

Specifically, the setting of the clutch mechanism can decompose the power after the cleaning element 183 realizes the lifting and lowering movement. For example, when the cleaning element 183 drops to the specified position so that the cleaning element 183 can contact and interfere with the surface to be cleaned, such as when the tray can perform a mopping operation, the clutch mechanism can be used to separate the power of the fourth gear 1862 and the fifth gear 1863, and the driving unit 181 drives the cleaning element 183 to rotate through the transmission rod 184 and the first transmission assembly 185 to achieve the mopping operation. Since the power of the fourth gear 1862 and the fifth gear 1863 is separated, the power of the driving unit 181 will not be transmitted to the cleaning element 183 through the second transmission assembly 186, that is, the cleaning element 183 will not perform the lifting and lowering operation, thereby ensuring the reliability of the mopping operation of the cleaning element 183 and ensuring a good cleaning effect.

When the cleaning element 183 is not needed for mopping operation, such as after the mopping operation is completed, the fourth gear 1862 and the fifth gear 1863 can be connected by power through the clutch mechanism, and the driving unit 181 can be used to drive the cleaning element 183 to rise through the transmission rod 184 and the second transmission assembly 186, so that the cleaning element 183 can be separated from the surface to be cleaned and the rising operation can be achieved. It can be understood that in this process, the power of the driving unit 181 is transmitted to the cleaning element 183 through the first transmission assembly 185 to drive the cleaning element 183 to rotate, but because the cleaning element 183 is separated from the surface to be cleaned, the mopping operation is not performed.

As shown in Figure 5, in some possible embodiments provided by the present invention, the second transmission assembly 186 also includes a connecting shaft 1865 passing through the fourth gear 1862 and the fifth gear 1863, that is, the fourth gear 1862 and the fifth gear 1863 are coaxially arranged, wherein the fourth gear 1862 is slidably arranged on the connecting shaft 1865, and the fifth gear 1863 is connected to the connecting shaft 1865.

As shown in Figure 6, the clutch mechanism includes a fixed clutch tooth 1866 and a movable clutch tooth 1867, the fixed clutch tooth 1866 is arranged on the side of the fifth gear 1863 away from the connecting rod 1864, and the movable clutch tooth 1867 is arranged on the fourth gear 1862, wherein the fourth gear 1862 is a first bevel gear, and the third gear 1861 includes a second bevel tooth portion 1868 meshingly connected to the fourth gear 1862, and the third gear 1861 rotates in one direction so that the fourth gear 1862 can drive the movable clutch tooth 1867 to move away from the fixed clutch tooth 1866 to separate the movable clutch tooth 1867 and the fixed clutch tooth 1866, and the third gear 1861 rotates in another direction so that the fourth gear 1862 can drive the movable clutch tooth 1867 to move toward the fixed clutch tooth 1866 to engage the movable clutch tooth 1867 and the fixed clutch tooth 1866.

In this embodiment, the fixed clutch teeth 1866 and the movable clutch teeth 1867 of the clutch mechanism are integrated on the fourth gear 1862 and the fifth gear 1863, respectively. Therefore, the structure of the transmission device 183 can be simplified, which can meet the design requirements of the transmission device 183 with a compact structure and a small size. At the same time, it can reduce the cost of the cleaning component 180 and the space occupied by the cleaning component 180, which is suitable for popularization and application.

Specifically, when the third gear 1861 rotates in one direction, as shown in FIG. 5 , the third gear 1861 rotates clockwise, the gear meshing can drive the fourth gear 1862 to rotate counterclockwise. At the same time, since the fourth gear 1862 is a first helical gear, it meshes with the second helical tooth portion 1868 on the third gear 1861. Due to the axial force of the helical gear meshing, the fourth gear 1862 rotates in a direction close to the fifth gear 1863, that is, the fourth gear 1862 is pressed against the fifth gear 1863, that is, FIG. 5 The downward direction of the arrow is the moving direction of the fourth gear 1862. Since the dynamic clutch tooth 1867 on the fourth gear 1862 is connected to the fixed clutch tooth 1866 on the fifth gear 1863, the counterclockwise rotation of the fourth gear 1862 is transmitted to the fifth gear 1863 through the dynamic clutch tooth 1867 on the end face and the fixed clutch tooth 1866 on the end face of the fifth gear 1863, thereby enabling the connecting rod 1864 connected to the fifth gear 1863 to drive the cleaning element 183 to realize the upward movement.

On the contrary, when the third gear 1861 rotates in the other direction, as shown in FIG5 , the third gear 1861 rotates counterclockwise, the gear meshing can drive the fourth gear 1862 to rotate clockwise, and synchronously, due to the axial force of the helical gear meshing, the fourth gear 1862 moves in the direction away from the fifth gear 1863, that is, the upward direction of the arrow in FIG5 is the moving direction of the fourth gear 1862. Since the dynamic clutch tooth 1867 on the fourth gear 1862 is connected to the fixed clutch tooth on the fifth gear 1863, the clockwise rotation of the fourth gear 1862 is transmitted to the fifth gear 1863 through the dynamic clutch tooth 1867 on the end face and the fixed clutch tooth 1866 on the end face of the fifth gear 1863, so that the connecting rod 1864 connected to the fifth gear 1863 drives the cleaning element 183 to realize the descending movement.

It is understandable that, through the reasonable arrangement of the dynamic clutch teeth 1867 and the fixed clutch teeth 1866, when the cleaning element 183 descends to the moving position, the axial movement of the fourth gear 1862 causes the fourth gear 1862 to disengage from the fifth gear 1863, thereby achieving power separation. After the fourth gear 1862 is separated from the fifth gear 1863, the power of the driving unit 181 cannot be transmitted to the fifth gear 1863 via the second transmission assembly 186, so the lifting movement of the cleaning element 183 stops and can only perform rotational movement. In this case, the cleaning element 183 cleans the ground through rotational movement.

As shown in FIG. 5 , in some possible embodiments provided by the present invention, the third gear 1861 further includes a second spur tooth portion 1869 meshingly connected to the transmission wheel 1842 , and the second spur tooth portion 1869 and the connecting rod 1864 are located on both sides of the second helical tooth portion 1868 .

That is to say, the third gear 1861 is a stepped wheel, and through the engagement of the second bevel tooth portion 1868 on the third gear 1861 and the fourth gear 1862, and the engagement of the second spur tooth portion 1869 on the third gear 1861 with the transmission wheel 1842, the power of the driving part 181 can be transmitted to the fourth gear 1862 of the first bevel gear via the transmission wheel 1842 on the transmission rod 184. Compared with the related art in which the bevel gear and the spur gear are respectively engaged with the fourth gear and the transmission wheel, such an arrangement simplifies the structure and can meet the design requirements of the second transmission component 186 with a compact structure and a small size, thereby reducing the size of the cleaning component 180, reducing the space occupied by the cleaning component 180, and at the same time, reducing costs.

As shown in FIG. 4 , in some possible embodiments provided by the present invention, the second transmission assembly 186 further includes: a bearing 1860 , the second end of the connecting rod 1864 is connected to the sleeve 187 via the bearing 1860 , and the second end of the connecting rod 1864 is hinged to the bearing 1860 .

Among them, the setting of the bearing 1860 ensures that when the sleeve 187 is rotated under the drive of the first transmission component 185, it will not interfere with the connecting rod 1864, thereby ensuring the reliability and flexibility of the sleeve 187 driving the cleaning element 183 to rotate. At the same time, the second end of the connecting rod 1864 is hinged to the bearing 1860, so that when the fifth gear 1863 rotates to drive the connecting rod 1864 to make an eccentric movement around the axis of the fifth gear 1863, it can smoothly and reliably drive the sleeve 187 to move up and down, so that the connecting rod 1864 and the sleeve 187 will not get stuck, thereby ensuring the reliability and flexibility of the sleeve 187 driving the cleaning element 183 to move up and down.

As shown in Figures 3 and 4, in some possible embodiments provided by the present utility model, the automatic cleaning device 100 also includes: a gear box 188, the gear box 188 is connected to the machine body 110, the transmission rod 184 and the sleeve 187 are arranged in the gear box 188, the driving part 181 and the cleaning element 183 are located outside the gear box 188, and the first transmission assembly 185 and the second transmission assembly 186 are located inside the gear box 188. The setting of the gear box 188 plays a good protective role for the first transmission assembly 185 and the second transmission assembly 186, which is conducive to improving the service life of the first transmission assembly 185 and the second transmission assembly 186, and providing the reliability of the cleaning assembly 180. At the same time, by connecting the gear box 188 to the machine body 110, the entire cleaning assembly 180 can be installed on the machine body, ensuring the reliability and stability of the connection between the cleaning assembly 180 and the machine body 110. It can be understood that the gear box 188 and the machine body 110 can be connected by at least one of a screw structure, a clamping structure, a mortise and tenon structure, and other other connection structures. As shown in FIG. 3 , the gear box 188 can be connected to the machine body 110 through the holes thereon by means of screw structures, so as to facilitate disassembly and assembly and maintenance.

As shown in FIG. 3 and FIG. 4 , the gear box 188 further includes a detachably connected base 1881 and an upper cover 1882, whereby the base 1881 and the upper cover 1882 can be disassembled and separated to repair and replace the first transmission assembly 185 and/or the second transmission assembly 186 located in the gear box 188, which is easy to operate and is conducive to improving maintenance efficiency and enhancing maintenance experience. Specifically, the base 1881 and the upper cover 1882 can be detachably connected by at least one of a screw structure, a clamping structure, a mortise and tenon structure, and a pivot structure.

The base 1881 includes a bottom plate 1883 and a side plate 1884, a first gear 1851 and a second gear 1852 are arranged on the base 1881, a transmission rod 184 is passed through the side plate 1884, a third gear 1861 and a connecting shaft 1865 are arranged on the side plate 1884, a sleeve 187 is passed through the bottom plate 1883, and the second gear 1852 is connected to the connecting rod 1864. Thus, the first transmission assembly 185 and the second transmission assembly 186 can be reasonably arranged on the base 1881, which can meet the design requirements of the compact structure of the transmission device 183. At the same time, the driving part 181 and the cleaning element 183 are respectively arranged on the side and the bottom of the gear box 188, so that the height and width of the entire cleaning assembly 180 are reasonable, thereby making the overall volume of the cleaning assembly 180 small, occupying a small space, and suitable for popularization and application.

In some possible embodiments provided by the present invention, the automatic cleaning device 100 also includes: a position detection device, which is arranged on the machine body 110 and/or the cleaning element 183, and the position detection device is used to detect the rising position of the cleaning element 183, and the driving part 181 rotates or stops rotating according to the detection result of the position detection device.

Among them, the position detection device is used to detect the rising position of the cleaning element 183. It can be understood that when the cleaning element 183 rises to the rising limit position, if it continues to rise, the sleeve 187 may be separated from the through hole of the second gear 1852, thereby affecting the rotation operation of the cleaning element 183. Therefore, the rising position of the cleaning element 183 is detected by the position detection device. When the cleaning element 183 rises to the rising limit position, the position detection device will send an in-position signal to the control module. The control module controls the driving part 181 to stop rotating according to the received in-position signal. In this way, it can be avoided that the sleeve 187 drives the cleaning element 183 to continue to rise and separate from the through hole of the second gear 1852, so as to ensure the reliability of the rotation operation of the cleaning element 183.

It is understandable that when the cleaning element 183 has not risen to the rising limit position, the position detection device will send a position signal to the control module, and the control module can control the driving part 181 to continue to rotate so that the sleeve 187 drives the cleaning element 183 to continue to rise.

Specifically, the position detection device may be a Hall sensor or other detection devices that meet the requirements, and the present invention does not make any specific limitation on this.

The utility model has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the utility model to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the utility model is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the utility model, and these variations and modifications all fall within the scope of the protection claimed by the utility model. The protection scope of the utility model is defined by the attached claims and their equivalents.

Claims (14)

1. An automatic cleaning device (100), characterized by comprising: A machine body (110), and a cleaning component (180) and a walking system (140) connected to the machine body (110); the cleaning component (180) comprises a driving unit (181), a transmission device (182) and a cleaning element (183); the driving unit (181) drives the lifting and rotation of the cleaning element (183) through the transmission device (182); and the walking system (140) is used to drive the machine body (110) to move. 2. The automatic cleaning device (100) according to claim 1, characterized in that the transmission device (182) comprises: a transmission rod (184), the transmission rod (184) being connected to the driving portion (181), and the transmission rod (184) being provided with a lead screw (1841) and a transmission wheel (1842); A first transmission assembly (185) is transmission-connected to the lead screw (1841) and the cleaning element (183); the transmission rod (184) rotates, and the lead screw (1841) drives the first transmission assembly (185) to move, so that the cleaning element (183) rotates; The second transmission assembly (186) is connected to the transmission wheel (1842) and the cleaning element (183). The transmission rod (184) rotates, and the second transmission assembly (186) is driven to move through the transmission wheel (1842) to make the cleaning element (183) rise and fall. 3. The automatic cleaning device (100) according to claim 2, characterized in that: The first transmission assembly (185) comprises a first gear (1851) and a second gear (1852), wherein the first gear (1851) is connected to the lead screw (1841) in a power manner and meshes with the second gear (1852); The transmission device (182) further comprises a sleeve (187) connected to the cleaning element (183), and the sleeve (187) is connected to the second gear (1852); The screw (1841) rotates to drive the first gear (1851) to rotate, and the sleeve (187) is driven to rotate through the second gear (1852) to rotate the cleaning element (183). 4. The automatic cleaning device (100) according to claim 3, characterized in that: The first gear (1851) includes a first helical tooth portion (1853) and a first straight tooth portion (1854), the first helical tooth portion (1853) meshes with the lead screw (1841), and the first straight tooth portion (1854) meshes with the second gear (1852). 5. The automatic cleaning device (100) according to claim 3, characterized in that: The second gear (1852) is provided with a through hole in the axial direction, and the sleeve (187) is inserted into the through hole and movably connected with the second transmission component (186), so that the second transmission component (186) can drive the sleeve (187) to move axially relative to the second gear (1852); The inner wall of the through hole is provided with a limiting portion (1855), and the outer wall of the sleeve (187) is provided with a positioning portion (1871), and the limiting portion (1855) and the positioning portion (1871) are adapted to limit the rotation of the sleeve (187) relative to the second gear (1852). 6. The automatic cleaning device (100) according to claim 5, characterized in that the second transmission assembly (186) comprises: a third gear (1861), a fourth gear (1862), a fifth gear (1863) and a connecting rod (1864), wherein the third gear (1861) is meshed with the transmission wheel (1842) and is meshed with the fourth gear (1862), the fourth gear (1862) and the fifth gear (1863) are coaxially arranged and can be dynamically connected, a first end of the connecting rod (1864) is eccentrically hinged on the fifth gear (1863), and a second end of the connecting rod (1864) is movably connected to the sleeve (187); The transmission wheel (1842) rotates, driving the fourth gear (1862) to rotate through the third gear (1861), and the fifth gear (1863) rotates to drive the connecting rod (1864) to move so that the sleeve (187) moves up and down in the through hole relative to the second gear (1852). 7. The automatic cleaning device (100) according to claim 6, characterized in that the cleaning component (180) further comprises: A clutch mechanism, connected between the fourth gear (1862) and the fifth gear (1863); Wherein, when the clutch mechanism is in an engaged state, the fourth gear (1862) and the fifth gear (1863) can be connected in power, and when the clutch mechanism is in a disengaged state, the fourth gear (1862) and the fifth gear (1863) can be separated in power. 8. The automatic cleaning device (100) according to claim 7, characterized in that: The second transmission assembly (186) further comprises a connecting shaft (1865) passing through the fourth gear (1862) and the fifth gear (1863), the fourth gear (1862) being slidably disposed on the connecting shaft (1865), and the fifth gear (1863) being connected to the connecting shaft (1865); The clutch mechanism comprises a fixed clutch tooth (1866) and a movable clutch tooth (1867), wherein the fixed clutch tooth (1866) is arranged on an end surface of the fifth gear (1863) away from the connecting rod (1864), and the movable clutch tooth (1867) is arranged on an end surface of the fourth gear (1862); The fourth gear (1862) is a first bevel gear, the third gear (1861) includes a second bevel gear portion (1868) meshingly connected with the fourth gear (1862), the third gear (1861) rotates in one direction so that the fourth gear (1862) drives the movable clutch tooth (1867) to move away from the fixed clutch tooth (1866) so that the movable clutch tooth (1867) and the fixed clutch tooth (1866) are separated, and the third gear (1861) rotates in another direction so that the fourth gear (1862) drives the movable clutch tooth (1867) to move toward the fixed clutch tooth (1866) so that the movable clutch tooth (1867) and the fixed clutch tooth (1866) are engaged. 9. The automatic cleaning device (100) according to claim 8, characterized in that: The third gear (1861) further includes a second spur tooth portion (1869) meshingly connected to the transmission wheel (1842), and the second spur tooth portion (1869) and the connecting rod (1864) are located on both sides of the second helical tooth portion (1868). 10. The automatic cleaning device (100) according to claim 6, characterized in that the second transmission assembly (186) further comprises: The second end of the connecting rod (1864) is connected to the sleeve (187) through the bearing (1860), and the second end of the connecting rod (1864) is hinged to the bearing (1860). 11. The automatic cleaning device (100) according to claim 8, characterized in that it further comprises: A gear box (188), wherein the gear box (188) is connected to the machine body (110), the transmission rod (184) and the sleeve (187) are inserted into the gear box (188), the driving part (181) and the cleaning element (183) are located outside the gear box (188), and the first transmission assembly (185) and the second transmission assembly (186) are located inside the gear box (188). 12. The automatic cleaning device (100) according to claim 11, characterized in that: The gear box (188) comprises a detachably connected base (1881) and an upper cover (1882); the base (1881) comprises a bottom plate (1883) and a side plate (1884); the first gear (1851) and the second gear (1852) are arranged on the base (1881); the transmission rod (184) is passed through the side plate (1884); the third gear (1861) and the connecting shaft (1865) are arranged on the side plate (1884); the sleeve (187) is passed through the bottom plate (1883); and the second gear (1852) is connected to the connecting rod (1864). 13. The automatic cleaning device (100) according to any one of claims 1 to 12, characterized in that it further comprises: A position detection device is arranged on the machine body (110) and/or the cleaning element (183) and is used to detect the rising position of the cleaning element (183); the driving part (181) rotates or stops rotating according to the detection result of the position detection device. 14. A cleaning robot system, comprising: Base stations; and The automatic cleaning device (100) according to any one of claims 1 to 13, wherein the automatic cleaning device (100) is suitable for docking on the base station.