Clamping assembly, mobile equipment and cleaning system

Abstract

The invention discloses a clamping assembly, mobile equipment and a cleaning system. The clamping assembly is used for the mobile equipment, the mobile equipment comprises a mechanical arm, the clamping assembly comprises a connecting base, a fixing structure is formed and / or installed on the connecting base, the fixing structure is configured to be detachably connected with a to-be-clamped piece, the connecting base is further provided with a clamping part, and the shape of the clamping part is matched with that of the mechanical arm; and the manipulator is configured to clamp or release the clamping part. Therefore, through cooperation of the clamping assembly and the manipulator, the cylindrical or curve-shaped to-be-clamped piece with the smooth appearance can be fixed to the equipment body and moves along with movement of the equipment body, and the problem that the to-be-clamped piece cannot be smoothly grabbed by the manipulator or is prone to falling off after being grabbed due to the fact that the to-be-clamped piece is special in shape in the related technology is solved; and the shape and the range of objects which can be grabbed and moved by the mobile equipment are enlarged.

Description

Technical Field

[0001] The present application relates to the field of smart home technology, and in particular to a clamping component, a mobile device and a cleaning system. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, mobile devices, such as self-moving cleaning devices, such as smart sweeping robots and mopping robots, have been continuously entering our daily lives. At present, self-moving cleaning devices usually have a manipulator to grasp and move objects near the self-moving cleaning device to achieve the functional diversification of the self-moving cleaning device. However, for objects with special shapes such as smooth cylindrical or curved surfaces, there is a problem that the manipulator cannot grasp them firmly or cannot grasp them smoothly. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. This part of the application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] An embodiment of the first aspect of the present application provides a clamping assembly for a mobile device, the mobile device includes a manipulator, the clamping assembly includes: a connecting seat, the connecting seat is formed with and / or installed with a fixing structure, the fixing structure is configured to be detachably connected to a part to be clamped, the connecting seat is also provided with a clamping portion, the shape of the clamping portion matches the shape of the manipulator, and the manipulator is configured to clamp or release the clamping portion.

[0005] Furthermore, the fixing structure is configured to have a clamping space, and the clamping space can accommodate a cylindrical part to be clamped.

[0006] Further, at least a portion of the clamping space is circular, and the diameter of the circle is configured to be adjustable.

[0007] Furthermore, the fixing structure includes a receiving hole provided in the connecting seat, and a plurality of guide ribs are provided on the inner wall of the receiving hole at intervals along the circumferential direction. A first guide surface is provided on the side of the guide rib facing the center of the receiving hole. The first guide surface is inclined toward the center of the receiving hole from the top end to the bottom end of the receiving hole, and the plurality of guide ribs enclose a clamping space.

[0008] Furthermore, an adjustment hole is opened on the side wall of the accommodating hole, and the fixing structure also includes an adjustment member, which is connected to the adjustment hole and can extend to the inside of the accommodating hole to abut against the clamped member to limit the movement of the clamped member relative to the connecting seat.

[0009] Furthermore, the adjustment hole is located between two adjacent guide ribs, and at least two adjustment holes are arranged at intervals along the direction from the top end to the bottom end of the accommodating hole.

[0010] Furthermore, the fixing structure includes a clamping jaw installed on the connecting seat, and the clamping jaw is configured to clamp or release the part to be clamped.

[0011] Furthermore, the clamping claw includes two claw parts, the claw part includes a connecting part and a clamping part, the connecting part is hinged to the connecting seat, the two clamping parts are configured to be able to approach or move away from each other, and the two clamping parts are close to enclose a clamping space.

[0012] Furthermore, the claw portion also includes a hand-holding portion, and the hand-holding portion and the clamping portion are located on both sides of the connecting portion. The two hand-holding portions are configured to be able to move closer to or farther away from each other to drive the two clamping portions to move away from or closer to each other.

[0013] Furthermore, the clamp also includes a connecting shaft installed on the connecting seat, the connecting part is rotatably connected to the connecting shaft, and the clamp also includes a torsion spring sleeved on the connecting shaft, the two torsion arms of the torsion spring are respectively connected to the two hand-held parts, and the torsion spring is configured to provide a rotational torque to the two hand-held parts so that the two hand-held parts remain in a state of separation from each other, and the two hand-held parts approach each other under the action of external force so that the torsion spring accumulates elastic potential energy.

[0014] Furthermore, the connecting seat is provided with a supporting groove directly below the clamping space.

[0015] Furthermore, the shape of the clamping portion matches the shape of the manipulator, and the clamping portion includes guide grooves located on opposite sides of the connecting seat, and the shape of the guide grooves matches the shape of the claws of the manipulator.

[0016] Furthermore, an escape opening for evading the clamping claw is provided at one end of the guide groove, and the opening size of the escape opening gradually increases from the inside to the outside of the guide groove.

[0017] Furthermore, the groove wall of the guide groove is provided with a second guide surface connected to the groove opening of the guide groove, and the second guide surface is inclined toward the middle of the guide groove in the direction from the groove opening of the guide groove to the groove bottom.

[0018] Furthermore, the clamping assembly also includes: a base, which is connected to the bottom of the connecting seat. The clamping assembly is configured to be placed on the bearing seat, and the shape of the base matches the bearing groove on the bearing seat.

[0019] Furthermore, the outer side wall of the base is configured to be conical, and the large diameter end of the cone is connected to the connecting seat.

[0020] Furthermore, the clamping assembly also includes: a counterweight block, a base and a connecting seat together enclose a receiving cavity, and the counterweight block is located in the receiving cavity.

[0021] Furthermore, the connecting seat includes a base plate and a base body, the fixing structure and the clamping part are located on the base body, the base plate is provided with a through hole, a connecting column is arranged inside the base, and the clamping assembly also includes a locking piece, which passes through the through hole and is connected to the connecting column.

[0022] Furthermore, the counterweight block is provided with a notch structure for avoiding the connecting column, and the connecting column and the notch structure cooperate to limit the movement of the counterweight block relative to the base.

[0023] Furthermore, a suction piece is provided on one of the base and the bearing seat, and a suction piece is provided on the other, and the suction piece and the suction piece are attracted to each other so that the base is located at a suitable position of the bearing seat.

[0024] Furthermore, the counterweight block is arranged as an adsorbed part, and the adsorbing part is arranged on the bearing seat.

[0025] An embodiment of the second aspect of the present application provides a mobile device, the mobile device comprising a manipulator and the clamping assembly of any one of the first aspects.

[0026] An embodiment of the third aspect of the present application provides a cleaning system, comprising a base station, and the mobile device of the second aspect, wherein the mobile device is suitable for docking on the base station.

[0027] Further, the base station comprises a base station shell, and a bearing seat for bearing the clamping group is detachably connected to the base station shell; or, the base station shell forms the bearing seat.

[0028] The clamping assembly, mobile device and cleaning system provided by the present application, the clamping assembly includes a connecting seat, the part to be clamped can be fixed on the connecting seat by a fixing structure on the connecting seat, and the manipulator on the mobile device can clamp the connecting seat by a clamping part on the connecting seat to indirectly fix the connecting seat on the device body, and then indirectly fix the part to be clamped on the device body, so that the mobile device moves, which can drive the part to be clamped fixed on the connecting seat to move synchronously, so that the part to be clamped with a smooth cylindrical or curved appearance can move with the movement of the device body. In this way, the problem in the related art that the part to be clamped cannot be smoothly grasped by the manipulator due to its special shape or is easy to fall after being grasped is solved, the shape and range of the objects that can be grasped and moved by the mobile device are increased, the use range of the mobile device is increased, and the user experience is improved.

[0029] 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

[0030] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used throughout the accompanying drawings to represent the same components. Among them:

[0031] Figure 1 An exploded schematic diagram showing a perspective of a clamping assembly of a first embodiment provided in an embodiment of the present application;

[0032] Figure 2 Shows Figure 1 A structural schematic diagram of a clamping assembly of the illustrated embodiment clamping a piece to be clamped from one viewing angle;

[0033] Figure 3 A structural schematic diagram showing a perspective of a clamping assembly of a first embodiment of a manipulator clamping provided in an embodiment of the present application;

[0034] Figure 4 A schematic structural diagram showing a first perspective view of a connecting seat of a clamping assembly of a first embodiment provided in an embodiment of the present application;

[0035] Figure 5 A schematic structural diagram showing a first perspective view of a connecting seat and an adjusting member of a clamping assembly of a first embodiment provided in an embodiment of the present application;

[0036] Figure 6 A schematic structural diagram of a connecting seat of a clamping assembly according to a first embodiment of the present application from a second viewing angle is shown;

[0037] Figure 7 A schematic structural diagram showing a third viewing angle of a connecting base of a clamping assembly of a first embodiment provided in an embodiment of the present application;

[0038] Figure 8 A schematic structural diagram of a connecting base of a clamping assembly of a first embodiment provided in an embodiment of the present application from a fourth viewing angle is shown;

[0039] Fig. 9 A schematic structural diagram of a clamping assembly from a first perspective of a second embodiment provided in an embodiment of the present application is shown;

[0040] Fig.10 A schematic structural diagram of a clamping assembly from a second perspective of a second embodiment provided in an embodiment of the present application is shown;

[0041] Fig.11 A schematic structural diagram of a clamping jaw of a clamping assembly of a second embodiment provided in an embodiment of the present application from a first viewing angle is shown;

[0042] Fig.12A schematic structural diagram of a clamping jaw of a clamping assembly of a second embodiment provided in an embodiment of the present application from a second viewing angle is shown;

[0043] Fig.13 A partial structural schematic diagram from one perspective of a clamping assembly and a supporting seat of a first embodiment provided in an embodiment of the present application is shown.

[0044] Description of Reference Numerals

[0045] 100 clamping assembly, 110 connecting seat, 111 clamping part, 1111 guide groove, 1112 avoidance, 1113 second guide surface, 112 bottom plate, 1121 through hole, 113 seat body, 114 supporting groove, 120 fixing structure, 121 clamping space, 122 accommodating hole, 1221 guide rib, 1222 first guide surface, 1223 adjustment hole, 123 adjustment member, 124 clamping claw, 125 claw part, 1251 connecting part, 1252 clamping part, 1253 hand-held part, 126 connecting shaft, 127 torsion spring, 130 base, 131 connecting column, 140 counterweight block, 141 notch structure, 150 locking member, 210 manipulator, 211 clamping claw, 300 bearing seat, 310 bearing groove, 400 part to be clamped. DETAILED DESCRIPTION

[0046] In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solutions provided by the present application. However, it is obvious to those skilled in the art that the technical solutions provided by the present application can be implemented without one or more of these details.

[0047] 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 present application. 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.

[0048] Now, exemplary embodiments according to the present application 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 set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0049] like Figures 1 to 13As shown, an embodiment of the present application provides a clamping assembly 100, a mobile device and a cleaning system. Among them, the clamping assembly 100 is applied to a mobile device, and the mobile device can be a self-moving cleaning device. The self-moving cleaning device can be understood as a device that can move by itself and perform cleaning work, such as a self-moving cleaning device can be a sweeping robot, a sweeping and mopping machine, a mopping robot, etc. It can be understood that the mobile device can also be an automatic food delivery robot, a courier sorting robot, etc. Specifically, for the convenience of description, this embodiment takes the mobile device as a self-moving cleaning device as an example to describe the technical solution of the present disclosure.

[0050] Specifically, the self-moving cleaning device includes but is not limited to: a device body, a cleaning system, a driving system, etc. The above-mentioned systems coordinate with each other so that the self-moving cleaning device can move autonomously to achieve the cleaning function. The functional elements constituting the above-mentioned systems in the self-moving cleaning device are integrated in the device body. Among them, the cleaning system can be a dry cleaning system, such as a roller brush, a side brush, etc., or the cleaning system can be a wet cleaning system, such as a mop, a tray, etc., or the cleaning system can include a dry cleaning system and a wet cleaning system.

[0051] like Figure 2 , Fig.10 and Fig.11 As shown, the mobile device provided by the present application includes a manipulator 210, wherein the manipulator 210 can be connected to the device body, and the manipulator 210 can realize the grabbing or moving of obstacles, objects, and garbage near the mobile device to better realize the autonomous cleaning function. Further, the mobile device may also include a mechanical arm connecting the manipulator 210 and the device body, through which the relative position of the manipulator 210 and the device body can be adjusted, so that the manipulator 210 can grasp or move obstacles, objects, and garbage near the mobile device more accurately, flexibly, and conveniently. At the same time, the setting of the mechanical arm can increase the range of motion of the manipulator 210 relative to the device body, thereby increasing the cleaning range of the mobile device and expanding the use range of the product. Specifically, the mechanical arm can realize the adjustment of the height of the manipulator 210 relative to the device body in the X, Y, and Z directions, wherein the Z direction can be a vertical direction, and the plane where the XY is located can be a horizontal plane.

[0052] like Figure 1 , Figure 2 , Figure 3 and Fig. 9As shown, an embodiment of the first aspect of the present application provides a clamping assembly 100, which includes: a connecting seat 110, the connecting seat 110 is formed with and / or installed with a fixing structure 120, the fixing structure 120 is configured to be detachably connected to the part to be clamped 400, the connecting seat 110 is also provided with a clamping portion 111, the shape of the clamping portion 111 matches the shape of the manipulator 210, and the manipulator 210 is configured to clamp or release the clamping portion 111.

[0053] The part to be clamped 400 can be understood as an object that cannot be directly grasped by the manipulator 210 or may fall after being grasped. For example, the part to be clamped 400 may be cylindrical, curved, etc. The cylindrical and curved parts to be clamped 400 are not convenient for the manipulator 210 to grasp smoothly due to their smooth appearance, or there is a problem that the manipulator 210 may fall due to slipping after grasping. Specifically, the part to be clamped 400 may be a cat teaser, such as a cylindrical cat teaser.

[0054] In this embodiment, the clamping assembly 100 includes a connection seat 110, and the part to be clamped 400 can be fixed on the connection seat 110 through the fixing structure 120 on the connection seat 110. The manipulator 210 on the mobile device can clamp the connection seat 110 through the clamping part 111 on the connection seat 110 to indirectly fix the connection seat 110 on the device body, and then indirectly fix the part to be clamped 400 on the device body, so that the mobile device moves, which can drive the part to be clamped 400 fixed on the connection seat 110 to move synchronously, so that the part to be clamped 400 can move with the movement of the device body. In this way, the problem in the related art that the part to be clamped 400 cannot be smoothly grasped by the manipulator 210 due to the special shape or is easy to fall after grasping is solved, the shape and range of the objects that can be grasped and moved by the mobile device are increased, the use range of the mobile device is improved, and the user experience is improved.

[0055] Specifically, the part to be clamped 400 can be a cylindrical cat-amusing stick. Since the cylindrical cat-amusing stick is long and thin and has a smooth outer surface, the manipulator 210 cannot directly and firmly grasp the cat-amusing stick. In this embodiment, the cat-amusing stick is firmly and reliably fixed on the connecting seat 110 through the fixing structure 120 by the clamping assembly 100 and the manipulator, and the manipulator 210 clamps the connecting seat 110 through the clamping part 111, thereby, the cat-amusing stick can be indirectly fixed on the device body, so that the movement of the device body of the mobile device can drive the cat-amusing stick to move synchronously, so that the mobile device can play the function of amusing the cat, and realize the functional diversification of the mobile device. For example, when the mobile device is a self-moving cleaning device, the mobile device can perform cleaning operations and cat-amusing operations, and the functions are diversified, which improves the user experience. Specifically, when the mobile device is performing a cleaning operation, the manipulator 210 and the clamping assembly 100 can be used to clamp the cat-amusing stick to perform the cat-amusing operation, so that the mobile device can perform cleaning operations and cat-amusing operations at the same time, and the functions are diversified, which is conducive to saving energy consumption. It is understandable that the cleaning operation and the cat-amusing operation can also be performed separately.

[0056] It is understandable that when the cat-playing operation is not needed, the manipulator 210 can release the clamping part 111, and separate the manipulator 210 from the connecting seat 110 to achieve the separation of the clamping assembly 100 and the manipulator 210, and then achieve the separation of the clamped part 400 from the device body. At this time, the mobile device is still an independent device, its own structure has not changed, and its volume has not changed, and it can still achieve its original functions.

[0057] Furthermore, the fixing structure 120 is configured to be detachably connected to the part to be clamped 400, so that the part to be clamped 400 is detachably connected to the connection seat 110 through the fixing structure 120, thereby making the same clamping assembly 100 applicable to different parts to be clamped 400, thereby increasing the scope of use of the clamping assembly 100. At the same time, the disassembly and assembly of the part to be clamped 400 and the clamping assembly 100 are facilitated, so that the part to be clamped 400 and the clamping assembly 100 can be repaired and stored separately.

[0058] That is to say, the clamping assembly 100 provided in this embodiment can fix the part to be clamped 400 through the fixing structure 120 of the connecting seat 110, and at the same time, a clamping portion 111 that imitates the shape of the manipulator 210 is provided on the connecting seat 110, so that the manipulator 210 can smoothly clamp the connecting seat 110 or release the connecting seat 110 through the clamping portion 111. Therefore, according to whether the mobile device needs to clamp the part to be clamped 400 to perform auxiliary operations such as teasing a cat, the manipulator 210 can be used to selectively clamp or release the connecting seat 110 to achieve indirect connection or release between the device body and the part to be clamped 400. As a result, the need for releasing the mobile device to perform auxiliary operations such as teasing a cat can be met, the function of the mobile device is increased, and user satisfaction is improved.

[0059] Among them, the clamping part 111 is arranged in the shape of the manipulator 210, that is, the shape of the clamping part 111 matches the shape of the manipulator 210, thereby improving the accuracy, convenience and stability of the manipulator 210 clamping the connecting seat 110 through the clamping part 111, and then the part 400 to be clamped can be stably, reliably and indirectly fixed on the equipment body through the connecting seat 110 and the manipulator 210.

[0060] The fixing structure 120 may be formed by the connecting base 110, that is, the fixing structure 120 and the connecting base may be an integral structure. Alternatively, the fixing structure 120 may be installed on the connecting base 110, that is, the fixing structure 120 and the connecting base 110 may be a split structure. Alternatively, a portion of the fixing structure 120 may be formed by the connecting base 110, and another portion of the fixing structure 120 may be installed on the connecting base 110, that is, a portion of the fixing structure 120 and the connecting base 110 are an integral structure, and another portion of the fixing structure 120 and the connecting base 110 are a split structure.

[0061] In some possible embodiments provided in the present application, the mobile device connects the device body and the manipulator 210 through a mechanical arm, and the mechanical arm is configured to adjust the relative position of the manipulator 210 and the device body, such as adjusting the height and / or rotation angle of the manipulator 210 relative to the device body through the mechanical arm to increase the range of motion of the manipulator 210. Thus, the posture of the manipulator 210 can be adjusted through the mechanical arm to clamp the clamping assembly 100 through the manipulator 210. It can be understood that after the manipulator 210 clamps the part to be clamped 400 through the clamping assembly 100, the posture of the manipulator 210 can be adjusted through the mechanical arm to adjust the position of the part to be clamped 400 fixed on the clamping assembly 100, such as the part to be clamped 400 can be located on the circumferential side of the device body, and / or, the part to be clamped 400 can be located on the top of the device body.

[0062] like Figure 4 , Figure 5 , Fig.10, Fig.11 , Fig.12 As shown, in some possible embodiments provided by the present application, the fixing structure 120 is configured to have a clamping space 121, and the clamping space 121 can accommodate the cylindrical part to be clamped 400. Thus, at least part of the cylindrical part to be clamped 400 can be accommodated and fixed in the clamping space 121 of the fixing structure 120, thereby enabling the cylindrical part to be clamped 400 to be reliably and stably fixed on the connecting seat 110, thereby achieving a reliable and stable connection between the part to be clamped 400 and the clamping assembly 100.

[0063] The clamping space 121 may be circular, or other shapes including a circular shape, so that the cylindrical part 400 to be clamped can be reliably and stably accommodated in the clamping space 121 .

[0064] The bottom, middle, or top portion of the cylindrical part 400 to be clamped may be accommodated and fixed in the clamping space 121 of the fixing structure 120 .

[0065] like Figure 4 , Figure 5 , Fig.10 , Fig.11 , Fig.12 As shown, in some possible embodiments provided by the present application, at least part of the clamping space 121 is circular, so that the cylindrical piece to be clamped 400 can be reliably and stably connected to the connecting seat 110 through the fixing structure 120. By configuring the diameter of the circle to be adjustable, the clamping space 121 can accommodate pieces to be clamped 400 of different sizes, that is, cylindrical pieces to be clamped 400 of different diameters can be reliably and stably connected to the connecting seat 110 through the fixing structure 120, thereby increasing the clamping range of the clamping assembly 100, so that the same clamping assembly 100 can clamp cylindrical pieces to be clamped 400 of different diameters, with a wide range of use and high practicality.

[0066] Specifically, the diameter of the circle defined by the clamping space 121 can range from 4 mm to 8 mm. Since the diameter of the clamped part 400 (such as a cat amusing stick) is usually 4 mm to 8 mm, by setting the diameter of the circle defined by the clamping space 121 to 4 mm to 8 mm, the same clamping assembly 100 can meet the clamping requirements of cat amusing sticks of different diameters, and has high practicality. Specifically, the diameter of the circle defined by the clamping space 121 can be 4 mm, 5 mm, 6 mm, 7 mm, 8 mm, or any size from 4 mm to 8 mm.

[0067] Among them, at least a part of the clamping space 121 is circular, and the entire clamping space 121 may be circular, or a part of the clamping space 121 is circular, thereby meeting the requirements of different settings of the fixing structure 120.

[0068] like Figure 1 , Figure 3 , Figure 4 As shown, in some possible embodiments provided by the present application, the fixing structure 120 includes a receiving hole 122 provided in the connecting seat 110, and the inner wall of the receiving hole 122 is provided with a plurality of guide ribs 1221 at intervals along the circumferential direction, and the side of the guide rib 1221 facing the center of the receiving hole 122 is provided as a first guide surface 1222, and the first guide surface 1222 is inclined from the top to the bottom of the receiving hole 122 toward the center of the receiving hole 122. Thus, the clamping space 121 is enclosed by the plurality of guide ribs 1221, such as the plurality of guide ribs 1221 facing the side of the receiving hole 122 to enclose a substantially circular clamping space 121, so that the cylindrical to-be-clamped part 400 can be accommodated in the clamping space 121 enclosed by the plurality of guide ribs 1221. Since the first guide surface 1222 on the guide rib 1221 is inclined, the diameter of the circular clamping space 121 gradually decreases from the top to the bottom of the accommodating hole 122, that is, the clamping space 121 as a whole can be understood as a conical structure with a large diameter end at the top and a small diameter end at the bottom. As a result, cylindrical parts 400 to be clamped of different diameters can be accommodated in the clamping space 121, so that the same accommodating hole 122 is combined with multiple guide ribs 1221 with the first guide surface 1222, so as to realize the accommodating function of cylindrical parts 400 to be clamped of different diameters.

[0069] The clamping space 121 surrounded by multiple guide ribs 1221 is coaxially arranged with the receiving hole 122, thereby ensuring that the clamped part 400 is centered in the receiving space. The clamping space 121 as a whole can be understood as a conical structure with a large diameter end at the top and a small diameter end at the bottom, which has a good guiding effect.

[0070] Specifically, the number of guide ribs 1221 may be three, four, five, or other numbers. Figure 4 As shown, the number of guide ribs 1221 is five.

[0071] like Figure 1 and Figure 5 As shown, in some possible embodiments provided in the present application, an adjustment hole 1223 is opened on the side wall of the accommodating hole 122, and the fixing structure 120 also includes an adjusting member 123, which is connected to the adjusting hole 1223 and can extend to the interior of the accommodating hole 122 to abut against the part to be clamped 400, so as to limit the movement of the part to be clamped 400 relative to the connecting seat 110.

[0072] Therefore, when the part to be clamped 400 is accommodated in the clamping space 121 enclosed by multiple guide ribs 1221, the adjusting member 123 is connected with the adjusting hole 1223 to adjust the length of the adjusting member 123 extending to the accommodating hole 122, so that the adjusting member 123 abuts against the part to be clamped 400, and the part to be clamped 400 is clamped between the adjusting member 123 and at least part of the guide rib 1221 to limit the movement of the part to be clamped 400 relative to the connecting seat 110, so that the part to be clamped 400 can be reliably and stably fixed on the connecting seat 110, which is simple to operate and convenient to fix.

[0073] It can be understood that when it is necessary to separate the part to be clamped 400 from the clamping assembly 100, the length of the locking member 150 extending to the accommodating hole 122 can be adjusted by adjusting the adjusting member 123 and the adjusting hole 1223, so that the locking member 150 is separated from the part to be clamped 400 to release the part to be clamped 400, or the locking member 150 is separated from the adjusting hole 1223 to release the part to be clamped 400, and then the part to be clamped 400 is taken out of the accommodating hole 122 to achieve the separation and disassembly of the part to be clamped 400 and the clamping assembly 100, which is simple to operate and easy to use.

[0074] Specifically, the adjustment hole 1223 can be a threaded hole, and the adjustment member 123 can be a screw. The screw is rotatably connected to the connecting seat 110 through the threaded hole and can extend into the accommodating hole 122 , and the length of the screw extending to the accommodating hole 122 can be adjusted.

[0075] like Figure 5 , Figure 6 As shown, in some possible embodiments provided in the present application, the adjustment hole 1223 is located between two adjacent guide ribs 1221 , and at least two adjustment holes 1223 are arranged at intervals along the direction from the top end to the bottom end of the accommodating hole 122 .

[0076] Since the first guide surface 1222 is provided on the guide rib 1221 to guide the cylindrical to-be-clamped parts 400 of different diameters, the cylindrical to-be-clamped parts 400 of different diameters will overlap at different positions of the first guide surface 1222 of the guide rib 1221 after being inserted into the receiving hole 122. By arranging a plurality of adjustment holes 1223 at intervals from the top to the bottom of the receiving hole 122, the adjustment member 123 passes through the adjustment holes 1223 at different positions and extends to the inside of the receiving hole 122, so that the to-be-clamped parts 400 at the corresponding positions can be clamped between the adjustment member 123 and the guide rib 1221, so as to achieve the fixation of the to-be-clamped parts 400 at the corresponding positions.

[0077] Specifically, the number of the adjustment holes 1223 may be two, three, four or other numbers. Figure 6As shown, the number of the adjustment holes 1223 is three. It is understandable that the number of the adjustment member 123 is one, or, as Figure 1 As shown, the number of the adjusting members 123 may be equal to the number of the adjusting holes 1223 and correspond one to one.

[0078] like Fig. 9 and Fig.10 As shown, in some possible embodiments provided in the present application, the fixing structure 120 includes a clamping jaw 124 installed on the connecting seat 110 , and the clamping jaw 124 is configured to be clamped on the part 400 to be clamped or release the part 400 to be clamped.

[0079] In this embodiment, by installing the clamping jaws 124 on the connecting seat 110 and using the clamping jaws 124 to clamp or release the part to be clamped 400, the part to be clamped 400 and the connecting seat 110 can be connected or separated, which is simple to operate and has a simple structure.

[0080] like Fig.11 and Fig.12 As shown, in some possible embodiments provided by the present application, the clamping jaw 124 includes two claws 125, and the claws 125 include a connecting portion 1251 and a clamping portion 1252. The connecting portion 1251 is hinged to the connecting seat 110, that is, each claw 125 is hinged to the connecting seat 110 through the connecting portion 1251, thereby, the position of the clamping portion 1252 of each claw 125 relative to the connecting seat 110 can be adjusted. The two clamping portions 1252 are configured to be close to or away from each other, and the two clamping portions 1252 are close to enclose a clamping space 121, and the clamping space 121 is used to accommodate the cylindrical member to be clamped 400. Therefore, by bringing the two clamping portions 1252 close to each other, the clamping operation of the cylindrical member to be clamped 400 can be achieved, and the operation is simple.

[0081] It is understandable that when the two clamping parts 1252 move away from each other, the clamped part 400 can be released, and the clamped part 400 and the clamping claws 124 can be separated, so that the clamped part 400 and the connecting seat 110 can be separated, and the operation is simple.

[0082] In some possible embodiments provided in the present application, the claw portion 125 also includes a hand-holding portion 1253, and the hand-holding portion 1253 and the clamping portion 1252 are located on both sides of the connecting portion 1251. The two hand-holding portions 1253 are configured to be able to move closer to or farther away from each other to drive the two clamping portions 1252 to move away from or closer to each other.

[0083] That is, the motion state of the two hand-held parts 1253 of the two claw parts 125 is opposite to the motion state of the two clamping parts 1252. When the two hand-held parts 1253 move away from each other, the two clamping parts 1252 move closer to each other. When the two clamping parts 111 move closer to each other, the two clamping parts 1252 move away from each other. Therefore, by adjusting or operating the motion state of the two hand-held parts 1253 moving closer to each other or away from each other, the two clamping parts 1252 can move away from each other or move closer to each other, thereby realizing the operation of releasing or clamping the clamping jaws 124 to clamp the part 400. The operation is simple and convenient to use.

[0084] It is understandable that the handheld parts 1253 can be manually driven to move the two handheld parts 1253 closer to or farther away from each other, and / or the two handheld parts 1253 can be driven closer to or farther away from each other by an elastic mechanism.

[0085] like Fig. 9 , Fig.11 and Fig.12 As shown, in some possible embodiments provided in the present application, the clamp 124 also includes a connecting shaft 126 installed on the connecting seat 110, and the connecting portion 1251 is sleeved on the connecting shaft 126 and rotatably connected to the connecting shaft 126. The clamp 124 also includes a torsion spring 127 sleeved on the connecting shaft 126, and the two torsion arms of the torsion spring 127 are respectively connected to the two hand-held portions 1253. The torsion spring 127 is configured to provide a rotational torque to the two hand-held portions 1253 so that the two hand-held portions 1253 remain in a separated state, so that the two clamping portions 1252 remain in a close state. At this time, the clamp 124 can be in an initial state or a clamping state, such that the two clamping portions 1252 close to each other can be used to implement a clamping operation on the clamped part 400, or the two clamping portions 1252 are close to each other and do not clamp the clamped part 400.

[0086] Furthermore, the two hand-held parts 1253 approach each other under the action of external force to allow the torsion spring 127 to accumulate elastic potential energy. If the user manually drives the two hand-held parts 1253 to approach each other, the two hand-held parts 1253 drive the torsion spring 127 to deform and accumulate elastic potential energy. At this time, the two clamping parts 1252 separate from each other to release the clamped part 400, and the clamping jaws 124 can be in a released state. When the user's hand leaves the hand-held part 1253, the torsion spring 127 releases the elastic potential energy, causing the two hand-held parts 1253 to move away from each other, thereby causing the two clamping parts 1252 to approach each other, so that the clamping jaws 124 are reset to the initial state or clamping state.

[0087] like Fig. 9 As shown, in some possible embodiments provided in the present application, the connection seat 110 is provided with a support groove 114 directly below the clamping space 121 .

[0088] In this embodiment, since the support groove 114 is located directly below the clamping space 121, when the two clamping parts 1252 of the clamping claw 124 clamp the part to be clamped 400, the bottom end of the part to be clamped 400 can be accommodated in the support groove 114, so that the support groove 114 plays a good supporting role for the part to be clamped 400. At the same time, the support groove 114 also plays a good limiting role for the part to be clamped 400, so that the bottom end of the part to be clamped 400 can be reliably and stably accommodated in the support groove 114, reducing the possibility of shaking of the part to be clamped 400 and improving the reliability and stability of the clamping assembly 100 in fixing the part to be clamped 400.

[0089] It can be understood that after the two clamping parts 1252 of the clamping jaws 124 clamp the part 400 to be clamped, the bottom end of the part 400 to be clamped may not be accommodated in the supporting groove 114, such as the bottom end of the part 400 to be clamped is located above the supporting groove 114. In this way, when the mobile device moves, if the part 400 to be clamped slips with the clamping jaws 124 due to shaking, the bottom end of the part 400 to be clamped can fall and be accommodated in the supporting groove 114 located directly below the clamping space 121. The supporting groove 114 provides good support and limiting effects on the part 400 to be clamped, so that the entire part 400 to be clamped can still be relatively stably fixed on the clamping assembly 100, reducing the possibility of the part 400 to be clamped falling from the clamping jaws 124 due to slipping, thereby improving the reliability and stability of the clamping assembly 100 in fixing the part 400 to be clamped.

[0090] like Figure 1 , Figure 2 , Figure 3 and Fig. 9 As shown, in some possible embodiments provided by the present application, the clamping portion 111 includes guide grooves 1111 located on opposite sides of the connecting seat 110, and the shape of the guide grooves 1111 matches the shape of the claws 211 of the manipulator 210. Thus, by matching the claws 211 with the two guide grooves 1111 on opposite sides of the connecting seat 110, the guide grooves 1111 have a certain limiting effect on the claws 211, reducing the phenomenon of the claws 211 and the connecting seat 110 slipping, so that the claws 211 can reliably and stably clamp the connecting seat 110.

[0091] Specifically, Figure 3 As shown, the manipulator 210 includes two claws 211, the free ends of the two claws 211 can approach or move away from each other, and the shapes of the two guide grooves 1111 on the opposite sides of the connecting seat 110 are matched with the two claws 211 respectively, so that one guide groove 1111 limits one claw 211, reducing the slippage between the claw 211 and the connecting seat 110, thereby ensuring that the manipulator 210 can reliably and stably clamp the connecting seat 110.

[0092] like Figure 6 , Figure 7 and Figure 8 As shown, in some possible embodiments provided in the present application, an escape opening 1112 for avoiding the clamping claw 211 is provided at one end of the guide groove 1111, so that the clamping claw 211 can smoothly contact the bottom of the guide groove 1111. In this way, the clamping claw 211 cooperates with the guide groove 1111 to play a good limiting role, thereby ensuring that the manipulator 210 can reliably and stably clamp the connecting seat 110.

[0093] The opening size of the avoidance opening 1112 gradually increases from the inside to the outside of the guide groove 1111, that is, the size of the avoidance opening 1112 near the outside of the guide groove 1111 is larger than the size of the avoidance opening 1112 near the inside of the guide groove 1111, and the wall surface of the avoidance opening 1112 is set to expand outward toward the outside of the guide groove 1111. The size of the avoidance opening 1112 near the outside of the guide groove 1111 is larger, which facilitates the claw 211 to smoothly and accurately enter the inside of the guide groove 1111 or move out of the guide groove 1111, so that the manipulator 210 can still ensure the clamping accuracy when the accuracy is insufficient. The size of the avoidance opening 1112 near the inside of the guide groove 1111 is smaller, which can play a good limiting role on the claw 211, reduce the possibility of the claw 211 slipping and shaking in the guide groove 1111, and ensure that the claw 211 and the guide groove 1111 have a stable and firm limiting role.

[0094] like Figure 6 , Figure 7 and Figure 8 As shown, in some possible embodiments provided by the present application, the groove wall of the guide groove 1111 is provided with a second guide surface 1113 connected to the notch of the guide groove 1111, and the second guide surface 1113 is inclined from the notch of the guide groove 1111 to the groove bottom to the middle of the guide groove 1111. In other words, the second guide surface 1113 is provided so that the notch size of the guide groove 1111 is larger than the size of the groove bottom, and the notch size of the guide groove 1111 is large, which facilitates the claw 211 to smoothly and accurately enter the interior of the guide groove 1111 or move out of the guide groove 1111, so that the manipulator 210 can still ensure the clamping accuracy when the accuracy is insufficient. The bottom size of the guide groove 1111 is small, which can play a good limiting role for the claw 211, reduce the possibility of the claw 211 slipping and shaking in the guide groove 1111, and ensure that the claw 211 and the guide groove 1111 have a stable and firm limiting role.

[0095] Specifically, the second guide surface 1113 is located on the entire circumferential groove wall of the guide groove 1111, so that the claw 211 of the manipulator 210 has a large C-angle guide design in the three directions of X, Y, and Z, ensuring that the claw 211 of the manipulator 210 has sufficient guidance during the process of pushing the clamping part 111 and clamping the connecting seat 110, and the manipulator 210 can still ensure the clamping accuracy when the accuracy is insufficient.

[0096] like Figure 1 , Figure 2 , Fig. 9 , Fig.13 As shown, in some possible embodiments provided by the present application, the cleaning assembly further includes: a base 130, the base 130 is connected to the bottom of the connecting seat 110, so that the base 130 plays a good supporting role for the connecting seat 110. The clamping assembly 100 is configured to be placed on the bearing seat 300, and the shape of the base 130 matches the bearing groove 310 on the bearing seat 300.

[0097] It is understandable that if Fig.13 As shown, when the clamping assembly 100 is not needed to clamp the part to be clamped 400 for other operations (such as cat-playing operations), the manipulator 210 can place the clamping assembly 100 on the support seat 300 for storage. Since the visual positioning accuracy of the mobile device is poor, with a tolerance of plus or minus 15 mm, there is a possibility that the clamping assembly 100 cannot be accurately placed in the bearing groove 310 of the support seat 300. To this end, in this embodiment, the shape matching of the base 130 and the support seat 300 is utilized so that the base 130 plays a certain guiding role, which facilitates the base 130 to be quickly and accurately accommodated in the bearing groove 310 of the support seat 300, thereby enabling the entire clamping assembly 100 to be quickly and accurately placed on the support seat 300, and ensuring that the clamping assembly 100 can be quickly and accurately placed at a suitable position on the support seat 300.

[0098] like Figure 1 , Figure 3 and Fig. 9 As shown, in some possible embodiments provided by the present application, the outer wall of the base 130 is set to be conical, and the large diameter end of the cone is connected to the connecting seat 110. In other words, the small diameter end of the cone is located at the bottom of the entire clamping assembly 100. Therefore, when the entire clamping assembly 100 is placed in the bearing groove 310 of the bearing seat 300, the small diameter end of the cone first extends into the bearing groove 310 of the bearing seat 300, and then the large diameter end of the cone gradually falls into the bearing groove 310. It can be understood that, as Fig.13As shown, the bearing groove 310 is also conical, and thus, by matching the conical base 130 and the conical bearing groove 310, a good guiding and limiting effect is played, so that the entire clamping assembly 100 can be quickly and accurately placed on the bearing seat 300, and it can ensure that the clamping assembly 100 can be quickly and accurately placed at the appropriate position of the bearing seat 300.

[0099] like Figure 1 As shown, in some possible embodiments provided in the present application, the clamping assembly 100 further includes: a counterweight 140, the base 130 and the connecting seat 110 together form a receiving cavity, and the counterweight 140 is located in the receiving cavity.

[0100] Since the fixing structure 120 is connected to the connection seat 110 and is located above the base 130, or the to-be-clamped part 400 fixed to the connection seat 110 by the fixing structure 120 is located on the connection seat 110 and is located above the base 130, the entire clamping assembly 100 is prone to top-heavy, and the clamping assembly 100 is prone to tilting and tipping after being placed in the bearing groove 310 of the bearing seat 300. In this embodiment, by arranging a counterweight block 140 in the accommodating cavity surrounded by the base 130 and the connection seat 110, the counterweight block 140 is used to increase the weight of the bottom of the clamping assembly 100, so that after the manipulator 210 releases the connection seat 110, the entire clamping assembly 100 can smoothly fall into the bearing groove 310 of the bearing seat 300 under the action of gravity, avoiding the situation that the clamping assembly 100 is top-heavy and tilted or tipped in the bearing groove 310, so that the clamping assembly 100 can be accurately kept in a suitable position.

[0101] like Figure 1 , Figure 6 , Figure 7 As shown, in some possible embodiments provided by the present application, the connection seat 110 includes a bottom plate 112 and a seat body 113, the fixing structure 120 and the clamping part 111 are located on the seat body 113, the bottom plate 112 is provided with a through hole 1121, the base 130 is provided with a connecting column 131, and the clamping assembly 100 also includes a locking member 150, which passes through the through hole 1121 and is connected to the connecting column 131. Thus, the connection seat 110 and the base 130 can be detachably connected, which is convenient for disassembly and assembly, and is convenient for disassembly and assembly of the counterweight 140. At the same time, this arrangement enables the locking member 150 to be located inside the base 130 and will not be exposed to the side and bottom of the base 130, that is, it will not affect the appearance of the base 130, so that the base 130 can cooperate with the bearing seat 300 to play a good guiding role, and is conducive to improving the aesthetic appearance of the base 130, thereby improving the aesthetic appearance of the clamping assembly 100.

[0102] Specifically, the locking member 150 can be a connecting bolt, and the connecting column 131 is provided with a threaded hole. The connecting bolt passes through the through hole 1121 on the base plate 112 and is connected to the threaded hole of the connecting column 131, thereby realizing the connection between the connecting seat 110 and the base 130, and the operation is simple.

[0103] like Figure 1 As shown, in some possible embodiments provided by the present application, the counterweight 140 is provided with a notch structure 141 for avoiding the connecting column 131, and the connecting column 131 and the notch structure 141 cooperate to limit the movement of the counterweight 140 relative to the base 130. Thus, the functions of the connecting column 131 are diversified, so that the connecting column 131 is used to connect with the locking member 150, and at the same time, the connecting column 131 and the notch structure 141 on the counterweight 140 cooperate to limit the movement of the counterweight 140 relative to the base 130, so that the counterweight 140 can be reliably and stably fixed on the base 130, reducing the possibility of the counterweight 140 shaking relative to the base 130 and causing the entire clamping assembly 100 to shake, so that the clamping assembly 100 can be reliably and stably accommodated in the receiving groove of the bearing seat 300, reducing the possibility of the clamping assembly 100 shaking in the receiving groove. At the same time, this arrangement simplifies the arrangement of the structure of the fixed counterweight block 140 , which is beneficial to reducing manufacturing costs and meeting the design requirements of the clamping assembly 100 having a compact structure and a small volume.

[0104] Furthermore, if Figure 1 As shown, the notch structure 141 is located on opposite sides of the counterweight 140, and there are two connecting columns 131. The two connecting columns 131 are inserted into the two notch structures 141, and the counterweight 140 is limited from both sides of the counterweight 140, which is equivalent to the counterweight 140 being sandwiched between the two connecting columns 131. This arrangement enables the counterweight 140 to be reliably and stably limited between the two connecting columns 131. At the same time, the notch structure 141 is located at the side of the counterweight 140, which is more convenient to process than the notch structure 141 is located in the middle of the counterweight 140.

[0105] In some possible embodiments provided in the present application, a suction piece is provided on one of the base 130 and the bearing seat 300, and a suction piece is provided on the other, and the suction piece and the suction piece are mutually attracted to make the base 130 be located at a suitable position of the bearing seat 300. That is, by using the suction piece and the suction piece to cooperate with each other, the position of the base 130 located in the bearing groove 310 can be corrected, so that the base 130 can be located at a suitable position of the bearing seat 300, so that the clamping assembly 100 can be carried on the bearing seat 300 in a suitable posture, such as the guide groove 1111 of the clamping part 111 can be in a horizontal position, so that the manipulator 210 can cooperate with the clamping part 111 quickly and accurately to clamp the clamping assembly 100 and remove it from the bearing seat 300.

[0106] The adsorbing member and the adsorbed member may be magnetic structures, such as one of the adsorbing member and the adsorbed member may be a magnetic member, and the other may be a magnetic member. The magnetic member may be a magnet, and the magnetic member may be a metal member, an alloy member, etc.

[0107] In some possible embodiments provided in the present application, the counterweight 140 is configured as an adsorbed part, and the adsorbing part is configured on the bearing seat 300. For example, a magnet is mounted on the bearing seat 300, and the counterweight 140 is configured as a metal part or alloy part with magnetic attraction properties. In this way, the configuration of the adsorbed part can be simplified, the design requirements of the clamping assembly 100 for compact structure can be met, and the manufacturing cost of the clamping assembly 100 can be reduced.

[0108] Specifically, the counterweight 140 can be cast iron, which has the advantages of high density, high strength, and corrosion resistance, so that a smaller volume has a larger weight, which can improve the stability of the entire clamping assembly 100 placed on the bearing seat 300 and can meet the design requirements of a smaller volume of the clamping assembly 100. At the same time, cast iron has magnetic properties, so that the cast iron cooperates with the magnet on the bearing seat 300 to correct the position of the base 130 located in the bearing slot 310, so that the base 130 can be located at a suitable position on the bearing seat 300.

[0109] The present application also provides a cleaning system, which includes a base station and the aforementioned mobile device. The mobile device is used in conjunction with the base station, such as the mobile device is suitable for docking on the base station to perform charging, and / or water replenishment, and / or cleaning of the cleaning system. If the mobile device is docked on the base station, the base station can be used to charge the mobile device, or the base station can be used to replenish water for the wet cleaning system of the mobile device, or the base station can be used to clean the tray, roller brush, etc. of the mobile device.

[0110] In some possible embodiments provided in the present application, the base station includes a base station housing, and a bearing seat 300 for bearing the clamping assembly 100 is detachably connected to the base station housing, that is, the bearing seat 300 can be installed on the base station housing in a detachable manner, such as the bearing seat 300 can be installed on the base station housing by a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, a magnetic structure, an adhesive, an adhesive patch, etc. This setting does not require changing the original structure of the base station, and the bearing seat 300 can be fixed at a suitable position of the base station housing by a detachable connection, which is simple to operate and easy to use.

[0111] In some other possible embodiments provided in the present application, the base station shell forms a bearing seat 300, that is, a bearing groove 310 is formed on the top of the base station shell. This arrangement enables the bearing seat 300 to be integrated on the base station shell, simplifies the structure of the bearing seat 300, and is conducive to reducing the manufacturing cost of the bearing seat 300. It can be understood that this arrangement requires changing the structure of the base station shell because the bearing groove 310 is added to the top of the base station shell.

[0112] like Fig.13 As shown, it can be understood that when there is no need to use the clamping assembly 100 to clamp the part to be clamped 400 to perform auxiliary operations such as playing with a cat, the mobile device can be moved to the vicinity of the base station, and the manipulator 210 can be used to place the clamping assembly 100 in the bearing groove 310 of the bearing seat 300 installed on the base station shell, or the manipulator 210 can be used to place the clamping assembly 100 in the bearing groove 310 formed on the top of the base station shell, which is simple to operate.

[0113] It is understandable that the support base 300 can also be arranged separately from the base station, such as the support base 300 can be placed in other positions and not connected to the base station, such as the support base 300 can be placed in a corner, under a desk, etc.

[0114] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed by the present application. The scope of protection of the present application is defined by the attached claims and their equivalents.

Claims

1. A clamping assembly (100) for a mobile device, characterized in that: The mobile device comprises a manipulator (210), and the clamping assembly (100) comprises: A connecting seat (110), wherein the connecting seat (110) is formed with and / or installed with a fixing structure (120), wherein the fixing structure (120) is configured to be detachably connected to a to-be-clamped part (400), and the connecting seat (110) is also provided with a clamping portion (111), wherein the shape of the clamping portion (111) matches the shape of the manipulator (210), and the manipulator (210) is configured to be able to clamp or release the clamping portion (111).

2. The clamping assembly (100) according to claim 1, characterized in that: The fixing structure (120) is configured to have a clamping space (121), and the clamping space (121) can accommodate the cylindrical part to be clamped (400).

3. The clamping assembly (100) according to claim 2, characterized in that: At least a portion of the clamping space (121) is circular, and the diameter of the circle is configured to be adjustable.

4. The clamping assembly (100) according to claim 3, characterized in that: The fixing structure (120) comprises a receiving hole (122) provided on the connecting seat (110); a plurality of guide ribs (1221) are provided on the inner wall of the receiving hole (122) at intervals along the circumferential direction; a first guide surface (1222) is provided on the side of the guide rib (1221) facing the center of the receiving hole (122); the first guide surface (1222) is inclined from the top end to the bottom end of the receiving hole (122) toward the center of the receiving hole (122); and the plurality of guide ribs (1221) enclose the clamping space (121).

5. The clamping assembly (100) according to claim 4, characterized in that: The side wall of the accommodating hole (122) is provided with an adjustment hole (1223), and the fixing structure (120) further comprises an adjustment member (123), wherein the adjustment member (123) is connected to the adjustment hole (1223) and can extend to the interior of the accommodating hole (122) to abut against the part to be clamped (400), so as to limit the movement of the part to be clamped (400) relative to the connecting seat (110).

6. The clamping assembly (100) according to claim 5, characterized in that: The adjustment hole (1223) is located between two adjacent guide ribs (1221), and at least two of the adjustment holes (1223) are arranged at intervals along the direction from the top end to the bottom end of the accommodating hole (122).

7. The clamping assembly (100) according to claim 3, characterized in that: The fixing structure (120) comprises a clamping claw (124) mounted on the connecting seat (110), and the clamping claw (124) is configured to clamp or release the part to be clamped (400).

8. The clamping assembly (100) according to claim 7, characterized in that: The clamping jaw (124) includes two claw portions (125), and the claw portion (125) includes a connecting portion (1251) and a clamping portion (1252). The connecting portion (1251) is hinged to the connecting seat (110), and the two clamping portions (1252) are configured to be able to approach or move away from each other. The two clamping portions (1252) are close to each other to enclose the clamping space (121).

9. The clamping assembly (100) according to claim 8, characterized in that: The claw portion (125) further comprises a hand-holding portion (1253), wherein the hand-holding portion (1253) and the clamping portion (1252) are located on both sides of the connecting portion (1251), and the two hand-holding portions (1253) are configured to be able to move closer to or farther away from each other, so as to drive the two clamping portions (1252) to move away from or closer to each other.

10. The clamping assembly (100) according to claim 9, characterized in that: The clamp (124) also includes a connecting shaft (126) installed on the connecting seat (110), and the connecting part (1251) is rotatably connected to the connecting shaft (126). The clamp (124) also includes a torsion spring (127) sleeved on the connecting shaft (126), and the two torsion arms of the torsion spring (127) are respectively connected to the two hand-held parts (1253). The torsion spring (127) is configured to provide a rotational torque to the two hand-held parts (1253) so that the two hand-held parts (1253) are kept in a separated state. The two hand-held parts (1253) are approached to each other under the action of external force so that the torsion spring (127) accumulates elastic potential energy.

11. The clamping assembly (100) according to claim 9, characterized in that: The connection seat (110) is provided with a supporting groove (114) directly below the clamping space (121).

12. The clamping assembly (100) according to claim 1, characterized in that: The shape of the clamping portion (111) matches the shape of the manipulator (210), and the clamping portion (111) comprises guide grooves (1111) located on two opposite sides of the connecting seat (110), and the shape of the guide grooves (1111) matches the shape of the claws (211) of the manipulator (210).

13. The clamping assembly (100) according to claim 12, characterized in that: One end of the guide groove (1111) is provided with an escape opening (1112) for evading the claw (211), and the opening size of the escape opening (1112) gradually increases from the inside to the outside of the guide groove (1111).

14. The clamping assembly (100) according to claim 12, characterized in that: The groove wall of the guide groove (1111) is provided with a second guide surface (1113) connected to the groove opening of the guide groove (1111), and the second guide surface (1113) is inclined toward the middle of the guide groove (1111) in a direction from the groove opening of the guide groove (1111) to the groove bottom.

15. The clamping assembly (100) according to claim 1, characterized in that: Also includes: A base (130) is connected to the bottom of the connecting seat (110), the clamping assembly (100) is configured to be placed on a bearing seat (300), and the shape of the base (130) matches the bearing groove (310) on the bearing seat (300).

16. The clamping assembly (100) according to claim 15, characterized in that The outer side wall of the base (130) is configured to be conical, and the large-diameter end of the cone is connected to the connecting seat (110).

17. The clamping assembly (100) according to claim 15, characterized in that: Also includes: The counterweight block (140), the base (130) and the connecting seat (110) together form a receiving cavity, and the counterweight block (140) is located in the receiving cavity.

18. The clamping assembly (100) according to claim 17, characterized in that The connecting seat (110) comprises a base plate (112) and a seat body (113); the fixing structure (120) and the clamping portion (111) are located on the seat body (113); the base plate (112) is provided with a through hole (1121); a connecting column (131) is provided inside the base (130); the clamping assembly (100) further comprises a locking member (150); the locking member (150) passes through the through hole (1121) and is connected to the connecting column (131).

19. The clamping assembly (100) according to claim 18, characterized in that The counterweight block (140) is provided with a notch structure (141) for avoiding the connecting column (131); the connecting column (131) and the notch structure (141) cooperate to limit the movement of the counterweight block (140) relative to the base (130).

20. The clamping assembly (100) according to claim 18, characterized in that One of the base (130) and the bearing seat (300) is provided with an adsorbent, and the other is provided with an adsorbed member, and the adsorbent member and the adsorbed member are attracted to each other so that the base (130) is located at a suitable position of the bearing seat (300).

21. The clamping assembly (100) according to claim 20, characterized in that The counterweight block (140) is provided as the adsorbed part, and the adsorbing part is provided on the bearing seat (300).

22. A mobile device, characterized in that: The mobile device comprises a robot arm (210) and a clamping assembly (100) according to any one of claims 1 to 20.

23. A cleaning system, characterized in that: It comprises a base station, and the mobile device as claimed in claim 22, wherein the mobile device is adapted to be docked on the base station.

24. The cleaning system according to claim 23, characterized in that The base station comprises a base station housing, and a bearing seat (300) for bearing the clamping group is detachably connected to the base station housing; or, the base station housing forms the bearing seat (300).

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