Shell assembly and cleaning equipment

Abstract

The invention provides a shell assembly and cleaning equipment. The shell assembly comprises a base body, the base body is provided with a mounting bin, a mechanical arm of the cleaning equipment can be folded and stored in the mounting bin, and the mounting bin is provided with a bin opening; the door body can move relative to the base body so as to open or close the bin opening. Therefore, after the bin opening is closed by the door body, the mounting bin is relatively closed, the possibility that the mechanical arm in the mounting bin is polluted by dust in the external environment and wetted by liquid can be reduced, the service life of the mechanical arm is prolonged, and the overall reliability of the cleaning equipment is improved.

Description

Technical Field

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

[0002] With the iterative update and development of technology, cleaning equipment, especially self-propelled cleaning equipment, has entered the lives of ordinary families and has gradually become popular both at home and abroad. In order to better realize the cleaning function, current cleaning equipment will add a robotic arm to achieve the grabbing or moving of obstacles or garbage. Specifically, when the target object needs to be moved, the robotic arm unfolds to perform the grabbing action. When the target object does not need to be moved, the robotic arm folds and is stored in the arm compartment of the shell assembly. As a result, the reliability of the robotic arm affects the reliability of the entire machine. Summary of the Invention

[0003] 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 application does not intend to limit the key features and essential technical features of the claimed technical solution, nor does it intend to determine the scope of protection of the claimed technical solution.

[0004] An embodiment of the first aspect of the present application provides a shell assembly for use in cleaning equipment, comprising: a base body, the base body is provided with an installation compartment, the robotic arm of the cleaning equipment can be folded and stored in the installation compartment, and the installation compartment is provided with a compartment opening; a door body, the door body is movable relative to the base body to open or close the compartment opening.

[0005] Furthermore, the shell assembly also includes: a transmission device, the transmission device connects the base and the door body, and the transmission device is used to drive the door body to move horizontally and / or flip relative to the base to open or close the hatch.

[0006] Furthermore, the transmission device includes a driving part and a rocker assembly, the rocker assembly is at least connected to the driving part and is hinged to the door body, and the driving part drives at least the door body to move horizontally through the rocker assembly to open or close the hatch.

[0007] Furthermore, the rocker arm assembly includes a plurality of rocker arms, including a first rocker arm and a second rocker arm, the first rocker arm is connected between the driving part and the door body, the second rocker arm is hinged between the base and the door body, the driving part is used to drive the first rocker arm to rotate, and drive the second rocker arm to rotate through the door body, so that the door body moves relative to the base, wherein the door body in the extreme position of the open hatch is parallel to the door body of the closed hatch.

[0008] Furthermore, a first connecting part and a second connecting part are respectively provided at both ends of the rocker arm, the first rocker arm is connected to the driving part through the first connecting part, the first rocker arm is hinged to the door body through the second connecting part, the second rocker arm is hinged to the base through the first connecting part, and the second rocker arm is hinged to the door body through the second connecting part.

[0009] Furthermore, the door body is provided with a first hinge part hinged to the first rocker arm, and a second hinge part hinged to the second rocker arm. The number of the first hinge part is one, and the plurality of second hinge parts are distributed on at least part of the circumference of the first hinge part.

[0010] Furthermore, the number of the second hinge parts is four, the second hinge parts are distributed in pairs on both sides of the first hinge part along the first direction, and the paired second hinge parts are distributed on both sides of the first hinge part along the second direction, and the first direction is perpendicular to the second direction.

[0011] Furthermore, the shape of the second swing arm matches the shape of the first swing arm, so that the swing arm assembly drives the door body to move.

[0012] Furthermore, the rocker arm is configured as a bent structure, and the first connecting portion and the second connecting portion are located at two ends of the bent structure.

[0013] Furthermore, the rocker arm includes a first arm, a second arm and a third arm that are bent in sequence, the first arm and the third arm are arranged opposite to each other, the first connecting part is located at the first arm, the second connecting part is located at the third arm, and the length of the first arm is less than the length of the third arm.

[0014] Furthermore, the third arm includes a straight segment and an oblique segment, the straight segment is connected to the second arm and is arranged opposite to the first arm, the oblique segment is inclined relative to the straight segment toward the first arm, and the second connecting portion is located at the end of the oblique segment away from the straight segment.

[0015] Furthermore, a straight line passing through the center of the first connecting portion and perpendicular to the straight line segment of the third arm is taken as a reference line, and an angle between the first arm and the reference line is 45° to 90°.

[0016] Furthermore, at least part of the first arm of the rocker arm abuts against the base body, so that the door body is in the extreme position of opening the hatch.

[0017] Furthermore, the angle between the first arm of the second swing arm and the reference line is greater than the angle between the first arm of the first swing arm and the reference line, so that when the door body is in the extreme position of the warehouse opening, the first arm of the second swing arm abuts against the base.

[0018] Furthermore, the first arm of the first rocker is arranged to be inclined from the end connected to the second arm to the end close to the first connecting portion in a direction away from the third arm.

[0019] Furthermore, the first arm of the second swing rod is arranged in parallel with the straight section of the third arm, the door body is in the extreme position of opening the hatch, and the first arm of the second swing rod abuts against the base.

[0020] Furthermore, the driving unit is provided with an overcurrent protection device.

[0021] Furthermore, the housing assembly further comprises: a buffer member, which is arranged on the first arm and / or the base, and is located between the first arm and the base when the door body is in the extreme position of opening the hatch.

[0022] Furthermore, at least part of the third arm of the rocker further includes a transition segment connecting the straight line segment and the oblique line segment, and the transition segment is configured as at least one of a straight line, an oblique line, a curve, and a bending line.

[0023] Furthermore, the transmission device is located inside the base, the driving part is located outside the installation chamber, and the chamber wall of the installation chamber and the nearby base are provided with mutually connected avoidance openings for avoiding the rocker arm assembly.

[0024] Furthermore, the transmission device also includes a driving part and a flipping mechanism, the flipping mechanism connects the driving part and the door body, and the driving part rotates through the flipping mechanism to drive the door body to flip to open or close the hatch.

[0025] Furthermore, the transmission device also includes a driving part and a translation mechanism, the translation mechanism connects the driving part and the door body, and the driving part moves horizontally through the translation mechanism to drive the door body to move horizontally to open or close the warehouse opening.

[0026] An embodiment of the second aspect of the present application provides a cleaning device, comprising: a robotic arm, and a shell assembly according to any one of the first aspects.

[0027] The shell assembly and cleaning equipment provided in the embodiments of the present application include a robotic arm, a shell assembly including a base and a door body, the base body is provided with an installation compartment, and the robotic arm can be folded and stored in the installation compartment, so that the robotic arm can be stored in the installation compartment of the base body when it is not needed to perform grasping operations, thereby reducing the space occupied by the robotic arm and making the overall volume of the cleaning equipment smaller and easier to store and move. The door body is movable relative to the base body to open or close the compartment opening. In this way, when the door body closes the compartment opening, the installation compartment is relatively closed, which can prevent dust, liquid, etc. from the external environment from entering the installation compartment, reducing the possibility of the robotic arm in the installation compartment being contaminated by dust from the external environment or soaked by liquid, which is conducive to extending the service life of the robotic arm and thereby improving the overall reliability of the cleaning equipment.

[0028] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The following drawings of the present application are used as part of the embodiments of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application.

[0030] In the attached figure:

[0031] Figure 1 A partial structural schematic diagram showing a perspective of a closed door opening of a housing assembly according to an embodiment of the present application is shown;

[0032] Figure 2 Shown Figure 1 A schematic structural diagram of another perspective of the embodiment shown;

[0033] Figure 3 Shown Figure 1 A schematic structural diagram of another viewing angle of the embodiment shown;

[0034] Figure 4 Shown Figure 1 A schematic structural diagram of another perspective of the embodiment shown;

[0035] Figure 5 A partial structural diagram showing a perspective of an open hatch of a door body of a housing assembly according to an embodiment of the present application;

[0036] Figure 6 Shown Figure 5 A schematic structural diagram of another perspective of the embodiment shown;

[0037] Figure 7 Shown Figure 5 A schematic structural diagram of another viewing angle of the embodiment shown;

[0038] Figure 8 Shown Figure 5 A schematic structural diagram of another perspective of the embodiment shown;

[0039] Figure 9 A schematic structural diagram of the door body and the rocker arm assembly of the present application is shown from one perspective when the door body is in a closed hatch state;

[0040] Figure 10 A schematic structural diagram of a first swing arm of the present application from one perspective is shown;

[0041] Figure 11 A schematic structural diagram showing a second swing arm from one perspective of an embodiment of the present application is shown;

[0042] Figure 12 A schematic structural diagram showing a second swing arm from one perspective of another embodiment of the present application is shown;

[0043] Figure 13 Shown Figure 10 A schematic structural diagram of another perspective of the embodiment shown;

[0044] Figure 14 Shown Figure 11 A schematic structural diagram of another perspective of the embodiment shown;

[0045] Figure 15 A schematic diagram showing the posture of the door body of the first embodiment of the present application during translational rotation or translational rotation relative to the base body;

[0046] Figure 16 A schematic diagram showing the posture of the door body in the second embodiment of the present application during translational rotation or translational rotation relative to the base body;

[0047] Figure 17 A partial structural schematic diagram of a housing assembly according to another embodiment of the present application is shown.

[0048] Description of Reference Numerals

[0049] 100 shell assembly, 110 base, 111 installation compartment, 1111 compartment opening, 112 avoidance opening, 113 connecting seat, 120 door body, 121 first hinged part, 122 second hinged part, 130 transmission device, 131 driving part, 132 rocker arm assembly, 133 first rocker arm, 134 second rocker arm, 135 first connecting part, 136 second connecting part, 137 first arm, 138 second arm, 139 third arm, 1391 straight line segment, 1392 oblique line segment, 1393 transition segment. DETAILED DESCRIPTION

[0050] In the following description, a number of specific details are given to provide a more thorough understanding of the technical solutions provided by this application. However, it is obvious to those skilled in the art that the technical solutions provided by this application can be implemented without one or more of these details.

[0051] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, 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.

[0052] Now, exemplary embodiments according to the present application will be described in more 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 this application thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0053] like Figures 1 to 17 As shown, an embodiment of the present application provides a shell assembly 100 and a cleaning device, wherein the shell assembly 100 is applied to the cleaning device, and the cleaning device can be a sweeping robot, a mopping robot, a sweeping and mopping all-in-one machine, or other cleaning robots that meet the requirements.

[0054] Specifically, the cleaning device includes, but is not limited to, a housing assembly 100, a cleaning assembly, a drive wheel assembly, and the like. These components coordinate with each other to enable the cleaning device to autonomously move to perform its cleaning function. The functional elements and other components that constitute these components of the cleaning device are integrated into the housing assembly 100. It will be appreciated 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 within a specific area to be cleaned without user intervention.

[0055] like Figure 1 、 Figure 5 、 Figure 17 As shown, the shell assembly 100 provided in the embodiment of the present application includes: a base 110, the base 110 is provided with an installation compartment 111, the robotic arm of the cleaning equipment can be folded and stored in the installation compartment 111, and the installation compartment 111 is provided with a compartment opening 1111; a door body 120, the door body 120 is movable relative to the base 110 to open or close the compartment opening 1111.

[0056] The housing assembly 100 provided in the embodiment of the present application includes a base 110 and a door 120, wherein the base 110 is provided with an installation compartment 111, and the cleaning device includes a robotic arm, which can be folded and stored in the installation compartment 111, so that the robotic arm can be stored in the installation compartment 111 of the base 110 when it is not needed to perform a grasping operation, thereby reducing the space occupied by the robotic arm, making the overall volume of the cleaning device smaller, convenient for storage and movement, and conducive to improving the aesthetic appearance of the cleaning device. The door 120 can be moved relative to the base 110 to open or close the compartment 1111, so that Figure 1 、 Figure 2 、 Figure 3 、 Figure 4As shown, when the door body 120 closes the compartment opening 1111, the installation compartment 111 becomes relatively closed, which can prevent dust, liquid, etc. from the external environment from entering the installation compartment 111, and reduce the possibility of the robotic arm in the installation compartment 111 being contaminated by dust or soaked by liquid from the external environment, which is beneficial to extending the service life of the robotic arm and thereby improving the overall reliability of the cleaning equipment.

[0057] It is understandable that if Figure 5 、 Figure 6 , and 7, Figure 8 As shown, when the door 120 is movable relative to the base 110 to open the hatch 1111, the robotic arm can move and extend out of the hatch 1111. Thus, the deployment of the robotic arm can achieve the grabbing or moving of obstacles, objects, and garbage near the housing assembly 100, thereby better achieving the autonomous cleaning function. It is understood 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.

[0058] Furthermore, the base 110 is also provided with a mounting groove, and the driving wheel assembly of the cleaning equipment is installed on the base 110 through the mounting groove, so that the driving wheel assembly can drive the base 110 to move. Since the robotic arm is connected to the base 110, such as the robotic arm can be connected to a part of the structure of the mounting bin 111, the robotic arm can move randomly with the movement of the base 110 to reach the target position.

[0059] Furthermore, if Figure 17 As shown, the base 110 can be understood as the main part of the housing assembly 100 of the cleaning device, the installation chamber 111 is directly opened on the base 110, the bay opening 1111 of the installation chamber 111 can face upward, the installation groove is directly opened on the base 110, the opening of the installation groove faces downward, and the robot arm and the driving wheel assembly are installed on the base 110. Specifically, the shape of the base 110 can be roughly the same as the outer shape of the housing assembly 100 of the cleaning device, for example, the shape of the base 110 can be roughly disc-shaped, disc-shaped with a front and a back round, or other shapes.

[0060] Or, as Figures 1 to 8As shown, the base 110 may include a base shell (not shown) and a connecting seat 113, the connecting seat 113 is installed on the base shell, the mounting chamber 111 can be opened at the top of the connecting seat 113, and the robotic arm is connected to the connecting seat 113. Alternatively, the connecting seat 113 can be provided with a through groove, the connecting seat 113 and the base shell are surrounded to form the mounting chamber 111, and the robotic arm is installed on the base shell through the through groove of the connecting seat 113. Among them, the mounting groove can be opened at the bottom of the base shell, and the driving wheel assembly is installed on the base shell. Specifically, the shape of the base shell can be roughly the same as the outer shape of the housing assembly 100 of the cleaning device, such as the shape of the base shell can be roughly disc-shaped, disc-shaped with a front and a back circle, or other shapes, and the shape of the connecting seat 113 can be rectangular, circular, other regular shapes or irregular shapes.

[0061] like Figure 4 and Figure 8 As shown, in some possible embodiments provided in the present application, the shell assembly 100 also includes: a transmission device 130, which connects the base 110 and the door body 120, so that the transmission device 130 drives the door body 120 to move relative to the base 110 to open or close the hatch 1111. This setting is conducive to improving the intelligence of the shell assembly 100 and improving user satisfaction.

[0062] The transmission device 130 is used to drive the door body 120 to translate and / or flip relative to the base 110 to open or close the hatch 1111. For example, the transmission device 130 can drive the door body 120 to translate relative to the base 110 to open or close the hatch 1111, or the transmission device 130 can drive the door body 120 to flip relative to the base 110 to open or close the hatch 1111, or the transmission device 130 can drive the door body 120 to translate and flip relative to the base 110 to open or close the hatch 1111. In this way, the requirements of different structures of the transmission device 130 can be met.

[0063] It is understandable that in other examples, the door body 120 and the base 110 can also be set separately, and the door body 120 can be manually moved relative to the base 110 to open or close the hatch 1111. This arrangement can simplify the setting of the transmission device 130, reduce the volume of the shell assembly 100, and help save manufacturing costs.

[0064] like Figure 4 and Figure 8 As shown, in some possible embodiments provided in the present application, the transmission device 130 includes a driving part 131 and a rocker assembly 132. The rocker assembly 132 is at least connected to the driving part 131 and is hinged to the door body 120. The driving part 131 drives at least the door body 120 to move horizontally through the rocker assembly 132 to open or close the compartment opening 1111.

[0065] In which, driven by the driving part 131 and the rocker assembly 132, the door body 120 at least moves horizontally relative to the base 110 to open or close the hatch 1111. Compared with the door body 120 flipping relative to the base 110 to open or close the hatch 1111, the space occupied by the door body 120 after the door body 120 at least moves horizontally relative to the base 110 to open the hatch 1111 is reduced.

[0066] Furthermore, the driving part 131 drives the door body 120 to move at least horizontally through the rocker assembly 132 to open or close the compartment opening 1111. The driving part 131 may drive the door body 120 to move horizontally relative to the base 110 through the rocker assembly 132, or the driving part 131 drives the door body 120 to move horizontally and vertically relative to the base 110 synchronously through the rocker assembly 132, or the driving part 131 drives the door body 120 to move horizontally and vertically relative to the base 110 synchronously through the rocker assembly 132 and accompanied by a flipping motion. Thus, the requirements of different structures of the rocker assembly 132 can be met.

[0067] Specifically, the driving part 131 drives the door body 120 to move synchronously in the horizontal and vertical directions relative to the base 110 through the rocker assembly 132, and the driving part 131 drives the door body 120 to move synchronously in the horizontal and vertical directions relative to the base 110 through the rocker assembly 132 and accompanied by a flipping movement, which can be understood as the door body 120 rotating out or rotating in a horizontal direction relative to the base 110.

[0068] Specifically, Figure 15 The figure shows the process of the door body 120 of the first embodiment of the present application being rotated out or rotated back in translation relative to the base 110. In this embodiment, the driving part 131 drives the door body 120 to move in translation relative to the base 110 in the horizontal and vertical directions synchronously through the rocker assembly 132, so that the door body 120 is rotated out or rotated back in translation relative to the base 110. Figure 15As shown, when the door body is in posture 120a, the door body 120 has the hatch 1111 closed. When the door body is in posture 120c, the door body has the hatch 1111 open. When the door body is in other postures between postures 120a and 120c, such as when the door body is in posture 120b, the door body is located between the open hatch 1111 and the closed hatch 1111. Specifically, the door body in posture 120b is parallel to the door bodies in postures 120a and 120c, but the positions are different. In other words, the door body 120 in each of the postures 120a, 120b, and 120c is parallel to each other, and the horizontal and vertical positions of the door body 120 in each of the postures 120a, 120b, and 120c are different. That is, in this example, when the door body 120 is rotated out or rotated back in translation relative to the base body 110, the door body 120 in each posture is parallel to each other, and the horizontal and vertical positions of the door body 120 in each posture are different.

[0069] Specifically, Figure 15 In the embodiment shown, when the door body moves in posture 120a and posture 120c, the movement trajectory of the door body 120 is shown as the dotted line Q. It can be understood that the movement trajectory Q of the door body 120 can be a straight line, a curve, a bending line or a line of other shapes, and this application does not make any specific limitations on this.

[0070] Specifically, Figure 16The figure shows a schematic diagram of the process of the door body 120 of the second embodiment of the present application being translated out or translated back relative to the base 110. In this embodiment, the driving unit 131 drives the door body 120 to translate synchronously in the horizontal and vertical directions relative to the base 110 through the rocker assembly 132, accompanied by a flipping motion, so that the door body 120 is translated out or translated back relative to the base 110. When the door body is in the 120a posture, the door body 120 closes the hatch 1111, and when the door body is in the 120c posture, the door body opens the hatch 1111. The door bodies in the 120a and 120c postures are parallel to each other, and the horizontal and vertical positions of the door bodies in the 120a and 120c postures are different. When the door body is in other postures between the 120a posture and the 120c posture, such as when the door body is in the 120b posture, the door body is located between the open hatch 1111 and the closed hatch 1111. The door body in the 120b posture is not parallel to the door bodies in the 120a posture and the 120c posture, and the horizontal position and vertical position of the door body in the 120b posture relative to the door bodies in the 120a posture and the 120c posture are different. That is to say, in the process of the door body 120 in this embodiment being rotated outward or rotated inward relative to the base body 110, the door body 120 in some postures is parallel to each other, and the door body 120 in some postures is not parallel, and the horizontal position and / or vertical position of the door body 120 in each posture are different.

[0071] Specifically, Figure 16 In the illustrated embodiment, when the door body moves in postures 120a and 120c, the movement trajectory of the door body 120 is shown as a dotted line Q. It is understood that the movement trajectory Q of the door body 120 can be a curve, a bending line, or a line of other shapes. The curve can be a convex curve or a concave curve. This application does not make any specific limitations on this. Among them, the rocker assembly 132 is connected to at least the drive unit 131 and is hinged to the door body 120. It is understood that the rocker assembly 132 includes a plurality of rockers. All of the rockers can be connected to the drive unit 131, or some of the rockers can be connected to the drive unit 131, all of the rockers can be hinged to the door body 120, or some of the rockers can be hinged to the door body 120, thereby meeting the requirements of different structures of the rocker assembly 132.

[0072] In some possible embodiments provided herein, the transmission device 130 further includes a driving portion 131 and a flipping mechanism (not shown). The flipping mechanism connects the driving portion 131 and the door body 120. The driving portion 131 rotates through the flipping mechanism to drive the door body 120 to flip and open or close the hatch 1111. This arrangement can reduce the horizontal space occupied by the door body 120 on the base 110 during the process of the door body 120 opening or closing the hatch 1111, thereby meeting the requirement for a layout with a small horizontal space on the base 110.

[0073] Specifically, the flipping mechanism may include a gear mechanism, a rack and pinion structure, or other mechanisms. When the flipping mechanism drives the door body 120 to flip relative to the base body 110 to open or close the hatch 1111, the door body 120 is non-parallel in each posture, and the vertical position and horizontal position of the door body 120 vary in each posture.

[0074] In some possible embodiments provided herein, the transmission device 130 further includes a driving portion 131 and a translation mechanism (not shown in the figures). The translation mechanism connects the driving portion 131 and the door body 120. The driving portion 131 translates through the translation mechanism to drive the door body 120 to translate in the horizontal direction to open or close the hatch 1111. This arrangement can reduce the space occupied by the door body 120 in the vertical direction of the base 110 during the process of the door body 120 opening or closing the hatch 1111, thereby meeting the requirement for a small vertical space arrangement of the base 110.

[0075] Specifically, the translation mechanism may include a slide rail and slider mechanism, a belt drive mechanism, a chain drive mechanism, etc. In the process of the translation mechanism driving the door body 120 to translate in the horizontal direction relative to the base body 110 to open or close the hatch 1111, the door bodies 120 are parallel to each other in each posture, the vertical position of the door body 120 in each posture is unchanged, and the horizontal position of the door body 120 in each posture is variable.

[0076] like Figure 4 、 Figure 8 、 Figure 9As shown, in some possible embodiments provided by the present application, the rocker assembly 132 includes a plurality of rocker arms, including a first rocker arm 133 and a second rocker arm 134. The first rocker arm 133 is connected between the driving unit 131 and the door body 120, and the second rocker arm 134 is hinged between the base 110 and the door body 120. The driving unit 131 drives the first rocker arm 133 to rotate, so that the first rocker arm 133 can drive the door body 120 to move. The movement of the door body 120 drives the second rocker arm 134 to move. Since the second rocker arm 134 is hinged between the base 110 and the door body 120, the movement of the second rocker arm 134 restricts the movement of the door body 120. In this way, the first rocker arm 133 and the second rocker arm 134 cooperate to move the door body 120 relative to the base 110 to open or close the hatch 1111, thereby achieving translational movement of the door body 120 to open or close the hatch 1111. The door body 120 at the extreme position of opening the hatch 1111 is parallel to the door body 120 at the closed hatch 1111. Specifically, the door body 120 at the extreme position of opening the hatch 1111 can be as follows: Figures 5 to 8 As shown, the door 120 of the closed hatch 1111 can be as shown in FIG. Figures 1 to 4 shown.

[0077] This arrangement simplifies the structure of the rocker assembly 132 and makes it easy to implement, which helps simplify the structure of the transmission device 130, resulting in a lower cost for the transmission device 130 and, in turn, reducing the overall manufacturing cost of the housing assembly 100. Furthermore, by aligning the door body 120 in its extreme position of opening the hatch 1111 with the door body 120 in its closed hatch 1111, the vertical space occupied by the door body 120 on the base 110 during the process of opening or closing the hatch 1111 can be reduced compared to when the door body 120 is flipped relative to the base 110 to open or close the hatch 1111. Furthermore, the vertical space occupied by the door body 120 on the base 110 after the hatch 1111 is opened can be reduced. At the same time, the door body 120 in the extreme position of the open compartment 1111 is parallel to the door body 120 of the closed compartment 1111. Compared with the translation mechanism that drives the door body 120 to move horizontally relative to the base body 110 to open or close the compartment 1111, which usually requires a larger length, the rocker assembly 132 in the embodiment of the present application has a compact structure and a small volume, which can meet the design requirements of the transmission device 130 with a compact structure and a small volume, and then can meet the design requirements of the shell assembly 100 with a compact structure and a small volume, so that the layout of the cleaning equipment is compact and the volume is small.

[0078] Specifically, you can Figure 15In the embodiment shown, the driving part 131 drives the door body 120 to move horizontally and vertically relative to the base 110 through the rocker assembly 132, so that the door body 120 moves out or back relative to the base 110 to open or close the hatch 1111. Alternatively, it can be as follows Figure 16 As shown, the driving part 131 drives the door body 120 to move synchronously in the horizontal and vertical directions relative to the base 110 through the rocker assembly 132, accompanied by a flipping movement, so that the door body 120 can rotate out or rotate back relative to the base 110 to open or close the compartment opening 1111.

[0079] The number of the rocker arms can be multiple, wherein the number of the first rocker arms 133 can be multiple, such as the number of the first rocker arms 133 can be one, two, three or other number, and the number of the second rocker arms 134 can be multiple, such as the number of the second rocker arms 134 can be one, two, three or other number. It is understandable that the number of the first rocker arms 133 and the number of the second rocker arms 134 can be equal or unequal. The first rocker arm 133 is used to connect the driving part 131 and the door body 120, and the second rocker arm 134 is used to connect the door body 120 and the base 110. The structures of the first rocker arm 133 and the second rocker arm 134 can be the same or different, the structures of the multiple first rocker arms 133 can be the same or different, and the structures of the multiple second rocker arms 134 can be the same or different.

[0080] like Figure 4 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 and Figure 12 As shown, in some possible embodiments provided in the present application, a first connection portion 135 and a second connection portion 136 are respectively provided at both ends of the swing arm. The first swing arm 133 is connected to the driving portion 131 via the first connection portion 135, and the first swing arm 133 is hinged to the door body 120 via the second connection portion 136, so that the first swing arm 133 is connected to the driving portion 131 and is hinged to the door body 120. The second swing arm 134 is hinged to the base 110 via the first connection portion 135, and the second swing arm 134 is hinged to the door body 120 via the second connection portion 136, so that the second swing arm 134 is hinged to the base 110 and the door body 120.

[0081] The first connecting portion 135 and the second connecting portion 136 on the rocker arm may be connecting holes, connecting bosses, connecting ears or other structures.

[0082] Specifically, the first connecting portion 135 and the second connecting portion 136 on the rocker are connecting holes. Figure 10 and Figure 13As shown, the hole wall of the first connecting portion 135 on the first swing rod 133 is provided with a limited surface, the driving portion 131 is a motor, and the output shaft of the motor is passed through the connecting hole. Through the setting of the limited surface, the output shaft of the motor rotates to drive the first swing rod 133 to rotate. Specifically, the first connecting portion 135 of the first swing rod 133 can be a D-shaped hole, a flat hole, a rectangular hole, a hexagonal hole, etc. Figure 11 、 Figure 12 、 Figure 14 As shown, the first connection portion 135 on the second swing rod 134 can be a circular hole, which is hinged to the base 110 through a hinge shaft. The second connection portion 136 on each swing rod can also be a circular hole, which is hinged to the door body 120 through a hinge shaft.

[0083] like Figure 9 As shown, in some possible embodiments provided in the present application, the door body 120 is provided with a first hinged portion 121 hinged to the first rocker arm 133, and a second hinged portion 122 hinged to the second rocker arm 134. The number of the first hinged portion 121 is one, and the plurality of second hinged portions 122 are distributed on at least part of the circumference of the first hinged portion 121.

[0084] That is to say, the hinge point between the first rocker arm 133 and the door body 120 can be understood as the first hinge part 121, and the hinge point between the second rocker arm 134 and the door body 120 can be understood as the second hinge part 122. Therefore, in this embodiment, the number of first rocker arms 133 is one, and the number of second rocker arms 134 is multiple. The hinge points of multiple second rocker arms 134 and the door body 120 can be distributed on the surrounding side of the hinge point between the first rocker arm 133 and the door body 120. As a result, the driving part 131 can drive the door body 120 to move through one first rocker arm 133, which has a simple structure and low cost. At the same time, multiple second rocker arms 134 are hinged between the door body 120 and the base 110, which can ensure the stability and reliability of the door body 120's translational rotation and translational rotation.

[0085] Specifically, the number of the second hinge parts 122 can be two, three, four, five, or other numbers, that is, the number of the second rocker arms 134 can be two, three, four, five, or other numbers.

[0086] The plurality of second hinge portions 122 may be distributed on a portion of the circumference of the first hinge portion 121 , such as on the same side, different sides, or the entire circumference of the first hinge portion 121 .

[0087] like Figure 4 、 Figure 8 、 Figure 9As shown, in some possible embodiments provided by the present application, the number of the second hinge parts 122 is four, and the second hinge parts 122 are distributed in pairs on both sides of the first hinge part 121 along the first direction, and the second hinge parts 122 are distributed in pairs on both sides of the first hinge part 121 along the second direction, and the first direction and the second direction are perpendicular. Figure 4 and Figure 9 As shown by the arrow X in FIG, the second direction can be as follows Figure 4 and Figure 9 As shown by the arrow Y in .

[0088] In this embodiment, the number of the second hinge parts 122 is four, and the four second hinge parts 122 are distributed on different sides of the first hinge part 121 with the first hinge part 121 as the center. Thus, the second swing rod 134 hinged to the four second hinge parts 122 can provide good and stable support for the door body 120, and play a good limiting role in the movement of the door body 120 driven by the first swing rod 133, so that the entire door body 120 can be opened and closed as shown in FIG. Figure 15 or Figure 16 The embodiment shown is a translational rotation out or a translational rotation.

[0089] It is understandable that the structures of the four second swing rods 134 may be the same or different.

[0090] like Figure 4 、 Figure 10 、 Figure 11 、 Figure 12 In some possible embodiments provided in the present application, the shape of the second swing rod 134 matches the shape of the first swing rod 133 so that the swing rod assembly 132 drives the door body 120 to move.

[0091] Since the first swing rod 133 is connected to the driving part 131 and the door body 120, the driving part 131 drives the door body 120 to move through the first swing rod 133. This part of the movement can be understood as the main movement of the door body 120. Since the second swing rod 134 is hinged between the door body 120 and the base 110, the movement of the door body 120 driven by the first swing rod 133 will drive the second swing rod 134 to move. At the same time, since the second swing rod 134 is hinged to the base 110, the movement of the door body 120 will be limited, so that the door body 120 can at least move horizontally relative to the base 110, such as the door body 120 relative to the base 110. Figure 15 or Figure 16 The embodiment shown is a translational outward rotation or a translational backward rotation, and this part of the movement can be understood as an auxiliary movement of the door body 120.

[0092] In this embodiment, the shape of the second rocker arm 134 matches the shape of the first rocker arm 133, so that the movement trajectory of the second rocker arm 134 is roughly the same as the movement trajectory of the first rocker arm 133, that is, the second rocker arm 134 does not hinder the movement of the first rocker arm 133, so that the first rocker arm 133 drives the door body 120 to rotate out and rotate back smoothly. At the same time, through the restriction of the movement of the door body 120 by multiple second rocker arms 134, the door body 120 can move linearly relative to the base 110. Therefore, through the cooperation between the first rocker arm 133 and the second rocker arm 134, the door body 120 can at least move linearly relative to the base 110 to open or close the compartment opening 1111.

[0093] like Figure 10 、 Figure 11 and Figure 12 As shown, in some possible embodiments provided in the present application, the rocker arm is configured as a bending structure, and the first connecting portion 135 and the second connecting portion 136 are located at two ends of the bending structure.

[0094] In this embodiment, the provision of a bent structure enables the swing arm to increase its travel within a limited space. Specifically, the first swing arm 133 is a bent structure, and the second swing arm 134 is a bent structure. As a result, the first swing arm 133 and the second swing arm 134 cooperate to increase the overall travel of the swing arm assembly 132 within a limited space, thereby providing sufficient room for the door body 120 to move relative to the base 110. In addition, the first swing arm 133 and the second swing arm 134 are both provided with a bent structure, providing room for the door body 120 to rotate outward or backward relative to the base 110, thereby enabling the door body 120 to rotate outward in a translational manner to open the warehouse door or to rotate back in a parallel manner to close the warehouse door.

[0095] It is understandable that, since the first swing rod 133 and the second swing rod 134 are arranged at different positions, and the plurality of second swing rods 134 are arranged at different positions, the bending structures on each swing rod may be the same or different, depending on the specific situation.

[0096] like Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14As shown, in some possible embodiments provided in the present application, the rocker arm includes a first arm 137, a second arm 138 and a third arm 139 that are bent in sequence, so that the rocker arm forms a bent structure using the first arm 137, the second arm 138 and the third arm 139. The first arm 137 and the third arm 139 are arranged opposite to each other, the first connecting portion 135 is located on the first arm 137, and the second connecting portion 136 is located on the third arm 139. The length of the first arm 137 is smaller than the length of the third arm 139, so that the bending structure is arranged close to the first connecting portion 135. Since the first connecting portion 135 of the first rocker arm 133 is connected to the driving portion 131, the first connecting portion 135 of the second rocker arm 134 is hinged to the base 110, and the second connecting portion 136 of each rocker arm is hinged to the door body 120, the bending structure is located at the part of the rocker arm away from the door body 120, that is, the bending structure is close to the driving portion 131 or the side of the base 110, thereby providing sufficient movement space for the door body 120 to rotate out or rotate back relative to the base 110, so that the first rocker arm 133 and the second rocker arm 134 cooperate to enable the door body 120 to rotate relative to the base 110 as shown in FIG. Figure 15 or Figure 16 The embodiment shown rotates out or back in translation to open or close the hatch 1111.

[0097] Specifically, the first arm 137, the second arm 138, and the third arm 139 can be an integrally formed structure, which is convenient for processing, easy to produce, and reduces manufacturing costs. Alternatively, the first arm 137, the second arm 138, and the third arm 139 can be a separate structure, which is assembled into a rocker.

[0098] like Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 As shown, in some possible embodiments provided in the present application, the third arm 139 includes a straight segment 1391 and an oblique segment 1392, the straight segment 1391 is connected to the second arm 138 and is arranged opposite to the first arm 137, the oblique segment 1392 is inclined relative to the straight segment 1391 in a direction close to the first arm 137, and the second connecting portion 136 is located at the end of the oblique segment 1392 away from the straight segment 1391.

[0099] In this embodiment, the straight segment 1391 of the third arm 139, the second arm 138, and the first arm 137 form a curved structure, providing sufficient space for the door body 120 to swing out and back relative to the base 110. By positioning the second connecting portion 136 at the end of the oblique segment 1392 away from the straight segment 1391, and by tilting the oblique segment 1392 relative to the straight segment 1391 toward the first arm 137, the third arm 139 is formed into an overall concave hook-shaped structure, reducing the space occupied by the rocker arm and thereby meeting the design requirements of a compact and small structure for the transmission device 130. Furthermore, this arrangement ensures that the rocker arm assembly 132 provides sufficient space for the door body 120 to move. Furthermore, after the door body 120 opens the hatch 1111, the distance between the door body 120 and the base 110 is reduced, further reducing the space occupied by the door body 120 after the hatch 1111 is opened.

[0100] like Figure 13 and Figure 14 As shown, in some possible embodiments provided in the present application, a straight line passing through the center of the first connecting portion 135 and perpendicular to the straight segment 1391 of the third arm 139 is used as a reference line, and the angle between the first arm 137 and the reference line is 45° to 90°.

[0101] The straight line passing through the center of the first connecting portion 135 and perpendicular to the straight line segment 1391 of the third arm 139 can be as follows: Figure 13 and Figure 14 As shown by the straight line P, wherein the angle between the first arm 137 and the reference line P can be as follows Figure 13 and Figure 14 That is, the range of angle α is 45° to 90°. By properly setting the range of angle α, the bending structure of the swing arm has a reasonable bending angle, providing sufficient movement space for the door body 120 to rotate outward and backward relative to the base body 110.

[0102] Specifically, Figure 13 The angle α in the equation can be understood as the angle between the first arm 137 passing through the first pendulum 133 and the reference line. Figure 14 The angle α in the figure can be understood as the angle between the first arm 137 of the second pendulum 134 and the reference line in one embodiment. It can be understood that the motion space of the pendulum can be understood as being located on the side of the first arm 137 away from the angle α, that is, the side of the first arm 137 away from the bending structure. In other words, the motion space of the pendulum can be understood as being negatively correlated with the angle α. Specifically, as Figure 13 and Figure 14 As shown, the rocker rod Figure 13 and Figure 14 The door body 120 moves in the counterclockwise direction O shown to open the hatch 1111 .

[0103] In some possible embodiments provided in the present application, at least part of the first arm 137 of the rocker arm abuts against the base 110 so that the door body 120 is in the extreme position of opening the hatch 1111 .

[0104] The limit position of the door body 120 opening the hatch 1111 can be understood as the maximum limit position of the door body 120 relative to the base 110. At this position, the door body 120 can no longer be rotated relative to the base 110. The door body 120 can only be rotated relative to the base 110 to gradually close the hatch 1111. Specifically, Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 The posture of the door body 120 shown can be understood as the maximum limit position of the door body 120 when it rotates outward relative to the base body 110.

[0105] In this embodiment, the angle of the bending structure of the rocker arm can be reasonably set, such as the angle between the first arm 137 of the first rocker arm 133 and the reference line, and the angle between the first arm 137 of the second rocker arm 134 and the reference line, so that at least part of the first arm 137 of the rocker arm abuts against the base 110 to achieve mechanical limiting. As a result, the movement of the door body 120 is well limited, so that the door body 120 can be maintained in the position of opening the hatch 1111.

[0106] Specifically, the first arm 137 of the first swing arm 133 may abut against the base 110, so that the door body 120 is in the extreme position of opening the hatch 1111; or the first arm 137 of the second swing arm 134 may abut against the base 110, so that the door body 120 is in the extreme position of opening the hatch 1111; or the first arms 137 of the first swing arm 133 and the second swing arm 134 may both abut against the base 110, so that the door body 120 is in the extreme position of opening the hatch 1111. Specifically, Figure 6 As shown, the first arm 137 of the second swing rod 134 abuts against the base 110 so that the door body 120 is in the extreme position of opening the hatch 1111 .

[0107] In the above embodiment, the angle between the first arm 137 of the second rocker arm 134 and the reference line is greater than the angle between the first arm 137 of the first rocker arm 133 and the reference line, so that when the door body 120 is in the extreme position of the compartment opening 1111, the first arm 137 of the second rocker arm 134 abuts against the base 110.

[0108] Among them, the angle between the first arm 137 of the second rocker arm 134 and the reference line is greater than the angle between the first arm 137 of the first rocker arm 133 and the reference line, so that when the first rocker arm 133 drives the second rocker arm 134 to move through the door body 120, part of the structure of the second rocker arm 134, such as the third arm 139 of the second rocker arm 134, will abut against the base 110 to limit the movement of the door body 120 relative to the base 110, so that the door body 120 can reliably and stably maintain the position of the open hatch 1111.

[0109] Specifically, Figure 13 The first pendulum 133 and Figure 14 When the second swing arm 134 rotates in the counterclockwise direction O around the first connecting portion 135, the door body 120 will be driven to move relative to the base 110 to open the hatch 1111. Since the angle between the first arm 137 of the second swing arm 134 and the reference line is greater than the angle between the first arm 137 of the first swing arm 133 and the reference line, during the counterclockwise rotation of the first and second swing arms 133 and 134, the movement space of the second swing arm 134 will be smaller than the movement space of the first swing arm 133. In this way, the first arm 137 of the second swing arm 134 will first abut against the base 110, as shown in FIG. Figure 6 As shown, the first arm 137 of the second swing rod 134 will first abut against the base 110 to achieve mechanical limiting, thereby effectively limiting the movement of the door body 120, so that the movement of the first swing rod 133 is restricted, so that the door body 120 can remain in the position of opening the hatch 1111. Specifically, Figure 13 、 Figure 14 The direction indicated by the arrow O shown in FIG is counterclockwise.

[0110] like Figure 13 As shown in some possible embodiments provided by the present application, the first arm 137 of the first swing rod 133 is arranged tilted from the end connected to the second arm 138 to the end close to the first connecting portion 135 in a direction away from the third arm 139. As a result, the angle between the first arm 137 of the first swing rod 133 and the reference line is less than 90 degrees, which means that the first swing rod 133 rotates around the center of the first connecting portion 135 and along the Figure 13 The counterclockwise rotation O shown provides sufficient movement space so that the door body 120 has sufficient movement space to ensure that the door body 120 can be smoothly rotated out or rotated back relative to the base 110.

[0111] like Figure 6 and Figure 14As shown in some possible embodiments provided by the present application, the first arm 137 of the second swing arm 134 is arranged in parallel with the straight section 1391 of the third arm 139, the door body 120 is in the extreme position of opening the hatch 1111, and the first arm 137 of the second swing arm 134 abuts against the housing assembly 100. As a result, the angle between the first arm 137 of the second swing arm 134 and the reference line is close to or equal to 90 degrees, which means that the second swing arm 134 rotates around the center of the first connecting portion 135 and along the Figure 14 The counterclockwise rotation O in the direction shown provides sufficient movement space, and the movement space of the second rocker arm 134 in the counterclockwise direction is smaller than the movement space of the first rocker arm 133 in the counterclockwise direction, so that the first arm 137 of the second rocker arm 134 will abut against the base 110, so that the door body 120 is in the extreme position of opening the hatch 1111.

[0112] That is to say, by reasonably setting the shape of the bending structure of the second rocker arm 134, the movement space of the second rocker arm 134 is made smaller than the movement space of the first rocker arm 133, and the second rocker arm 134 and the base 110 form a mechanical limit, so that the door body 120 can be reliably and stably maintained in the extreme position of the open hatch 1111.

[0113] Specifically, the swing rod assembly 132 provided in this embodiment drives the door body 120 to move relative to the base body 110. Figure 16 The motion trajectory of the illustrated embodiment is a translational rotation or a translational rotation to open or close the hatch 1111 .

[0114] In some possible embodiments provided in the present application, the driving unit 131 is provided with an overcurrent protection device.

[0115] Among them, the overcurrent protection device refers to a protection method that causes the drive unit 131 to operate when the current of the drive unit 131 exceeds a predetermined maximum value. Specifically, when the current flowing through the drive unit 131 exceeds a predetermined value, the protection device is activated, causing the drive unit 131 to stop working. In this embodiment, when the first arm 137 of a part of the swing arm abuts against the base 110 to form a mechanical limit, such as the first arm 137 of the second swing arm 134 abuts against the base 110 to form a mechanical limit, so that the movement of the first swing arm 133 is restricted, the overcurrent protection device of the drive unit 131 will be activated, causing the drive unit 131 to stop working, so that the door body 120 can be reliably and stably maintained in the extreme position of the open hatch 1111. In this way, damage to the drive unit 131 can be reduced, which is conducive to extending the service life of the drive unit 131 and improving the reliability of the drive unit 131.

[0116] It can be understood that when the door body 120 closes the hatch 1111, part of the door body 120 abuts against the base 110 on the side of the hatch 1111, so that the door body 120 and the base 110 near the hatch 1111 form an extreme limit, so that the movement of the first rocker arm 133 is restricted. At this time, the overcurrent protection device of the drive part 131 will be activated, and the drive part 131 will stop working, so that the door body 120 can reliably and stably close the hatch 1111, so as to reduce the dust, liquid, debris, etc. in the external environment from entering the installation bin 111 and damaging the robotic arm, thereby increasing the service life of the robotic arm.

[0117] In some possible embodiments provided in the present application, the shell assembly 100 also includes: a buffer member, which is arranged on the third arm 139 and / or the base 110, and the buffer member is located between the third arm 139 and the base 110 when the door body 120 is in the extreme position of opening the hatch 1111.

[0118] The setting of the buffer part has a good buffering effect on the abutment or collision between the third arm 139 of the rocker arm and the base 110, which can reduce the problem of damage and wear of the third arm 139 or the base 110 caused by frequent abutment or collision between the third arm 139 and the base 110, greatly improve the service life of the rocker arm and the base 110, and improve the overall reliability of the cleaning equipment.

[0119] Specifically, the buffer member can be elastic silicone, spring sheet, elastic glue, etc.

[0120] Specifically, the buffer can be installed on the base 110 by at least one of a clip-on structure, a plug-in structure, a threaded structure, a mortise and tenon structure, and an adhesive, or the buffer can be installed on the third arm 139 by at least one of a clip-on structure, a plug-in structure, a threaded structure, a mortise and tenon structure, and an adhesive, or the buffer can be installed on both the base 110 and the third arm 139 by at least one of a clip-on structure, a plug-in structure, a threaded structure, a mortise and tenon structure, and an adhesive.

[0121] It is understandable that when the buffer is provided on the third arm 139 of the rocker arm, the buffer can be provided on all the third arms 139 abutting against the base 110; or, the buffer can be provided on at least one of the multiple third arms 139 abutting against the base 110.

[0122] like Figure 12 As shown, in some possible embodiments provided in the present application, at least part of the third arm 139 of the rocker arm also includes a transition section 1393 connecting the straight line segment 1391 and the oblique line segment 1392, and the transition section 1393 is set to at least one of a straight line, an oblique line, a curve, and a bending line.

[0123] In this embodiment, the setting of the transition section 1393 can meet the requirements of different distances and different positions between the first connecting part 135 and the second connecting part 136 at both ends of the rocker arm, so that the arrangement position of the rocker arm can be diversified and flexible, and the structure of the rocker arm assembly 132 can be diverse and easy to implement, reducing the design difficulty.

[0124] Specifically, if Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 As shown, although the first swing rod 133, the second swing rod 134, and the third swing rod have substantially the same shape, are all provided with a bending structure, and include a first arm 137, a second arm 138, and a third arm 139. Figure 9 As shown, the shapes of the two pairs of second swing rods 134 located on the left and right sides of the first swing rod 133 along the first direction are different, wherein the pair of second swing rods 134 located on the left side of the first swing rod 133 is as shown in FIG. Figure 13 As shown, the third arm 139 includes a transition section 1393, and a pair of second swing rods 134 located on the right side of the first swing rod 133 are as shown in FIG. Figure 12 As shown, the third arm 139 thereof does not include the transition section 1393 .

[0125] It can be understood that, in some examples, both the first rocker arm 133 and the second rocker arm 134 may include a transition section 1393 .

[0126] In some possible embodiments provided in the present application, the transmission device 130 is located inside the base 110, the driving part 131 is located outside the installation bin 111, and the bin wall of the installation bin 111 and the nearby base 110 are provided with interconnected avoidance openings 112 for avoiding the rocker arm assembly 132.

[0127] like Figure 5 and Figure 8 As shown, in this embodiment, the setting of the avoidance opening 112 can ensure that the rocker arm assembly 132 is smoothly connected to the driving part 131, the base 110 and the door body 120, and will not interfere with the movement of the rocker arm assembly 132, so that the driving part 131 drives the rocker arm assembly 132 to move, so that the door body 120 is rotated out in a linear motion under the action of the rocker arm assembly 132 to open the warehouse door, and is rotated in a linear motion to close the warehouse door.

[0128] Specifically, the avoidance opening 112 can be reasonably set according to the movement trajectory of the rocker assembly 132, so that the avoidance opening 112 can avoid the rocker assembly 132 and ensure that the rocker assembly 132 has enough movement space.

[0129] In the description of this application, the term "plurality" refers to two or more, unless otherwise expressly defined. The orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship described in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application; the terms "connect", "install", "fixed", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0130] For those skilled in the art, various modifications and variations of this application are possible. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A housing assembly (100), applied to a cleaning device, characterized in that: include: A base (110), the base (110) is provided with an installation chamber (111), the mechanical arm of the cleaning device can be folded and stored in the installation chamber (111), and the installation chamber (111) is provided with a chamber opening (1111); A door body (120) is movable relative to the base body (110) to open or close the hatch (1111).

2. The housing assembly (100) according to claim 1, characterized in that Also includes: A transmission device (130) is provided, wherein the transmission device (130) connects the base body (110) and the door body (120), and the transmission device (130) is used to drive the door body (120) to move horizontally and / or flip relative to the base body (110) to open or close the hatch (1111).

3. The housing assembly (100) according to claim 2, characterized in that The transmission device (130) includes a driving portion (131) and a rocker assembly (132), wherein the rocker assembly (132) is at least connected to the driving portion (131) and is hinged to the door body (120), and the driving portion (131) at least drives the door body (120) to move horizontally through the rocker assembly (132) to open or close the hatch (1111).

4. The housing assembly (100) according to claim 3, characterized in that The rocker assembly (132) includes a plurality of rockers, wherein the plurality of rockers include a first rocker (133) and a second rocker (134), wherein the first rocker (133) is connected between the driving portion (131) and the door body (120), and the second rocker (134) is hinged between the base (110) and the door body (120), and the driving portion (131) is used to drive the first rocker (133) to rotate, and drive the second rocker (134) to rotate through the door body (120), so that the door body (120) moves relative to the base (110); The door body (120) at the extreme position for opening the hatch (1111) is parallel to the door body (120) for closing the hatch (1111).

5. The housing assembly (100) according to claim 4, characterized in that A first connecting portion (135) and a second connecting portion (136) are respectively provided at both ends of the rocker arm; the first rocker arm (133) is connected to the driving portion (131) via the first connecting portion (135); the first rocker arm (133) is hinged to the door body (120) via the second connecting portion (136); the second rocker arm (134) is hinged to the base body (110) via the first connecting portion (135); and the second rocker arm (134) is hinged to the door body (120) via the second connecting portion (136).

6. The housing assembly (100) according to claim 5, characterized in that The door body (120) is provided with a first hinged portion (121) hinged to the first rocker arm (133), and a second hinged portion (122) hinged to the second rocker arm (134), the number of the first hinged portion (121) is one, and a plurality of second hinged portions (122) are distributed on at least part of the circumference of the first hinged portion (121).

7. The housing assembly (100) according to claim 6, characterized in that The number of the second hinged parts (122) is four, and the second hinged parts (122) are distributed in pairs on both sides of the first hinged part (121) along a first direction. The second hinged parts (122) distributed in pairs are distributed on both sides of the first hinged part (121) along a second direction, and the first direction and the second direction are perpendicular.

8. The housing assembly (100) according to claim 5, characterized in that The shape of the second swing rod (134) matches the shape of the first swing rod (133), so that the swing rod assembly (132) drives the door body (120) to move.

9. The housing assembly (100) according to claim 5, characterized in that The rocker is configured as a bent structure, and the first connecting portion (135) and the second connecting portion (136) are located at two ends of the bent structure.

10. A cleaning device, characterized in that: include: A robotic arm, and a housing assembly (100) according to any one of claims 1 to 9.

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