Cleaning device and cleaning system

Abstract

The embodiment of the invention discloses cleaning equipment and a cleaning system.The cleaning equipment comprises a cleaning equipment body, a mounting plate, a grabbing assembly, a positioning piece and a fastening piece, the cleaning equipment body comprises a shell, in the assembling process, the positioning piece on the mounting plate can be aligned with a positioning hole, preliminary positioning of the grabbing assembly and the mounting plate is completed, and the cleaning efficiency is improved. And then a fastener can penetrate through the shell and the assembly hole to be connected to the grabbing assembly. According to the cleaning equipment provided by the embodiment of the invention, on one hand, the grabbing assembly at least can be positioned through the positioning piece and the fastening piece, and fixing of the grabbing assembly is more reliable; secondly, in the assembling process, a positioning hole in the mounting plate can be matched with a positioning piece, preliminary positioning of the grabbing assembly can be achieved, and the assembling efficiency can be improved; and thirdly, through the arrangement of the mounting plate, the contact area between the whole formed by the mounting plate and the grabbing assembly and the bottom plate of the shell is larger, and the shaking amplitude of the grabbing assembly can be limited.

Description

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 6, 2024, with application number "202411252937.8" and invention name "Cleaning Equipment and Cleaning System", the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of smart home technology, and in particular to a cleaning device and a cleaning system. Background Art

[0003] With the continuous advancement of science and technology and the continuous improvement of people's living standards, cleaning equipment, such as smart sweeping robots, have become increasingly integrated into our daily lives. To better perform cleaning functions, current cleaning equipment often incorporates a robotic arm to grasp or move obstacles or debris. Specifically, when an object needs to be moved, the robotic arm deploys to perform the grasping action. However, conventional cleaning equipment equipped with a robotic arm often struggles to securely fix the arm, making assembly cumbersome. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. This section of the invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] To this end, a first aspect of the present invention provides a cleaning device.

[0007] A second aspect of the present invention provides another cleaning system.

[0008] A third aspect of the present invention provides a cleaning system.

[0009] In view of this, according to a first aspect of an embodiment of the present application, a cleaning device is proposed, comprising:

[0010] A cleaning device body, the cleaning device body comprising a housing;

[0011] A mounting plate, wherein a positioning hole and an assembly hole are formed on the mounting plate;

[0012] a grab assembly, the mounting plate being connected to the grab assembly;

[0013] a positioning member connected to the housing and configured to pass through the positioning hole for positioning;

[0014] A fastener is connected to the housing and the grab assembly through the assembly hole.

[0015] In a feasible embodiment, there are two or more positioning holes, and the number of positioning members is adapted to the number of the positioning holes;

[0016] There are at least two positioning holes respectively distributed at two ends of the mounting plate.

[0017] In a feasible implementation manner, the distance between two adjacent positioning holes is greater than or equal to 50 mm.

[0018] In a feasible embodiment, different positioning members have different styles or diameters.

[0019] In a feasible embodiment, the grabbing component includes:

[0020] A robotic arm, wherein a space-avoiding portion is formed on the mounting plate, and the turntable of the robotic arm is located in the space-avoiding portion.

[0021] In a feasible embodiment, there are two or more assembly holes, and the number of the fasteners is adapted to the number of the assembly holes;

[0022] The plurality of assembly holes are divided into two groups and arranged on both sides of the mounting plate.

[0023] In a feasible embodiment, the cleaning device further includes:

[0024] A pressure rivet is arranged in the assembly hole, and the fastener passes through the mounting hole in the pressure rivet.

[0025] In a feasible embodiment, reinforcing ribs are formed on the shell, and grooves are formed on the peripheral side of the mounting plate, and at least part of the reinforcing ribs are located in the grooves.

[0026] In a feasible embodiment, there are a plurality of grooves, the plurality of grooves are arranged at intervals, and the grooves are distributed on the circumference of the mounting plate.

[0027] In a feasible embodiment, a storage space is formed on the shell, and the mounting plate is used to be arranged in the storage space, and the mounting plate abuts against a wall surface of the storage space.

[0028] In a feasible embodiment, the cleaning device body includes:

[0029] a functional component, the functional component being disposed in the housing, and the grabbing assembly being connected to the functional component;

[0030] The functional parts include a power supply or a controller.

[0031] In a feasible embodiment, the cleaning device further includes:

[0032] A channel is connected to the functional part, an open end of the channel is connected to the storage position, and a cable of the grabbing assembly passes through the channel and is connected to the functional part.

[0033] In a feasible embodiment, the cleaning device further includes:

[0034] A limiting member is connected to the inner wall of the bin or is formed on the inner wall of the bin, and is used to limit the cable.

[0035] In a feasible embodiment, a fixing groove is formed in the bin, the fixing groove is used to accommodate the cable, and the limiting member is located above the fixing groove or in the fixing groove.

[0036] In a feasible embodiment, the cleaning device further includes:

[0037] A cover plate is used to be connected to the inner wall of the bin and to cover the cable, the limiting member and the fixing groove.

[0038] In a feasible embodiment, there are multiple cover plates, each of which is snap-connected to the inner wall of the bin, and is also used to cover the channel.

[0039] In a feasible embodiment, the mounting plate is connected to the bottom plate of the housing; and / or

[0040] The mounting plate is in the shape of an elongated strip; and / or

[0041] The length of the mounting plate is 120 mm to 200 mm; and / or

[0042] The width of the mounting plate is 25 mm to 50 mm; and / or

[0043] The thickness of the mounting plate is 2 mm to 5 mm; and / or

[0044] The mounting plate is arranged along a direction perpendicular to a traveling direction of the cleaning device body.

[0045] According to a second aspect of an embodiment of the present application, a cleaning device is provided, comprising:

[0046] A cleaning device body, the cleaning device body comprising a shell, with a storage space formed on the shell;

[0047] A grabbing assembly is connected in the bin via a connecting assembly so as to connect the grabbing assembly to the shell.

[0048] In a feasible embodiment, the connection component includes:

[0049] A mounting plate, wherein a positioning hole is formed on the mounting plate;

[0050] A positioning member is connected to the housing and is used to pass through the positioning hole to position the grabbing assembly.

[0051] In a feasible embodiment, the cleaning device further includes:

[0052] A fastener is formed on the mounting plate with an assembly hole, and the fastener is used to be connected to the shell and the grab assembly through the assembly hole.

[0053] In a feasible embodiment, the cleaning device further includes:

[0054] A thickening piece is provided at the assembly hole, and the assembly hole passes through the thickening piece.

[0055] In a feasible embodiment, the cleaning device body includes:

[0056] a functional component, the functional component being disposed in the housing, and the grabbing assembly being connected to the functional component;

[0057] The functional parts include a power supply or a controller.

[0058] In a feasible embodiment, the cleaning device further includes:

[0059] A channel is formed on the shell, a storage space is formed, the mounting plate of the connecting component is used to be set in the storage space, the mounting plate of the connecting component is in contact with the wall surface of the storage space, the channel is connected to the functional part, the open end of the channel is connected to the storage space, and the cable of the grabbing component passes through the channel and is connected to the functional part.

[0060] In a feasible embodiment, the cleaning device further includes:

[0061] A limiting member is connected to the inner wall of the bin or is formed on the inner wall of the bin, and is used to limit the cable.

[0062] In a feasible embodiment, a fixing groove is formed in the bin, the fixing groove is used to accommodate the cable, and the limiting member is located above the fixing groove or in the fixing groove.

[0063] In a feasible embodiment, the cleaning device further includes:

[0064] A cover plate is used to be connected to the inner wall of the bin and to cover the cables and the limit.

[0065] In a feasible embodiment, there are multiple cover plates, each of which is snap-connected to the inner wall of the bin, and is also used to cover the channel.

[0066] In a feasible embodiment, the bins are arranged along the width direction of the cleaning device body, and the channels are arranged at or close to the ends of the bins.

[0067] According to a third aspect of an embodiment of the present application, a cleaning system is provided, comprising:

[0068] The cleaning device according to the first aspect; or

[0069] The cleaning device according to the second aspect;

[0070] A base station is used to accommodate the cleaning device.

[0071] Compared with the prior art, the present invention has at least the following beneficial effects:

[0072] The cleaning equipment provided in the first aspect of the embodiment of the present application includes a cleaning equipment main body, a mounting plate, a grabbing assembly, a positioning member and a fastener. The cleaning equipment main body includes a shell. Based on this, when the cleaning equipment is assembled, the mounting plate is connected to the grabbing assembly. During the assembly process, the whole formed by the grabbing assembly and the mounting plate can be assembled onto the cleaning equipment main body. In the initial assembly stage, the positioning member on the mounting plate can be aligned with the positioning hole, and the whole formed by the grabbing assembly and the mounting plate can be positioned on the shell to complete the preliminary positioning of the grabbing assembly and the mounting plate. After that, the fastener can be passed through the shell and the assembly hole to be connected to the grabbing assembly. Based on this, the grabbing assembly can be fixed and the assembly of the cleaning equipment can be completed. The cleaning equipment is provided with a mounting plate, positioning parts and fasteners. On the one hand, the grabbing assembly can be positioned and fixed at least by the positioning parts and fasteners, making the fixation of the grabbing assembly more reliable. Secondly, during the assembly process, the positioning holes and positioning parts on the mounting plate can be used to cooperate to achieve the initial positioning of the grabbing assembly, thereby improving the assembly efficiency. Thirdly, through the provision of the mounting plate, the contact area between the mounting plate and the grabbing assembly as a whole and the bottom plate of the shell is larger, which can reduce the gap between the grabbing assembly and the shell and limit the amplitude of the shaking of the grabbing assembly. Combined with the positioning parts and fasteners, the fixation of the grabbing assembly can be made more reliable.

[0073] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, 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 invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0075] Figure 1 A schematic structural diagram of a cleaning device according to an embodiment of the present application from one angle;

[0076] Figure 2 A schematic structural diagram of a cleaning device according to an embodiment of the present application from another angle;

[0077] Figure 3 A schematic structural diagram of a gripping assembly of a cleaning device according to an embodiment of the present application in a working state;

[0078] Figure 4 A schematic structural diagram of a gripping assembly and a mounting plate of a cleaning device according to an embodiment of the present application;

[0079] Figure 5 A schematic structural diagram of a housing and a mounting plate of a cleaning device according to an embodiment of the present application;

[0080] Figure 6 for Figure 5 A partial enlarged schematic diagram of point A in the middle;

[0081] Figure 7 A schematic structural diagram of the housing and mounting plate of a cleaning device according to an embodiment of the present application from another angle;

[0082] Figure 8 A schematic structural diagram of a mounting plate of a cleaning device according to an embodiment of the present application;

[0083] Figure 9 A schematic structural diagram of a gripping assembly of a cleaning device according to an embodiment of the present application in a working state;

[0084] Figure 10 for Figure 9 A partial enlarged schematic diagram of point A in the middle;

[0085] Figure 11A schematic structural diagram of a hidden cover plate and cables of a grabbing assembly of a cleaning device in a working state according to an embodiment of the present application;

[0086] Figure 12 for Figure 11 A partial enlarged schematic diagram of point B in the middle;

[0087] Figure 13 A schematic structural diagram of a gripping assembly of a cleaning device according to an embodiment of the present application in a working state from another angle;

[0088] Figure 14 This is a schematic structural diagram of the gripping assembly of a cleaning device according to an embodiment of the present application in a working state from another angle, with the cover plate and cables hidden;

[0089] Figure 15 for Figure 14 A partial enlarged schematic diagram of point C in the middle;

[0090] Figure 16 A schematic structural diagram of a cleaning device according to an embodiment of the present application with its housing removed;

[0091] Figure 17 A schematic structural diagram of an installation method of a grabbing assembly of a cleaning device according to an embodiment of the present application;

[0092] Figure 18 A schematic structural diagram of a cleaning device according to another embodiment of the present invention;

[0093] Figure 19 A schematic structural diagram of a gripping assembly of a cleaning device in an extended state according to another embodiment of the present application;

[0094] Figure 20 A schematic structural diagram of a cleaning device according to another embodiment of the present application;

[0095] Figure 21 This is a schematic structural diagram of the gripping assembly of a cleaning device according to an embodiment of the present application in a working state from another angle, with the cover plate and cables hidden;

[0096] Figure 22 for Figure 21 A local enlarged schematic diagram of point D in the middle.

[0097] in, Figures 1 to 22 The corresponding relationship between the reference numerals and component names is as follows:

[0098] 110 cleaning equipment body, 120 mounting plate, 130 grabbing assembly, 140 positioning piece, 150 fastener, 160 rivet, 170 functional part, 180 channel, 190 limiter, 200 fixing slot, 210 cover plate, 220 thickening piece, compartment door 230;

[0099] 111 shell, 112 reinforcement rib, 113 position, 121 positioning hole, 122 assembly hole, 123 air avoidance portion, 124 groove, 131 mechanical arm, 132 cable. DETAILED DESCRIPTION

[0100] In the following description, a number of specific details are provided to provide a more thorough understanding of the technical solutions provided by the present invention. However, it is obvious to those skilled in the art that the technical solutions provided by the present invention can be implemented without one or more of these details.

[0101] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. 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, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0102] Exemplary embodiments of the present invention will now be described in greater detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed 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 invention thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0103] like Figures 1 to 22 As shown, according to the first aspect of an embodiment of the present application, a cleaning device is proposed, including: a cleaning device body 110, the cleaning device body 110 includes a shell 111; a mounting plate 120, a positioning hole 121 and an assembly hole 122 are formed on the mounting plate 120; a grabbing assembly 130, the mounting plate 120 is connected to the grabbing assembly 130; a positioning member 140, the positioning member 140 is connected to the shell 111, and the positioning member 140 is used to pass through the positioning hole 121 for positioning; a fastener 150, the fastener 150 is connected to the shell 111 and the grabbing assembly 130 through the assembly hole 122.

[0104] The cleaning device provided in the embodiment of the present application includes a cleaning device body 110, a mounting plate 120, a grabbing assembly 130, a positioning member 140 and a fastener 150. The cleaning device body 110 includes a shell 111. Based on this, when the cleaning device is assembled, the mounting plate 120 is connected to the grabbing assembly 130. During the assembly process, the whole formed by the grabbing assembly 130 and the mounting plate 120 can be assembled onto the cleaning device body 110. In the initial assembly stage, the positioning member 140 on the mounting plate 120 can be aligned with the positioning hole 121, and the whole formed by the grabbing assembly 130 and the mounting plate 120 can be positioned on the shell 111 to complete the preliminary positioning of the grabbing assembly 130 and the mounting plate 120. After that, the fastener 150 can be passed through the shell 111 and the assembly hole 122 to be connected to the grabbing assembly 130. Based on this, the grabbing assembly 130 can be fixed and the assembly of the cleaning device can be completed.

[0105] The cleaning equipment provided in the embodiment of the present application is provided with the mounting plate 120, the positioning member 140 and the fastener 150. On the one hand, the grabbing assembly 130 can be positioned at least by the positioning member 140 and the fastener 150, so that the fixation of the grabbing assembly 130 is more reliable; on the other hand, during the assembly process, the positioning hole 121 on the mounting plate 120 and the positioning member 140 can be used to cooperate to achieve the preliminary positioning of the grabbing assembly 130, which can improve the assembly efficiency; on the third hand, through the provision of the mounting plate 120, the contact area between the whole formed by the mounting plate 120 and the grabbing assembly 130 and the bottom plate of the shell 111 is larger, which can reduce the gap between the grabbing assembly 130 and the shell 111 and limit the shaking amplitude of the grabbing assembly 130. Combined with the positioning member 140 and the fastener 150, the fixation of the grabbing assembly 130 can be made more reliable.

[0106] The cleaning device provided by the embodiment of the present application, the grabbing assembly 130 can be stored in the bin 113 when in the storage state, which can lower the center of gravity of the cleaning device, so that the center of gravity of the grabbing assembly 130 is lowered to the inside of the housing 111, and the movement of the cleaning device can be made more stable. By lowering the overall center of gravity of the cleaning device, the cleaning device is less likely to overturn or lose balance during the cleaning process, especially when encountering complex terrain such as slopes and carpet edges, it can maintain more stable motion performance, thereby improving cleaning efficiency and safety. It makes it easier for the cleaning device to get close to the ground, thereby more effectively removing dust, hair and debris on the ground. Especially for some difficult-to-clean areas such as the bottom of low furniture and corners, the cleaning device with a low center of gravity can clean more deeply without leaving any dead corners. It makes the cleaning device more stable during movement and less likely to be offset or lost control due to external forces. At the same time, the cleaning device is more flexible when turning, climbing, etc., and can easily cope with various complex environments.

[0107] It can be understood that the positioning member 140 can be a protrusion or a column formed on the shell 111, and the contour of the positioning hole 121 is adapted to the contour of the positioning member 140, and the positioning hole 121 is slightly larger than the positioning member 140, so that the positioning member 140 can be inserted into the positioning hole 121. After the positioning member 140 is inserted into the positioning hole 121, the swing of the mounting plate 120 based on the grabbing assembly 130 can be limited.

[0108] It is understandable that the fastener 150 may include any structure capable of connecting different objects, such as bolts, screws, rivets, clamps, expansion screws, etc.

[0109] It can be understood that when the fastener 150 is assembled, the fastener 150 can pass through the shell 111 via the side of the shell 111 away from the grabbing assembly 130, and then pass through the assembly hole 122, and finally connect to the grabbing assembly 130. This arrangement, on the one hand, facilitates the assembly of the fastener 150, and the bottom of the shell 111 can have a larger operating space; on the other hand, it can make the connection between the shell 111, the mounting plate 120 and the grabbing assembly 130 more reliable.

[0110] It can be understood that the area corresponding to the grabbing assembly 130 and the assembly hole 122 can also form a mounting portion, and the fastener 150 can be adapted to the mounting portion so that the fastener 150 can be connected to the grabbing assembly 130. For example, when the fastener 150 is a bolt, the mounting portion can be a screw hole.

[0111] It is understood that the cleaning device body 110 may include, but is not limited to, a machine body, a cleaning system, a drive system, and the like. The aforementioned systems coordinate with each other to enable the cleaning device to move autonomously to perform its cleaning function. The functional components of the cleaning device that constitute the aforementioned systems are integrated within the housing 111. It is understood that the cleaning device may be a self-propelled cleaning device, wherein a self-propelled cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

[0112] In some examples, the cleaning device may further include a door 230 , which is hinged to the housing 111 . The door 230 can cover the bin 113 , thereby reducing the probability of debris invading the bin 113 .

[0113] Furthermore, the gripping assembly 130 is applied to the cleaning device, for example, the gripping assembly 130 is connected to the housing 111 of the cleaning device body 110, so that the gripping assembly 130 can move with the cleaning device body 110 to reach the target location, and then through the movement of the gripping assembly 130, obstacles, objects, and garbage near the cleaning device can be grasped or moved to better achieve the autonomous cleaning function. It is understandable that the above-mentioned objects can also be objects required by the user, such as remote controls, apples, etc., which are not listed here one by one.

[0114] like Figure 8 As shown, in a feasible embodiment, there are two or more positioning holes 121 , and the number of positioning members 140 is adapted to the number of positioning holes 121 .

[0115] In this technical solution, the number of positioning holes 121 is further provided. The positioning holes 121 can be two or more, and the number of positioning members 140 can be equal to the number of positioning holes 121. Based on this, the whole formed by the grabbing component 130 and the mounting plate 120 can be limited by two or more groups of positioning holes 121 and positioning members 140, which can make the positioning of the grabbing component 130 and the mounting plate 120 more reliable, so that the positioning member 140 can limit the swing amplitude of the grabbing component 130, and can also limit the movement of the grabbing component 130 and the mounting plate 120 in the plane.

[0116] like Figure 8 As shown, in a feasible embodiment, at least two positioning holes 121 are respectively distributed at both ends of the mounting plate 120. Such a configuration can ensure that the distance between the two positioning holes 121 is sufficiently large, which can ensure the processing accuracy of the positioning holes 121, especially suppress the angular error between the two positioning holes 121, and avoid affecting the assembly accuracy of the grab assembly 130 due to excessive angular error of the two positioning holes 121. At the same time, the verticality of the positioning holes 121 is ensured, which can enable the positioning member 140 and the positioning hole 121 to better position the grab assembly 130, ensuring a more standard installation of the grab assembly 130. In addition, by increasing the distance between the two positioning holes 121, both ends of the mounting plate 120 can have a positioning relationship with the housing 111, which can improve the positioning accuracy of the mounting plate 120.

[0117] It can be understood that, assuming that the plane where the cleaning device body 110 is located is the XY axis plane, the height direction of the cleaning device body 110 is the Z direction, and the grabbing assembly 130 can be raised and lowered in the Z direction to grab items. The fixing method in traditional technology causes the grabbing assembly 130 to easily shake in the Z direction. The combination of the positioning member 140 and the fastener 150 can suppress the shaking of the grabbing assembly 130 in the Z direction. Furthermore, by setting the positioning member 140 and the positioning hole 121 to be multiple, the movement of the mounting plate 120 and the grabbing assembly 130 in the XY axis plane can be further suppressed, which can make the fixation of the grabbing assembly 130 more reliable, prevent the grabbing assembly 130 from tipping over, and reduce the noise generated when the cleaning equipment is working.

[0118] In some examples, considering the size of the cleaning device body 110 , two positioning holes 121 may be provided, and the two positioning holes 121 are respectively arranged at both ends of the mounting plate 120 to facilitate the processing of the mounting plate 120 .

[0119] like Figure 2 and Figure 3 As shown, in a feasible implementation manner, the distance between two adjacent positioning holes 121 is greater than or equal to 50 mm.

[0120] In this technical solution, when there are two or more positioning holes 121, a positional relationship between different positioning holes 121 is further provided, and the distance between two adjacent positioning holes 121 is greater than or equal to 50 mm. Such a setting can ensure that the two positioning holes 121 have a sufficiently large distance between them, and can ensure the processing accuracy of the positioning holes 121, especially suppressing the angular error between the two positioning holes 121, and avoiding the angular error between the two positioning holes 121 being too large to affect the assembly accuracy of the grabbing component 130, while ensuring the verticality of the positioning hole 121 processing, so that the positioning piece 140 and the positioning hole 121 can better position the grabbing component 130, and ensure that the installation of the grabbing component 130 is more standard. In addition, by increasing the distance between the two positioning holes 121, both ends of the mounting plate 120 can have a positioning relationship with the shell 111, which can improve the positioning accuracy of the mounting plate 120.

[0121] In some examples, in order to further improve the machining accuracy of the positioning holes 121 , the distance between two adjacent positioning holes 121 may be greater than or equal to 80 mm.

[0122] like Figure 8 As shown, in a feasible embodiment, different positioning members 140 have different styles or diameters.

[0123] In this technical solution, when there are two or more positioning members 140, the styles or diameters of different positioning members 140 are different. This setting is based on the consideration that the positioning members 140 on the mounting plate 120 can be aligned with the positioning holes 121 at the initial stage of assembly of the cleaning equipment. If there are multiple positioning holes 121, then the positioning holes 121 need to be aligned with the corresponding positioning members 140 at the same time. The alignment process is relatively complicated and the operation is relatively difficult. Based on this, in this embodiment, the styles or diameters of different positioning members 140 are different. During assembly, the assembly direction of the mounting plate 120 can be directly determined based on the style or size of the positioning member 140, which can improve assembly efficiency.

[0124] In some examples, in order to reduce processing costs, the difference between different positioning members 140 and positioning holes 121 may only be reflected in the difference in size. For example, the positioning member 140 may be a positioning pin, and the difference between different positioning holes 121 and the positioning member 140 may be a different diameter.

[0125] It is understood that the different styles of the positioning members 140 may include different cross-sectional shapes of the positioning members 140, such as some positioning members 140 may be waist-shaped positioning pins, while others may be columnar positioning pins. Alternatively, some positioning members 140 may be positioning pins, while others may be protrusions or bumps.

[0126] like Figure 4 and Figure 5 As shown, in a feasible embodiment, the grabbing assembly 130 includes: a robotic arm 131 , a space-avoiding portion 123 is formed on the mounting plate 120 , and a turntable of the robotic arm 131 is located in the space-avoiding portion 123 .

[0127] In this technical solution, a style of a grabbing component 130 is further provided. The grabbing component 130 may include a robotic arm 131, and the style of the mounting plate 120 may be adapted to the robotic arm 131. A gap avoidance portion 123 may be formed on the mounting plate 120. The robotic arm 131 is configured in this way so that it can utilize the space of the gap avoidance portion 123 for rotation. Combined with the extension and retraction of the robotic arm 131, the movable space of the robotic arm 131 can be increased, and the robotic arm 131 can grab objects. For example, when an object is in front of the direction of travel of the cleaning equipment, the obstacle can be grabbed by the robotic arm 131 and transferred to other areas that do not hinder the normal operation of the cleaning equipment, thereby making the operation of the cleaning equipment smoother.

[0128] In this technical solution, a gap 123 is formed on the mounting plate 120, and the robotic arm 131 can be assembled using the gap 123, which can reduce the assembly height of the robotic arm 131 and make the center of gravity of the robotic arm 131 lower, thereby further reducing the probability of the grabbing assembly 130 tipping over, and making the cleaning equipment safer to operate.

[0129] It can be understood that the turntable is a component that enables the robotic arm 131 to rotate relative to the housing 111 , and such a configuration can increase the operating range of the robotic arm 131 .

[0130] In a feasible embodiment, the thickness of the bottom of the mounting plate 120 is 2 mm to 5 mm.

[0131] This technical solution further provides a mounting plate 120 with a thickness of 2 mm to 5 mm. This arrangement ensures the secure fixation of the gripping assembly 130 while minimizing the thickness of the mounting plate 120, thereby reducing the assembly depth of the gripping assembly 130. On the one hand, a larger robotic arm 131 can be installed within the same space, making it easier for the gripping assembly 130 to grasp objects. On the other hand, the center of gravity of the gripping assembly 130 can be lowered, especially when the gripping assembly 130 is in the stored state. The gripping assembly 130 can be stored within the housing 111, making the movement of the cleaning device more stable. Furthermore, the weight of the cleaning device can be reduced, thereby reducing energy consumption during movement.

[0132] In some examples, to ensure the mechanical strength of the mounting plate 120 , the mounting plate 120 may be made of steel.

[0133] like Figure 2 As shown, in a feasible embodiment, there are two or more assembly holes 122 , and the number of fasteners 150 is adapted to the number of the assembly holes 122 .

[0134] In this technical solution, the number of assembly holes 122 is further provided, and there are two or more assembly holes 122, and the number of fasteners 150 can be equal to the number of assembly holes 122. Based on this, there can be multiple connection positions between the gripping component 130 and the shell 111, so that the fixing strength of the gripping component can be further improved, and the probability of the gripping component loosening can be further reduced.

[0135] It is understandable that there can be two or more assembly holes 122 and positioning holes 121 , and such an arrangement makes the fixation of the gripper assembly more reliable.

[0136] like Figure 8As shown, in one feasible embodiment, the plurality of assembly holes 122 are divided into two groups and arranged on both sides of the mounting plate 120. This arrangement, on the one hand, can provide multiple connection points between the mounting plate 120 and the housing 111, and the force applied to the multiple connection points is more balanced, which can further ensure the reliability of the fixing of the grab assembly 130. On the other hand, it facilitates the creation of the assembly holes 122, simplifies the processing of the mounting plate 120, and facilitates the assembly of the mounting plate 120.

[0137] like Figure 7 As shown, in a feasible embodiment, the cleaning device further includes: a rivet 160 , which is disposed in the assembly hole 122 , and the fastener 150 passes through the mounting hole in the rivet 160 .

[0138] In this technical solution, the cleaning device may further include a press rivet 160. This configuration is based on the consideration that, in order to lower the installation center of gravity of the gripping assembly 130, the thickness of the mounting plate 120 should be as thin as possible while still meeting the mechanical strength requirements. However, as the thickness of the mounting plate 120 decreases, the depth of the assembly hole 122 on the mounting plate 120 will inevitably decrease, which may result in a reduction in the fixing strength of the fastener 150. Based on this, in this embodiment, a press rivet 160 can be provided at the assembly hole 122, and a mounting hole is formed within the press rivet 160. Based on this, the fastener 150 can be connected to the gripping assembly 130 by passing through the mounting hole. By providing a press riveting machine, the height can be increased, and the fixing strength of the fastener 150 can be improved.

[0139] like Figures 6 to 8 As shown, in a feasible embodiment, a reinforcing rib 112 is formed on the shell 111 , a groove 124 is formed on the peripheral side of the mounting plate 120 , and at least a portion of the reinforcing rib 112 is located in the groove 124 .

[0140] This technical solution further provides a design for the housing 111. Considering that, to ensure mechanical strength during installation, the mounting plate 120 is typically made of a high-strength material, such as steel or other metal materials, while to reduce the weight of the cleaning device, the main body of the cleaning device is typically made of a resin material, the mechanical strength of the housing 111 is relatively low, and there is a risk of deformation of the housing 111. Deformation of the housing 111 also affects the fixing strength of the gripping assembly 130. Based on this, in this embodiment, the shape of the mounting plate 120 and the design of the housing 111 are designed. A groove 124 may be formed on the mounting plate 120, while a reinforcing rib 112 may be formed on the housing 111. When the mounting plate 120 is assembled onto the housing 111, the reinforcing rib 112 is inserted into the groove 124, thereby increasing the strength of the housing 111 and the contact area between the housing 111 and the mounting plate 120, thereby further reliably fixing the gripping assembly 130.

[0141] In some examples, there are multiple grooves 124, which are spaced apart and distributed around the circumference of the mounting plate 120. This arrangement, on the one hand, allows for the formation of more reinforcement ribs 112 on the housing 111 through the provision of multiple grooves 124, further improving the strength. On the other hand, the distribution of the grooves 124 around the circumference of the mounting plate 120 facilitates the insertion of the reinforcement ribs 112 into the grooves 124.

[0142] like Figure 3 As shown, in a feasible embodiment, a bin 113 is formed on the housing 111 , and the mounting plate 120 is used to be disposed in the bin 113 , and the mounting plate 120 abuts against the wall of the bin 113 .

[0143] This technical solution further provides a housing 111, on which a compartment 113 may be formed. A mounting plate 120 is disposed within the compartment 113, with the mounting plate 120 abutting against the wall of the compartment 113. This arrangement allows the mounting plate 120 to be fixed and positioned by the wall of the compartment 113, making the assembly of the mounting plate 120 more secure. Furthermore, the compartment 113 can accommodate the gripping assembly 130, thereby improving the integrity of the product and making the structural layout of the cleaning device more reasonable.

[0144] It can be understood that the mounting plate 120 abuts against the wall surface of the bin 113 , including the mounting plate 120 abutting against the bottom plate of the shell 111 and the mounting plate 120 abutting against the wall surface of the side wall of the bin 113 .

[0145] In a feasible embodiment, the mounting plate 120 is connected to the bottom plate of the housing 111. This arrangement can reduce the installation height and center of gravity of the grab assembly 130, making the cleaning device body 110 run more smoothly, and when the grab assembly 130 is stored, it can be completely stored in the housing 111.

[0146] like Figure 16 As shown, in a feasible embodiment, the cleaning device body 110 includes: a functional part 170, the functional part 170 is arranged in the shell 111, and the gripping assembly 130 is connected to the functional part 170; the functional part 170 includes a power supply and / or a controller.

[0147] In this technical solution, the cleaning device main body 110 may also include a functional part 170, which is connected to the grabbing component 130. Based on this functional part 170, the grabbing component 130 can be powered on and the operation of the grabbing component 130 can be controlled, making the use of the grabbing component 130 more convenient.

[0148] like Figures 9 to 22 As shown, in a feasible embodiment, the cleaning device further includes: a channel 180, the channel 180 is connected to the functional part 170, the open end of the channel 180 is connected to the bin 113, and the cable 132 of the grabbing assembly 130 passes through the channel 180 and is connected to the functional part.

[0149] like Figure 21 and Figure 22 As shown, in this technical solution, considering that the gripping assembly 130 requires not only connection and fixation on the mechanical structure, but also the robotic arm 131 may involve power-on or communication control, the power-on or communication connection of the gripping assembly 130 in traditional technology is also relatively cumbersome. In a feasible embodiment, the cleaning equipment can also include a channel 180 provided at the bin 113 and connected to the functional part 170. Based on this, the cable 132 of the gripping assembly 130 can pass through the channel 180 to connect with the functional part 170, thereby completing the rapid assembly of the electrical and communication connections of the gripping assembly 130, which can further improve assembly efficiency.

[0150] It is understandable that a plug can be formed at the end of the cable 132, and a socket can be formed at the channel 180. The plug can be directly inserted into the socket to establish a quick connection between the plug and the channel 180, making the electrical connection and communication connection of the grabbing component 130 more convenient.

[0151] like Figures 9 to 15 As shown, in a feasible embodiment, the cleaning device further includes: a limiting member 190, the limiting member 190 is connected to the inner wall of the bin 113 or the inner wall of the bin 113 forms a limiting member 190, and the limiting member 190 is used to limit the cable 132.

[0152] In this technical solution, considering that the grabbing component 130 needs to move, such as may involve extension, storage, rotation or swinging, etc., the movement of the grabbing component 130 may cause the cable 132 to move or the grabbing component 130 may easily scratch the cable 132. Based on this, the cleaning equipment can also include a limiter 190, which can limit the cable 132 to prevent the cable 132 from unexpected movement, and can reduce the probability of contact and scratching between the grabbing component 130 and the cable 132, so that the communication connection and electrical connection of the grabbing component 130 are more reliable.

[0153] In some examples, there may be multiple limiting members 190 , and the multiple limiting members 190 are spaced apart along the arrangement direction of the cables 132 , which can further improve the limiting effect of the cables 132 .

[0154] like Figures 9 to 15 As shown, in a feasible embodiment, a fixing groove 200 is formed in the bin 113 , the fixing groove 200 is used to accommodate the cable 132 , and the limiting member 190 is located above the fixing groove 200 or in the fixing groove 200 .

[0155] In this technical solution, it is taken into consideration that if the cable 132 of the grabbing assembly 130 is directly set in the bin 113, then there is still a probability that the grabbing assembly 130 will scratch the cable 132, especially when the grabbing assembly 130 is in the storage state, the grabbing assembly 130 is particularly likely to be pressed on the cable 132, which is easy to cause damage to the cable 132. Based on this, by forming a fixing groove 200 in the bin 113, the cable 132 can be sunk in the fixing groove 200, which can greatly reduce the probability of contact between the grabbing assembly 130 and the cable 132. At the same time, through the formation of the fixing groove 200, the inner wall of the fixing groove 200 can also limit the cable 132, which can further reduce the probability of the cable 132 moving.

[0156] Furthermore, the limiter 190 can be formed on the inner wall of the fixing groove 200. In this way, the limiter 190 will not occupy too much space in the bin 113, or the limiter 190 will not form a protrusion in the bin 113, and the limiter 190 will not hinder the storage of the grab assembly 130. This can help reduce the height of the cleaning equipment, making the structural layout of the cleaning equipment more compact. After the height of the cleaning equipment is reduced, it can be easier to enter low areas, such as under sofas and beds, which are often difficult to reach with traditional cleaning tools. Low-height cleaning equipment can more effectively remove dust and dirt in these areas, thereby improving the overall cleaning coverage. The reduced height of the cleaning equipment means that the distance between its bottom and the ground is shortened, allowing it to fit more closely to the ground for cleaning. This close fit helps improve the cleaning effect, especially for stubborn stains and fine particles attached to the ground. Low-height cleaning equipment generally has greater flexibility and can easily move between furniture to avoid collisions with furniture. This flexibility not only helps improve cleaning efficiency, but also reduces the risk of damage to cleaning equipment during work. For users, low-height cleaning equipment is easier to collect and store and does not take up too much space. Low-height cleaning equipment usually has a lower noise level because they are in closer contact with the ground during operation, reducing vibration and noise. Low-height cleaning equipment can be used in more different cleaning scenarios, such as homes, offices, shopping malls, etc. Especially in some places with higher cleaning requirements, such as hospitals and laboratories, low-height cleaning equipment can more effectively meet cleaning needs.

[0157] like Figures 9 to 15 As shown, in a feasible embodiment, the cleaning device further includes: a cover plate 210 , which is used to be connected to the inner wall of the bin 113 and to cover the cable 132 , the limiting member 190 and the fixing groove 200 .

[0158] In this technical solution, the cleaning device may further include a cover plate 210, which is connected to the bin 113 via the cover plate 210. The cover plate 210 may be placed over the fixing groove 200, thereby allowing the cover plate 210 to cover the cable 132, the stopper 190, and the channel 180. This can make the appearance of the bin 113 neater, reduce the amount of dust intrusion into the fixing groove 200 and the channel 180, and further reduce the probability of contact between the gripping assembly 130 and the cable 132. This can make the use of the cleaning device safer, especially the operation of the gripping assembly 130.

[0159] In some examples, the cover plate 210 can be connected to the bin 113 by snapping or bolting, which can make the connection strength more reliable and facilitate disassembly.

[0160] In a feasible embodiment, there are multiple cover plates 210 , and the cover plates 210 are snapped onto the inner wall of the bin 113 . The cover plates 210 are also used to cover the channel 180 .

[0161] In this technical solution, the number of cover plates 210 is further provided. There can be two or more cover plates 210. Based on this, by setting multiple cover plates 210, it is convenient to cover the narrow and long fixed groove 200, facilitate the assembly of the cover plates 210, and facilitate the sealing of the channel 180, which can make the storage position 113 of the cleaning equipment more tidy and safe.

[0162] like Figures 1 to 8 As shown, in a feasible embodiment, the mounting plate 120 is in the shape of an elongated strip. This configuration facilitates the processing and installation of the mounting plate 120 and can provide a larger contact area with the grab assembly 130, thereby improving the installation strength.

[0163] In a feasible embodiment, the length of the mounting plate 120 is 120 mm to 200 mm, the width of the mounting plate 120 is 25 mm to 50 mm, and the thickness of the mounting plate 120 is 2 mm to 5 mm. This setting further provides the size of the mounting plate 120, so that the mounting plate 120 is flat, which facilitates the processing and installation of the mounting plate 120, and can have a larger contact area with the grasping component 130, which can improve the installation strength.

[0164] like Figures 1 to 8 As shown, in a feasible embodiment, the mounting plate 120 is arranged along a direction perpendicular to the travel direction of the cleaning device body 110. In other words, the length of the mounting plate 120 is installed in the left and right directions of the front of the cleaning device body 110. This arrangement is conducive to spatial layout, compact structure, and also facilitates the fixation of the grabbing assembly 130. At the same time, the grabbing assembly 130 is fixed to the front of the cleaning device body 110. The grabbing assembly 130 mainly operates in the area in front of the cleaning device body 110, which has a larger range of movement and is more convenient for grabbing items.

[0165] like Figures 1 to 17 As shown, according to the second aspect of an embodiment of the present application, a cleaning device is proposed, including: a cleaning device body 110, the cleaning device body 110 includes a shell 111, and a bin 113 is formed on the shell 111; a grabbing component 130, and the grabbing component 130 is connected to the bin 113 through a connecting component to connect the grabbing component 130 to the shell 111.

[0166] The second aspect of the present application provides a cleaning device, which includes a cleaning device body 110 and a gripping assembly 130. A compartment 113 is formed on the housing 111. The gripping assembly 130 can be connected to the compartment 113 via a connecting assembly. Based on this, the arrangement of the compartment 113 and the connecting assembly can improve the assembly efficiency of the gripping assembly 130. At the same time, when the gripping assembly 130 is in the storage state, it can be stored within the compartment 113, which can lower the center of gravity of the cleaning device, so that the center of gravity of the gripping assembly 130 is lowered within the housing 111, which can make the movement of the cleaning device more stable. By lowering the overall center of gravity of the cleaning device, the cleaning device is less likely to tip over or lose balance during cleaning, especially when encountering complex terrain such as slopes and carpet edges, it can maintain more stable movement performance, thereby improving cleaning efficiency and safety. It makes it easier for the cleaning device to get close to the ground, thereby more effectively removing dust, hair and debris on the ground. In particular, for some difficult-to-clean areas such as the bottom of low furniture and corners, the cleaning device with a low center of gravity can clean more deeply without leaving any blind spots. This makes the cleaning equipment more stable during movement and less likely to be deflected or lost control due to external forces. At the same time, the cleaning equipment is more flexible when turning, climbing, and other actions, and can easily cope with various complex environments.

[0167] like Figures 1 to 8 As shown, in a feasible embodiment, the connecting component includes: a mounting plate 120, on which a positioning hole 121 is formed; a positioning member 140, which is connected to the shell 111 and is used to position the grabbing component 130 through the positioning hole 121.

[0168] In this technical solution, the structural composition of the connecting component is further provided. The connecting component may include a mounting plate 120 and a positioning member 140. Based on this, when the cleaning equipment is assembled, the mounting plate 120 is connected to the grabbing component 130. During the assembly process, the whole formed by the grabbing component 130 and the mounting plate 120 can be assembled onto the cleaning equipment main body 110. At the initial stage of assembly, the positioning member 140 on the mounting plate 120 can be aligned with the positioning hole 121, and the whole formed by the grabbing component 130 and the mounting plate 120 can be positioned on the shell 111, completing the preliminary positioning of the grabbing component 130 and the mounting plate 120, which can improve the assembly efficiency of the grabbing component 130.

[0169] like Figures 1 to 8 As shown, in a feasible embodiment, the cleaning device further includes: a fastener 150 , an assembly hole 122 is formed on the mounting plate 120 , and the fastener 150 is used to be connected to the housing 111 and the grabbing assembly 130 through the assembly hole 122 .

[0170] In this technical solution, the structural composition of the cleaning equipment is further provided. The cleaning equipment may include fasteners to complete the preliminary positioning of the grabbing assembly 130 and the mounting plate 120. Thereafter, the fastener 150 may be passed through the shell 111 and the assembly hole 122 to be connected to the grabbing assembly 130. Based on this, the grabbing assembly 130 can be fixed and the assembly of the cleaning equipment can be completed.

[0171] In this technical solution, the cleaning equipment is provided with a mounting plate 120, a positioning member 140 and a fastener 150. On the one hand, the grabbing assembly 130 can be positioned at least by the positioning member 140 and the fastener 150, so that the fixation of the grabbing assembly 130 is more reliable. On the other hand, during the assembly process, the positioning hole 121 on the mounting plate 120 and the positioning member 140 can be used to cooperate to achieve the preliminary positioning of the grabbing assembly 130, which can improve the assembly efficiency. On the third hand, through the provision of the mounting plate 120, the contact area between the mounting plate 120 and the grabbing assembly 130 and the bottom plate of the shell 111 is larger, which can reduce the gap between the grabbing assembly 130 and the shell 111 and limit the amplitude of the shaking of the grabbing assembly 130. Combined with the positioning member 140 and the fastener 150, the fixation of the grabbing assembly 130 can be more reliable.

[0172] like Figure 17 As shown, in a feasible embodiment, the cleaning device further includes: a thickening member 220 , which is disposed at the assembly hole 122 , and the assembly hole 122 passes through the thickening member 220 .

[0173] In this technical solution, the cleaning device may further include a thickening member 220. This configuration is based on the consideration that, in order to lower the installation center of gravity of the gripping assembly 130, the thickness of the mounting plate 120 should be as thin as possible while still meeting the mechanical strength requirements. However, as the thickness of the mounting plate 120 decreases, the depth of the assembly hole 122 on the mounting plate 120 will inevitably decrease, which may result in a reduction in the fixing strength of the fastener 150. Based on this, in this embodiment, a thickening member can be provided at the assembly hole 122, and the mounting hole is formed within the thickening member. Based on this, the fastener 150 can be connected to the gripping assembly 130 by passing through the mounting hole. By setting up a riveting machine, the height can be increased, and the fixing strength of the fastener 150 can be improved.

[0174] like Figure 16 As shown, in a feasible embodiment, the cleaning device body 110 includes: a functional part 170, the functional part 170 is arranged in the shell 111, and the grabbing assembly 130 is connected to the functional part 170; the functional part 170 includes a power supply or a controller.

[0175] In this technical solution, the cleaning device main body 110 may also include a functional part 170, which is connected to the grabbing component 130. Based on this functional part 170, the grabbing component 130 can be powered on and the operation of the grabbing component 130 can be controlled, making the use of the grabbing component 130 more convenient.

[0176] like Figures 9 to 15 As shown, in a feasible embodiment, the cleaning device also includes: a channel 180, a bin 113 is formed on the shell 111, the mounting plate 120 is used to be set in the bin 113, the mounting plate 120 is abutted against the wall of the bin 113, the channel 180 is connected to the functional part 170, the open end of the channel 180 is connected to the bin 113, and the cable 132 of the grabbing assembly 130 passes through the channel 180 and is connected to the functional part 170.

[0177] In this technical solution, in addition to requiring mechanical connection and fixation, the gripping assembly 130 and the robotic arm 131 may also require power supply and communication control. Conventional technology also makes power supply and communication connections for the gripping assembly 130 relatively cumbersome. In one feasible embodiment, the cleaning device may further include a channel 180 connected to the bin 113. Cables 132 of the gripping assembly 130 can be routed through the channel 180 and connected to functional devices. This allows for rapid assembly of the electrical and communication connections for the gripping assembly 130, further improving assembly efficiency.

[0178] It is understandable that a plug can be formed at the end of the cable 132, and a socket can be formed at the channel 180. The plug can be directly inserted into the socket to establish a quick connection between the plug and the channel 180, making the electrical connection and communication connection of the grabbing component 130 more convenient.

[0179] This technical solution further provides a housing 111, on which a compartment 113 may be formed. A mounting plate 120 is disposed within the compartment 113, with the mounting plate 120 abutting against the wall of the compartment 113. This arrangement allows the mounting plate 120 to be fixed and positioned by the wall of the compartment 113, making the assembly of the mounting plate 120 more secure. Furthermore, the compartment 113 can accommodate the gripping assembly 130, thereby improving the integrity of the product and making the structural layout of the cleaning device more reasonable.

[0180] like Figures 9 to 15 As shown, in a feasible embodiment, the cleaning device further includes: a limiting member 190, the limiting member 190 is connected to the inner wall of the bin 113 or the inner wall of the bin 113 forms a limiting member 190, and the limiting member 190 is used to limit the cable 132.

[0181] In this technical solution, considering that the grabbing component 130 needs to move, such as may involve extension, storage, rotation or swinging, etc., the movement of the grabbing component 130 may cause the cable 132 to move or the grabbing component 130 may easily scratch the cable 132. Based on this, the cleaning equipment can also include a limiter 190, which can limit the cable 132 to prevent the cable 132 from unexpected movement, and can reduce the probability of contact and scratching between the grabbing component 130 and the cable 132, so that the communication connection and electrical connection of the grabbing component 130 are more reliable.

[0182] In some examples, there may be multiple limiting members 190 , and the multiple limiting members 190 are spaced apart along the arrangement direction of the cables 132 , which can further improve the limiting effect of the cables 132 .

[0183] like Figures 9 to 15 As shown, in a feasible embodiment, a fixing groove 200 is formed in the bin 113 , the fixing groove 200 is used to accommodate the cable 132 , and the limiting member 190 is located above the fixing groove 200 or in the fixing groove 200 .

[0184] In this technical solution, it is taken into consideration that if the cable 132 of the grabbing assembly 130 is directly set in the bin 113, then there is still a probability that the grabbing assembly 130 will scratch the cable 132, especially when the grabbing assembly 130 is in the storage state, the grabbing assembly 130 is particularly likely to be pressed on the cable 132, which is easy to cause damage to the cable 132. Based on this, by forming a fixing groove 200 in the bin 113, the cable 132 can be sunk in the fixing groove 200, which can greatly reduce the probability of contact between the grabbing assembly 130 and the cable 132. At the same time, through the formation of the fixing groove 200, the inner wall of the fixing groove 200 can also limit the cable 132, which can further reduce the probability of the cable 132 moving.

[0185] Furthermore, the limiter 190 can be formed on the inner wall of the fixing groove 200. In this way, the limiter 190 will not occupy too much space in the bin 113, or the limiter 190 will not form a protrusion in the bin 113, and the limiter 190 will not hinder the storage of the grab assembly 130. This can help reduce the height of the cleaning equipment, making the structural layout of the cleaning equipment more compact. After the height of the cleaning equipment is reduced, it can be easier to enter low areas, such as under sofas and beds, which are often difficult to reach with traditional cleaning tools. Low-height cleaning equipment can more effectively remove dust and dirt in these areas, thereby improving the overall cleaning coverage. The reduced height of the cleaning equipment means that the distance between its bottom and the ground is shortened, allowing it to fit more closely to the ground for cleaning. This close fit helps improve the cleaning effect, especially for stubborn stains and fine particles attached to the ground. Low-height cleaning equipment generally has greater flexibility and can easily move between furniture to avoid collisions with furniture. This flexibility not only helps improve cleaning efficiency, but also reduces the risk of damage to cleaning equipment during work. For users, low-height cleaning equipment is easier to collect and store and does not take up too much space. Low-height cleaning equipment usually has a lower noise level because they are in closer contact with the ground during operation, reducing vibration and noise. Low-height cleaning equipment can be used in more different cleaning scenarios, such as homes, offices, shopping malls, etc. Especially in some places with higher cleaning requirements, such as hospitals and laboratories, low-height cleaning equipment can more effectively meet cleaning needs.

[0186] like Figures 9 to 15 As shown, in a feasible embodiment, the cleaning device further includes: a cover plate 210, which is used to be connected to the inner wall of the bin 113 and to cover the cable 132 and limit.

[0187] In this technical solution, the cleaning device may further include a cover plate 210, which is connected to the bin 113 via the cover plate 210. The cover plate 210 may be placed over the fixing groove 200, thereby allowing the cover plate 210 to cover the cable 132, the stopper 190, and the channel 180. This can make the appearance of the bin 113 neater, reduce the amount of dust intrusion into the fixing groove 200 and the channel 180, and further reduce the probability of contact between the gripping assembly 130 and the cable 132. This can make the use of the cleaning device safer, especially the operation of the gripping assembly 130.

[0188] In some examples, the cover plate 210 can be connected to the bin 113 by snapping or bolting, which can make the connection strength more reliable and facilitate disassembly.

[0189] like Figures 9 to 15As shown, in a feasible embodiment, there are multiple cover plates 210 , and the cover plates 210 are snapped onto the inner wall of the bin 113 . The cover plates 210 are also used to cover the channel 180 .

[0190] In this technical solution, the number of cover plates 210 is further provided. There can be two or more cover plates 210. Based on this, by setting multiple cover plates 210, it is convenient to cover the narrow and long fixed groove 200, facilitate the assembly of the cover plates 210, and facilitate the sealing of the channel 180, which can make the storage position 113 of the cleaning equipment more tidy and safe.

[0191] like Figures 9 to 15 As shown, in a feasible embodiment, the bins 113 are arranged along the width direction of the cleaning device body 110 , and the channels 180 are arranged at or near the ends of the bins 113 .

[0192] In this technical solution, a layout of the bin 113 is further provided. The bin 113 is arranged along the width direction of the shell 111. In combination with the cleaning equipment, the traveling assembly may include a driving wheel and an auxiliary wheel. The driving wheel and the auxiliary wheel can form a support area. The bin 113 above the shell 111 can be formed within the support area. Based on this, when the grabbing assembly 130 is stored in the bin 113, the center of gravity of the grabbing assembly 130 can be distributed within the support area. Based on this, the operation of the cleaning equipment can be made smoother, making it less likely to overturn or lose balance during the cleaning process, especially when encountering complex terrain such as slopes and carpet edges, it can maintain more stable motion performance, thereby improving cleaning efficiency and safety. It makes it easier for the cleaning equipment to get close to the ground, thereby more effectively removing dust, hair and debris on the ground. Especially for some difficult-to-clean areas such as the bottom of low furniture and corners, cleaning equipment with a low center of gravity can clean more deeply without leaving dead corners. The cleaning equipment is more stable during movement and is not easily offset or lost control due to external forces. At the same time, the cleaning equipment is more flexible when turning, climbing, etc., and can easily cope with various complex environments.

[0193] like Figures 1 to 8 As shown, in a feasible embodiment, the mounting plate 120 is in the shape of an elongated strip. This configuration facilitates the processing and installation of the mounting plate 120 and can provide a larger contact area with the grab assembly 130, thereby improving the installation strength.

[0194] In a feasible embodiment, the length of the mounting plate 120 is 120 mm to 200 mm, the width of the mounting plate 120 is 25 mm to 50 mm, and the thickness of the mounting plate 120 is 2 mm to 5 mm. This setting further provides the size of the mounting plate 120, so that the mounting plate 120 is flat, which facilitates the processing and installation of the mounting plate 120, and can have a larger contact area with the grasping component 130, which can improve the installation strength.

[0195] like Figures 1 to 8 As shown, in a feasible embodiment, the mounting plate 120 is arranged along a direction perpendicular to the travel direction of the cleaning device body 110. In other words, the length of the mounting plate 120 is installed in the left and right directions of the front of the cleaning device body 110. This arrangement is conducive to spatial layout, compact structure, and also facilitates the fixation of the grabbing assembly 130. At the same time, the grabbing assembly 130 is fixed to the front of the cleaning device body 110. The grabbing assembly 130 mainly operates in the area in front of the cleaning device body 110, which has a larger range of movement and is more convenient for grabbing items.

[0196] It can be understood that the positioning member 140 can be a protrusion or a column formed on the shell 111, and the contour of the positioning hole 121 is adapted to the contour of the positioning member 140, and the positioning hole 121 is slightly larger than the positioning member 140, so that the positioning member 140 can be inserted into the positioning hole 121. After the positioning member 140 is inserted into the positioning hole 121, the swing of the mounting plate 120 based on the grabbing assembly 130 can be limited.

[0197] It is understandable that the fastener 150 may include any structure capable of connecting different objects, such as bolts, screws, rivets, clamps, expansion screws, etc.

[0198] It can be understood that when the fastener 150 is assembled, the fastener 150 can pass through the shell 111 via the side of the shell 111 away from the grabbing assembly 130, and then pass through the assembly hole 122, and finally connect to the grabbing assembly 130. This arrangement, on the one hand, facilitates the assembly of the fastener 150, and the bottom of the shell 111 can have a larger operating space; on the other hand, it can make the connection between the shell 111, the mounting plate 120 and the grabbing assembly 130 more reliable.

[0199] It can be understood that the area corresponding to the grabbing assembly 130 and the assembly hole 122 can also form a mounting portion, and the fastener 150 can be adapted to the mounting portion so that the fastener 150 can be connected to the grabbing assembly 130. For example, when the fastener 150 is a bolt, the mounting portion can be a screw hole.

[0200] It is understood that the cleaning device body 110 may include, but is not limited to, a machine body, a cleaning system, a drive system, and the like. The aforementioned systems coordinate with each other to enable the cleaning device to move autonomously to perform its cleaning function. The functional components of the cleaning device that constitute the aforementioned systems are integrated within the housing 111. It is understood that the cleaning device may be a self-propelled cleaning device, wherein a self-propelled cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

[0201] Furthermore, the gripping assembly 130 is applied to the cleaning device, for example, the gripping assembly 130 is connected to the housing 111 of the cleaning device body 110, so that the gripping assembly 130 can move with the cleaning device body 110 to reach the target location, and then through the movement of the gripping assembly 130, obstacles, objects, and garbage near the cleaning device can be grasped or moved to better achieve the autonomous cleaning function. It is understandable that the above-mentioned objects can also be objects required by the user, such as remote controls, apples, etc., which are not listed here one by one.

[0202] like Figure 8 As shown, in a feasible embodiment, there are two or more positioning holes 121 , and the number of positioning members 140 is adapted to the number of positioning holes 121 .

[0203] In this technical solution, the number of positioning holes 121 is further provided. The positioning holes 121 can be two or more, and the number of positioning members 140 can be equal to the number of positioning holes 121. Based on this, the whole formed by the grabbing component 130 and the mounting plate 120 can be limited by two or more groups of positioning holes 121 and positioning members 140, which can make the positioning of the grabbing component 130 and the mounting plate 120 more reliable, so that the positioning member 140 can limit the swing amplitude of the grabbing component 130, and can also limit the movement of the grabbing component 130 and the mounting plate 120 in the plane.

[0204] like Figure 8 As shown, in a feasible embodiment, at least two positioning holes 121 are respectively distributed at both ends of the mounting plate 120. Such a configuration can ensure that the distance between the two positioning holes 121 is sufficiently large, which can ensure the processing accuracy of the positioning holes 121, especially suppress the angular error between the two positioning holes 121, and avoid affecting the assembly accuracy of the grab assembly 130 due to excessive angular error of the two positioning holes 121. At the same time, the verticality of the positioning holes 121 is ensured, which can enable the positioning member 140 and the positioning hole 121 to better position the grab assembly 130, ensuring a more standard installation of the grab assembly 130. In addition, by increasing the distance between the two positioning holes 121, both ends of the mounting plate 120 can have a positioning relationship with the housing 111, which can improve the positioning accuracy of the mounting plate 120.

[0205] It can be understood that, assuming that the plane where the cleaning device body 110 is located is the XY axis plane, the height direction of the cleaning device body 110 is the Z direction, and the grabbing assembly 130 can be raised and lowered in the Z direction to grab items. The fixing method in traditional technology causes the grabbing assembly 130 to easily shake in the Z direction. The combination of the positioning member 140 and the fastener 150 can suppress the shaking of the grabbing assembly 130 in the Z direction. Furthermore, by setting the positioning member 140 and the positioning hole 121 to be multiple, the movement of the mounting plate 120 and the grabbing assembly 130 in the XY axis plane can be further suppressed, which can make the fixation of the grabbing assembly 130 more reliable, prevent the grabbing assembly 130 from tipping over, and reduce the noise generated when the cleaning equipment is working.

[0206] In some examples, considering the size of the cleaning device body 110 , two positioning holes 121 may be provided, and the two positioning holes 121 are respectively arranged at both ends of the mounting plate 120 to facilitate the processing of the mounting plate 120 .

[0207] like Figure 2 and Figure 3 As shown, in a feasible implementation manner, the distance between two adjacent positioning holes 121 is greater than or equal to 50 mm.

[0208] In this technical solution, when there are two or more positioning holes 121, a positional relationship between different positioning holes 121 is further provided, and the distance between two adjacent positioning holes 121 is greater than or equal to 50 mm. Such a setting can ensure that the two positioning holes 121 have a sufficiently large distance between them, and can ensure the processing accuracy of the positioning holes 121, especially suppressing the angular error between the two positioning holes 121, and avoiding the angular error between the two positioning holes 121 being too large to affect the assembly accuracy of the grabbing component 130, while ensuring the verticality of the positioning hole 121 processing, so that the positioning piece 140 and the positioning hole 121 can better position the grabbing component 130, and ensure that the installation of the grabbing component 130 is more standard. In addition, by increasing the distance between the two positioning holes 121, both ends of the mounting plate 120 can have a positioning relationship with the shell 111, which can improve the positioning accuracy of the mounting plate 120.

[0209] In some examples, in order to further improve the machining accuracy of the positioning holes 121 , the distance between two adjacent positioning holes 121 may be greater than or equal to 80 mm.

[0210] like Figure 8 As shown, in a feasible embodiment, different positioning members 140 have different styles or diameters.

[0211] In this technical solution, when there are two or more positioning members 140, the styles or diameters of different positioning members 140 are different. This setting is based on the consideration that the positioning members 140 on the mounting plate 120 can be aligned with the positioning holes 121 at the initial stage of assembly of the cleaning equipment. If there are multiple positioning holes 121, then the positioning holes 121 need to be aligned with the corresponding positioning members 140 at the same time. The alignment process is relatively complicated and the operation is relatively difficult. Based on this, in this embodiment, the styles or diameters of different positioning members 140 are different. During assembly, the assembly direction of the mounting plate 120 can be directly determined based on the style or size of the positioning member 140, which can improve assembly efficiency.

[0212] In some examples, in order to reduce processing costs, the difference between different positioning members 140 and positioning holes 121 may only be reflected in the difference in size. For example, the positioning member 140 may be a positioning pin, and the difference between different positioning holes 121 and the positioning member 140 may be a different diameter.

[0213] It is understood that the different styles of the positioning members 140 may include different cross-sectional shapes of the positioning members 140, such as some positioning members 140 may be waist-shaped positioning pins, while others may be columnar positioning pins. Alternatively, some positioning members 140 may be positioning pins, while others may be protrusions or bumps.

[0214] like Figure 4 and Figure 5 As shown, in a feasible embodiment, the grabbing assembly 130 includes: a robotic arm 131 , a space-avoiding portion 123 is formed on the mounting plate 120 , and a turntable of the robotic arm 131 is located in the space-avoiding portion 123 .

[0215] In this technical solution, a style of a grabbing component 130 is further provided. The grabbing component 130 may include a robotic arm 131, and the style of the mounting plate 120 may be adapted to the robotic arm 131. A gap avoidance portion 123 may be formed on the mounting plate 120. The robotic arm 131 is configured in this way so that it can utilize the space of the gap avoidance portion 123 for rotation. Combined with the extension and retraction of the robotic arm 131, the movable space of the robotic arm 131 can be increased, and the robotic arm 131 can grab objects. For example, when an object is in front of the direction of travel of the cleaning equipment, the obstacle can be grabbed by the robotic arm 131 and transferred to other areas that do not hinder the normal operation of the cleaning equipment, thereby making the operation of the cleaning equipment smoother.

[0216] In this technical solution, a gap 123 is formed on the mounting plate 120, and the robotic arm 131 can be assembled using the gap 123, which can reduce the assembly height of the robotic arm 131 and make the center of gravity of the robotic arm 131 lower, thereby further reducing the probability of the grabbing assembly 130 tipping over, and making the cleaning equipment safer to operate.

[0217] It can be understood that the turntable is a component that enables the robotic arm 131 to rotate relative to the housing 111 , and such a configuration can increase the operating range of the robotic arm 131 .

[0218] In a feasible embodiment, the thickness of the bottom of the mounting plate 120 is 2 mm to 5 mm.

[0219] This technical solution further provides a mounting plate 120 with a thickness of 2 mm to 5 mm. This arrangement ensures the secure fixation of the gripping assembly 130 while minimizing the thickness of the mounting plate 120, thereby reducing the assembly depth of the gripping assembly 130. On the one hand, a larger robotic arm 131 can be installed within the same space, making it easier for the gripping assembly 130 to grasp objects. On the other hand, the center of gravity of the gripping assembly 130 can be lowered, especially when the gripping assembly 130 is in the stored state. The gripping assembly 130 can be stored within the housing 111, making the movement of the cleaning device more stable. Furthermore, the weight of the cleaning device can be reduced, thereby reducing energy consumption during movement.

[0220] In some examples, to ensure the mechanical strength of the mounting plate 120 , the mounting plate 120 may be made of steel.

[0221] like Figure 2 As shown, in a feasible embodiment, there are two or more assembly holes 122 , and the number of fasteners 150 is adapted to the number of the assembly holes 122 .

[0222] In this technical solution, the number of assembly holes 122 is further provided, and there are two or more assembly holes 122, and the number of fasteners 150 can be equal to the number of assembly holes 122. Based on this, there can be multiple connection positions between the gripping component 130 and the shell 111, so that the fixing strength of the gripping component can be further improved, and the probability of the gripping component loosening can be further reduced.

[0223] It is understandable that there can be two or more assembly holes 122 and positioning holes 121 , and such an arrangement makes the fixation of the gripper assembly more reliable.

[0224] like Figure 8 As shown, among which, Figure 8In the figure, directions A and B represent two sides, and directions C and D represent two ends. In one feasible embodiment, multiple assembly holes 122 are divided into two groups and arranged on both sides of the mounting plate 120. This arrangement, on the one hand, can provide multiple connection points between the mounting plate 120 and the housing 111, and the force applied to these multiple connection points is more balanced, further ensuring the reliable fixation of the gripping assembly 130. On the other hand, it facilitates the creation of assembly holes 122, simplifies the processing of the mounting plate 120, and facilitates the assembly of the mounting plate 120.

[0225] like Figures 6 to 8 As shown, in a feasible embodiment, a reinforcing rib 112 is formed on the shell 111 , a groove 124 is formed on the peripheral side of the mounting plate 120 , and at least a portion of the reinforcing rib 112 is located in the groove 124 .

[0226] This technical solution further provides a design for the housing 111. Considering that, to ensure mechanical strength during installation, the mounting plate 120 is typically made of a high-strength material, such as steel or other metal materials, while to reduce the weight of the cleaning device, the main body of the cleaning device is typically made of a resin material, the mechanical strength of the housing 111 is relatively low, and there is a risk of deformation of the housing 111. Deformation of the housing 111 also affects the fixing strength of the gripping assembly 130. Based on this, in this embodiment, the shape of the mounting plate 120 and the design of the housing 111 are designed. A groove 124 may be formed on the mounting plate 120, while a reinforcing rib 112 may be formed on the housing 111. When the mounting plate 120 is assembled onto the housing 111, the reinforcing rib 112 is inserted into the groove 124, thereby increasing the strength of the housing 111 and the contact area between the housing 111 and the mounting plate 120, thereby further reliably fixing the gripping assembly 130.

[0227] In some examples, there are multiple grooves 124, which are spaced apart and distributed around the circumference of the mounting plate 120. This arrangement, on the one hand, allows for the formation of more reinforcement ribs 112 on the housing 111 through the provision of multiple grooves 124, further improving the strength. On the other hand, the distribution of the grooves 124 around the circumference of the mounting plate 120 facilitates the insertion of the reinforcement ribs 112 into the grooves 124.

[0228] like Figures 1 to 17 As shown, according to the third aspect of the embodiment of the present application, a cleaning system is proposed, including: the cleaning device as in the first aspect; or the cleaning device as in the second aspect; and a base station, the base station being used to accommodate the cleaning device.

[0229] The cleaning system provided in the embodiment of the present application includes the cleaning equipment of the first aspect or the cleaning equipment of the second aspect mentioned above. Therefore, the cleaning system includes all the beneficial effects of the cleaning equipment of the first aspect or the cleaning equipment of the second aspect of the above technical solution, which will not be elaborated here.

[0230] The cleaning system provided in the embodiment of the present application includes cleaning equipment and a base station. The base station can accommodate the cleaning equipment, replenish cleaning liquid and clean water for the cleaning equipment, and clean the cleaning parts of the cleaning equipment, making the use of the cleaning equipment more convenient. In addition, the base station can also replenish water and charge the cleaning equipment.

[0231] In the present invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0232] In the description of the present invention, it should be understood that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0233] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0234] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A cleaning device, characterized in that: include: A cleaning device body, the cleaning device body comprising a housing; A mounting plate, wherein a positioning hole and an assembly hole are formed on the mounting plate; a grab assembly, the mounting plate being connected to the grab assembly; a positioning member connected to the housing and configured to pass through the positioning hole for positioning; A fastener is connected to the housing and the grab assembly through the assembly hole.

2. The cleaning device according to claim 1, characterized in that There are two or more positioning holes, and the number of positioning members is adapted to the number of positioning holes; There are at least two positioning holes respectively distributed at two ends of the mounting plate.

3. The cleaning device according to claim 2, characterized in that The distance between two adjacent positioning holes is greater than or equal to 50 mm.

4. The cleaning device according to claim 2, characterized in that Different positioning pieces have different styles or diameters.

5. The cleaning device according to claim 1, characterized in that The grabbing component includes: A robotic arm, wherein a space-avoiding portion is formed on the mounting plate, and the turntable of the robotic arm is located in the space-avoiding portion.

6. The cleaning device according to claim 1, characterized in that There are two or more assembly holes, and the number of fasteners is adapted to the number of the assembly holes; The plurality of assembly holes are divided into two groups and arranged on both sides of the mounting plate.

7. A cleaning device, characterized in that: include: A cleaning device body, the cleaning device body comprising a shell, with a storage space formed on the shell; A grabbing assembly is connected in the bin via a connecting assembly so as to connect the grabbing assembly to the shell.

8. The cleaning device according to claim 7, characterized in that The connection component includes: A mounting plate, wherein a positioning hole is formed on the mounting plate; A positioning member is connected to the housing and is used to pass through the positioning hole to position the grabbing assembly.

9. The cleaning device according to claim 8, characterized in that Also includes: A fastener is formed on the mounting plate with an assembly hole, and the fastener is used to be connected to the shell and the grab assembly through the assembly hole.

10. A cleaning system, characterized in that: include: The cleaning device according to any one of claims 1 to 6; or The cleaning device according to any one of claims 7 to 9; A base station is used to accommodate the cleaning device.

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