Climbing device applied to cleaning equipment and cleaning assembly

Abstract

The invention relates to a climbing device applied to cleaning equipment and a cleaning assembly. The climbing device comprises a holding mechanism and a moving mechanism. The holding mechanism comprises a holding rack and a holding assembly, the holding assembly is arranged on the holding rack, and the holding assembly is used for detachably fixing the cleaning equipment. The holding rack is arranged on the movement mechanism, the holding rack is configured to move in a first direction and a second direction, and the first direction is perpendicular to the second direction. The climbing device is provided with the holding mechanism and the moving mechanism, so that the cleaning equipment can be assisted to climb height difference structures such as stairs, the climbing device can be compatible with various cleaning equipment, and the adaptation range is wide.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to climbing devices and cleaning components used in cleaning equipment. Background Technology

[0002] With the increasing popularity of cleaning robots, their mapping and intelligent features greatly assist in home cleaning. Some home environments have various steps and thresholds, even requiring climbing stairs, making cleaning of duplex buildings particularly challenging. Traditional cleaning equipment is no longer sufficient to meet users' needs for navigating higher steps. Summary of the Invention

[0003] Therefore, it is necessary to provide a climbing device for cleaning equipment to address the above-mentioned problems.

[0004] A climbing device includes:

[0005] The holding mechanism includes a holding frame and a holding assembly, the holding assembly being disposed on the holding frame and used for detachably securing the cleaning equipment;

[0006] The motion mechanism includes a holding frame disposed thereon, and the holding frame is configured to move in a first direction and a second direction.

[0007] The first direction is set perpendicular to the second direction.

[0008] The aforementioned climbing device, equipped with a holding mechanism and a movement mechanism, can assist cleaning equipment in climbing structures with varying heights, such as stairs. Furthermore, the climbing device is compatible with a wide range of cleaning equipment and has a broad range of applications.

[0009] In one embodiment, the holding component includes:

[0010] At least two first grippers, the first gripping parts of the two first grippers are arranged opposite to and spaced apart, the two first gripping parts are used to jointly grip the outer surface of the body of the cleaning equipment, wherein at least one first gripper is configured to drive its first gripping part to adhere to or move away from the cleaning equipment.

[0011] And / or, at least two second grippers, the two second grippers being arranged opposite each other and spaced apart, each second gripper having a plug-in rod for extending into a docking hole in the body of the cleaning equipment;

[0012] And / or a third gripper for detachably securing the radome of the cleaning equipment, the radome protruding from the top of the cleaning equipment body.

[0013] In one embodiment, the first gripper includes: a first gripping driver and a first gripping member, the first gripping driver being disposed on a gripping frame and configured to drive the first gripping member to move; wherein...

[0014] The first holding member includes: a first fitting body, a first limiting body, and a second limiting body. The first fitting body has a first fitting surface for abutting against the side of the body of the cleaning equipment. The first limiting body and the second limiting body are both disposed on the side of the first fitting body with the first fitting surface, and the first limiting body and the second limiting body are spaced apart in a second direction. The first limiting body and the second limiting body abut against and limit the two ends of the body of the cleaning equipment from both sides in the second direction.

[0015] In one embodiment, the second gripper includes: a second gripping driver and a plug-in rod. The second gripping driver is fixedly mounted on the gripping frame. The drive shaft of the second gripping driver is connected to the plug-in rod. The drive shaft and the plug-in rod are coaxially arranged. The drive shaft drives the plug-in rod to extend and retract, so that the plug-in rod can be inserted into or removed from the docking hole of the machine body.

[0016] Alternatively, the second gripper includes: a second gripping driver, a positioning mounting bracket, a plug-in rod, and a trajectory guide; both the second gripping driver and the positioning mounting bracket are fixedly mounted on the gripping frame, the positioning mounting bracket has a guide limiting hole, the plug-in rod is adapted to pass through the guide limiting hole, and the axis of the guide limiting hole intersects perpendicularly with the axis of the drive shaft; the trajectory guide is connected to the drive shaft of the second gripping driver, the drive shaft drives the trajectory guide to move axially along the drive shaft of the second gripping driver, and the trajectory guide is guided and engaged with the plug-in rod; during the process of the second gripping driver driving the trajectory guide to move relative to the positioning mounting bracket, the trajectory guide moves relative to the plug-in rod, causing the plug-in rod to extend or retract within the guide limiting hole.

[0017] In one embodiment, the third holder includes:

[0018] Guide mounting bracket, which is fixedly mounted on the holding frame;

[0019] The holding hook is movably mounted on the guide mounting frame, and the holding hook is guided and engaged with the guide mounting frame.

[0020] The hook-claw transmission component is connected to the gripping hook-claw.

[0021] The third gripping driver is connected to the grappling hook drive and is configured to drive the grappling hook drive to detachably fix the radome.

[0022] In one embodiment, the holding mechanism further includes a positioning connector disposed on the holding frame, the positioning connector being used to extend into an alignment hole in the body of the cleaning equipment.

[0023] In one embodiment, the holding mechanism further includes a sliding driver disposed on the holding frame and drivenly connected to the positioning connector, the sliding driver being configured to drive the positioning connector to move along a first direction, such that the positioning connector is used to selectively extend into the alignment hole.

[0024] In one embodiment, the holding mechanism further includes: two guide positioning members, each guide positioning member extending along a first direction, the two guide positioning members being opposite to each other and spaced apart in a third direction on the holding frame, so that the two guide positioning members are used to jointly drive the cleaning equipment to be centrally arranged in the holding mechanism;

[0025] The first direction, the second direction, and the third direction are perpendicular to each other.

[0026] In one embodiment, the guide positioning element includes a guide segment and a limiting segment, which are sequentially connected in a first direction; wherein...

[0027] The guide surface of the guide segment extends along the first direction and is used to guide and cooperate with the side of the cleaning equipment body.

[0028] The limiting surface of the limiting segment extends in a third direction toward another guide positioning member, and the limiting surface is used to abut against the side of the cleaning equipment body for limiting.

[0029] In one embodiment, the motion mechanism includes: two lifters, which are respectively disposed on both sides of the holding mechanism in a third direction; the first direction, the second direction, and the third direction are perpendicular to each other; wherein, the lifter includes: a first frame, a second frame, and a connecting arm, the connecting arm being movably connected between the first frame and the second frame, wherein the first frame and the second frame are arranged and parallel in the second direction, and the first frame is slidably connected to the holding frame in the first direction;

[0030] Alternatively, the motion mechanism includes: two lifting and translating devices; the two lifting and translating devices are respectively arranged on both sides of the holding mechanism in a third direction; the first direction, the second direction and the third direction are perpendicular to each other; wherein, the lifting and translating device includes: a translating component and a lifting component, the translating component and the lifting component move relative to each other in the first direction, and the lifting component and the holding frame move relative to each other in the second direction.

[0031] This application further proposes a cleaning component, which includes:

[0032] The climbing device in some of the above embodiments;

[0033] The cleaning device is suitable for being held by the holding mechanism of the climbing device. Based on the holding mechanism and the motion mechanism of the climbing device, the cleaning device can be displaced in a first direction and a second direction. Attached Figure Description

[0034] Figure 1 This is a perspective view of a cleaning assembly according to an embodiment of this application.

[0035] Figure 2 This is a schematic diagram of the climbing process of a cleaning component according to an embodiment of this application.

[0036] Figure 3 This is a schematic diagram of the structure of a climbing device according to an embodiment of this application.

[0037] Figure 4 This is a schematic diagram of the structure of the lift of a climbing device according to an embodiment of this application.

[0038] Figure 5 This is a schematic diagram of the climbing device according to another embodiment of this application.

[0039] Figure 6 This is a schematic diagram of the assembly of a first gripper and a gripper frame according to an embodiment of this application.

[0040] Figure 7 This is an exploded view of a first gripper according to an embodiment of this application.

[0041] Figure 8 This is a schematic diagram of a first holder fixing a cleaning device to a holding mechanism according to an embodiment of this application.

[0042] Figure 9 This is a schematic diagram of the assembly of the second gripper and the gripper frame according to an embodiment of this application.

[0043] Figure 10 This is an exploded view of a second gripper according to an embodiment of this application.

[0044] Figure 11 An exploded view of a second gripper according to another embodiment of this application.

[0045] Figure 12 This is a schematic diagram of the insertion of the plug rod and the docking hole of the second gripper according to another embodiment of this application.

[0046] Figure 13 This is a schematic diagram of the structure in which the third gripper is fixedly connected to the radome of the cleaning equipment according to an embodiment of this application.

[0047] Figure 14 This is a perspective view of a third gripper according to an embodiment of this application.

[0048] Figure 15 This is an exploded view of a third gripper according to an embodiment of this application.

[0049] Figure 16 This is a perspective view of a third gripper according to another embodiment of this application.

[0050] Figure 17 An exploded view of a third gripper according to another embodiment of this application.

[0051] Figure 18 This is a perspective view of a third gripper according to yet another embodiment of this application.

[0052] Figure 19 This is an exploded view of a third gripper according to yet another embodiment of this application.

[0053] Figure 20 This is a perspective view of a cleaning device according to an embodiment of this application.

[0054] Figure 21 This is a schematic diagram of the positioning connector and sliding driver according to an embodiment of this application.

[0055] Figure label:

[0056] 1000, Cleaning component; 100, Climbing device; 1, Holding mechanism; 11, Holding frame; 111, First mounting hole; 12, First holder; 121, First holding member; 1211, First mating body; 12110, First mating surface; 1212, First limiting body; 1213, Second limiting body; 1214, Guide protrusion; 122, First holding actuator; 123, First mounting bracket; 13, Second holder; 131, Connecting rod; 131a. 131b, Guide pin; 132, Second gripping actuator; 133, Contact panel; 1330, Stepped hole; 134, Positioning mounting bracket; 1340, Guide limiting hole; 135, Track guide; 1350, Track guide groove; 1350a, First state section; 1350b, Second state section; 1350c, Transition section; 14, Third gripper; 141, Guide mounting bracket; 1411, Main mounting bracket; 1412, Guide bracket; 1413 1414. Sub-mounting frame; 1415. Guide rail; 1416. Cover plate; 1417. Installation space; 142. Holding hook; 1421. Sliding part; 1422. Hook part; 1423. Auxiliary roller; 143. Hook transmission component; 1431. Meshing rack; 1432. Transmission gear; 144. Third holding driver; 15. Guide positioning component; 150. Guide channel; 151. Guide section body; 152. Limiting section body; 16. Positioning connector; 161. 17. Sliding roller; 2. Sliding actuator; 2. Motion mechanism; 21. Lifter; 211. First frame; 212. Second frame; 213. Connecting arm; 22. Lifting and translating device; 221. Translation component; 2211. Translation guide rail; 2212. Translation actuator; 222. Lifting component; 2221. Lifting rod; 2222. Lifting actuator; 500. Cleaning equipment; 501. Body; 502. Docking hole; 503. Radome; 504. Alignment hole. Detailed Implementation

[0057] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0058] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0059] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0061] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0062] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0063] Combination Figures 1 to 5 As shown, the climbing device 100 according to this application includes a holding mechanism 1 and a moving mechanism 2. The holding mechanism 1 includes a holding frame 11 and a holding assembly. The holding assembly is disposed on the holding frame 11 and is used to detachably fix the cleaning device 500. When the holding assembly is fixedly connected to the cleaning device 500, the cleaning device 500 is fixedly connected to the holding mechanism 1; when the holding assembly is deconnected from the cleaning device 500, the cleaning device 500 can be separated from the holding mechanism 1. The holding frame 11 is disposed on the moving mechanism 2 and is configured to move in the length direction (i.e., the first direction, X direction as shown in the figure) and the height direction (i.e., the second direction, Z direction as shown in the figure) of the climbing device 100. In this way, the holding mechanism 1 can drive the cleaning device 500 fixed thereto to move in the length direction and height direction of the climbing device 100, thereby assisting the cleaning device 500 in climbing structures with height differences such as stairs.

[0064] See Figure 2 As shown, Figure 2 The movement of the cleaning equipment 500 climbing the stairs is shown in the order of (A) to (F). Figure 2 As shown in (A), the cleaning device 500 and the climbing device 100 are combined. The cleaning device 500 is in contact with the ground, and the climbing device 100 is adjusted under the support of the cleaning device 500 to keep the bottom of the motion mechanism 2 separated from the ground, thus preventing the climbing device 100 from contacting the ground. This reduces the resistance encountered by the cleaning device 500 in moving the climbing device 100, and improves the smoothness of the movement of the cleaning device 500.

[0065] Combination Figure 2As shown in (A) to (B), when the cleaning device 500 is moved to a suitable position, the motion mechanism 2 is adjusted so that its bottom contacts the ground, thereby making the climbing device 100 contact the ground and enabling the climbing device 100 to support the movement of the cleaning device 500 relative to the ground. After the bottom of the motion mechanism 2 is fully in contact with the ground, the motion mechanism 2 drives the holding mechanism 1 to move upward in the height direction of the climbing device 100, so that the holding mechanism 1 lifts the cleaning device 500 upward, achieving the effect of raising the cleaning device 500 in the height direction. When the bottom of the cleaning device 500 is level with or higher than the upper surface of the target step, the motion mechanism 2 stops lifting the holding mechanism 1, so that the cleaning device 500 is maintained at the current height.

[0066] Next, combine Figure 2 As shown in (B) to (C), the holding mechanism 1 moves forward in the longitudinal direction of the climbing device 100, causing the holding mechanism 1 to move the cleaning device 500 to the top of the target step located in front of it.

[0067] Next, combine Figure 2 As shown in (C) to (D), the motion mechanism 2 begins to adjust in the height direction of the climbing device 100 so that the motion mechanism 2 moves upward in the height direction, such that the bottom of the motion mechanism 2 is spaced apart from the ground and eventually level with or above the upper surface of the target step.

[0068] Next, combine Figure 2 As shown in (D) to (E), the motion mechanism 2 moves forward in the longitudinal direction of the climbing device 100, causing the climbing device 100 to move above the target step.

[0069] In this way, the cleaning equipment 500, with the help of the climbing device 100, successfully climbed from the ground to the target steps. Figure 2 As shown in (E) to (F), the cleaning equipment 500 climbs towards the next target step with the aid of the climbing device 100. Thus, the cleaning equipment 500, with the aid of the climbing device 100, can climb structures with varying heights, such as stairs. Similarly, the cleaning equipment 500, with the aid of climbing, can also move from above to below on structures with varying heights, such as stairs.

[0070] It should also be noted that, according to the climbing device 100 of this application, the holding mechanism 1 and the motion mechanism 2 work together to enable the holding mechanism 1 to move the cleaning device 500 in both the height and length directions. Thus, the movement needs of the cleaning device 500 are entirely met by the internal structural cooperation of the climbing device 100, without requiring the cleaning device 500 itself to possess any adaptation structure related to movement relative to the climbing device 100.

[0071] Based on this, regardless of whether it is the commonly seen round-bodied cleaning equipment 500, or models with different contours such as rectangular or square, or products with different weight specifications such as lightweight or medium-heavyweight, as long as the initial positioning and fixation can be completed through the holding mechanism 1, the cleaning equipment 500 can passively move by following the coordinated work between the holding mechanism 1 and the motion mechanism 2. This design of the climbing device 100 completely transforms the "movement adaptation requirements of the cleaning equipment 500" into the "internal structural design requirements of the climbing device 100". This means that no matter what the original design of the existing cleaning equipment 500 is, as long as its external dimensions are within the adaptation range of the holding mechanism 1, it can smoothly move in the length direction through the climbing device 100 without any targeted structural modifications, further expanding the adaptation range of the climbing device 100 to the existing cleaning equipment 500.

[0072] In summary, the climbing device 100 according to this application, by providing a holding mechanism 1 and a moving mechanism 2, can assist the cleaning equipment 500 in climbing structures with height differences such as stairs, and the climbing device 100 is also compatible with a variety of cleaning equipment 500, with a wide range of applicability.

[0073] See Figure 3 and Figure 4 As shown, in some embodiments of this application, the motion mechanism 2 may include two lifters 21, which are respectively disposed on both sides of the holding mechanism 1 in the width direction (i.e., the third direction, such as the Y direction shown in the figure) of the climbing device 100. Each lifter 21 includes a first frame 211, a second frame 212, and a connecting arm 213. The connecting arm 213 is movably connected between the first frame 211 and the second frame 212. The first frame 211 and the second frame 212 are arranged in the height direction of the climbing device 100 and are parallel to each other. The first frame 211 is slidably connected to the holding mechanism 1 in the length direction of the climbing device 100. In the height direction, the first frame 211 is fixedly connected to the holding frame 11 (i.e., the holding mechanism 1) and relatively stationary.

[0074] The lifting action of the lifting device 21 is achieved by the movement of the second frame 212 relative to the first frame 211 in the height direction: when the second frame 212 moves away from the first frame 211, the motion mechanism 2 performs an extension lifting action; when the second frame 212 moves closer to the first frame 211, the motion mechanism 2 performs a retraction lowering action. In this structural design, the connecting arm 213, as a key component for force transmission and motion conversion, is used to transmit and convert the motion generated by the drive unit, and ultimately effectively apply the force driving the second frame 212 to move relative to the first frame 211 to the second frame 212, thereby realizing the extension and retraction movement of the motion mechanism 2 in the height direction. Through the transmission action of the connecting arm 213, the force can be efficiently and smoothly converted into the linear displacement of the second frame 212 along the height direction, thereby driving the entire motion mechanism 2 to achieve stable and reliable lifting or lowering actions. Furthermore, the lifting devices 21 located on both sides of the holding mechanism 1 work together to provide balanced support and lifting force for the cleaning equipment 500 in the width direction, significantly enhancing the overall stability and load capacity of the climbing device 100 during the movement of different heights.

[0075] Meanwhile, since the first frame 211 remains fixedly connected to the holding mechanism 1 in the height direction, it not only ensures the posture stability of the holding mechanism 1 and the cleaning equipment 500 during the lifting process, but also further enhances the reliability of the sliding connection structure, making the movement of the holding mechanism 1 along the length direction smoother and more precise. This design, while realizing the height adjustment function, optimizes the force distribution and motion coordination of the structure, thus better adapting to cleaning equipment 500s of different specifications and weights, providing effective and reliable assistance for the climbing device 100 to move in environments with height differences, such as stairs.

[0076] It should be further noted that the motion mechanism 2 consists of two independent lifting devices 21, which are detachably mounted on both sides of the holding mechanism 1. This allows for adaptation to cleaning equipment 500 with different installation sizes, weights, and types by replacing the holding mechanisms 1 with those of different sizes or structural forms, according to actual application needs. This design not only improves the system compatibility and scalability of the entire climbing device 100 but also significantly enhances the convenience of maintenance and replacement operations. When different cleaning tasks or equipment upgrades are required, configuration adjustments can be quickly completed by simply disassembling and replacing the corresponding holding mechanism 1 module, greatly enhancing the applicability and economy of the equipment.

[0077] See Figure 5As shown, in some embodiments of this application, the motion mechanism 2 includes two lifting and translating devices 22. In the width direction (i.e., the third direction, such as the Y direction shown in the figures) of the climbing device 100, the two lifting and translating devices 22 are respectively disposed on both sides of the holding mechanism 1. Each lifting and translating device 22 includes a translating component 221 and a lifting component 222. The translating component 221 and the lifting component 222 move relative to each other in the length direction of the climbing device 100, and the lifting component 222 moves relative to the holding frame 11 in the height direction of the climbing device 100.

[0078] For example, see Figure 5 As shown, in some embodiments of this application, the translation component 221 may include a translation guide rail 2211 and a translation driver 2212. The translation guide rail 2211 extends along the length direction of the climbing device 100, and the translation driver 2212 is movably disposed on the translation guide rail 2211. Thus, when the translation driver 2212 moves along the translation guide rail 2211, it achieves the effect of moving back and forth along the length direction of the climbing device 100. Furthermore, the lifting component 222 is fixedly disposed on the translation driver 2212, so that the translation driver 2212 drives the lifting component 222 to move back and forth along the length direction of the climbing device 100 during movement. Additionally, the lifting component 222 may include a lifting rod 2221 and a lifting driver 2222. The lifting rod 2221 extends along the height direction of the climbing device 100 and is fixed to the translation driver 2212. Furthermore, the holding frame 11 is slidably mounted on the lifting rod 2221, and the lifting driver 2222 is fixed to the holding frame 11 and connected to the lifting rod 2221 for transmission. Under the drive of the lifting driver 2222, the holding frame 11 moves relative to the lifting rod 2221, thereby realizing the effect of the holding mechanism 1 moving up and down in the height direction of the climbing device 100.

[0079] Combination Figure 2 and Figure 5 As shown, in some embodiments of this application, such as Figure 2 As shown in (A), the cleaning device 500 and the climbing device 100 are in a combined state. The cleaning device 500 is in contact with the ground, and the climbing device 100 is adjusted under the support of the cleaning device 500. The lifting drive 2222 drives the lifting rod 2221 to move the translation component 221 upward as a whole, so that the translation guide rail 2211 is separated from the ground, thus preventing the climbing device 100 from contacting the ground. This reduces the resistance encountered by the cleaning device 500 in moving the climbing device 100, and improves the smoothness of the movement of the cleaning device 500.

[0080] Combination Figure 2As shown in (A) to (B), when the cleaning equipment 500 is moved to a suitable position, the lifting driver 2222 drives the lifting rod 2221 to move the translation component 221 downwards, so that the bottom of the translation guide rail 2211 contacts the ground, and the climbing device 100 contacts the ground, thereby enabling the climbing device 100 to support the movement of the cleaning equipment 500 relative to the ground. After the bottom of the translation guide rail 2211 is fully in contact with the ground, the lifting driver 2222 drives the holding mechanism 1 to move upwards relative to the lifting rod 2221, so that the holding mechanism 1 lifts the cleaning equipment 500 upwards, achieving the effect of raising the cleaning equipment 500 in the height direction. When the bottom of the cleaning equipment 500 is level with or higher than the upper surface of the target step, the lifting driver 2222 stops driving the holding mechanism 1 to move relative to the lifting rod 2221, so that the cleaning equipment 500 is maintained at the current height.

[0081] Next, combine Figure 2 As shown in (B) to (C), the translation driver 2212 moves the lifting rod 2221 forward, thereby moving the holding mechanism 1 forward, which in turn moves the cleaning equipment 500 above the target step in front of it.

[0082] Next, combine Figure 2 As shown in (C) to (D), the lifting drive 2222 drives the lifting rod 2221 to move the translation component 221 upward as a whole, so that the bottom of the translation guide rail 2211 is separated from the ground and eventually level with or higher than the upper surface of the target step.

[0083] Next, combine Figure 2 As shown in (D) to (E), the translation driver 2212 drives the translation guide 2211 to move forward, so that the translation guide 2211 moves the climbing device 100 above the target step.

[0084] In this way, the cleaning equipment 500, with the help of the climbing device 100, successfully climbed from the ground to the target steps. Figure 2 As shown in (E) to (F), the cleaning equipment 500 climbs towards the next target step with the aid of the climbing device 100. Thus, the cleaning equipment 500, with the aid of the climbing device 100, can climb structures with varying heights, such as stairs. Similarly, the cleaning equipment 500, with the aid of climbing, can also move from above to below on structures with varying heights, such as stairs.

[0085] See Figures 6 to 8As shown, in some embodiments of this application, the holding assembly includes at least two first holding devices 12, the first holding members 121 of the two first holding devices 12 are opposite to and spaced apart, the two first holding members 121 are used to jointly hold the outer surface of the body 501 of the cleaning device 500, wherein at least one first holding device 12 is configured to drive its first holding member 121 to adhere to or move away from the cleaning device 500.

[0086] For example, taking the example that both first gripping members 121 of the two first grippers 12 can be driven: when the cleaning device 500 moves between the two oppositely arranged first grippers 12, the first grippers 12 drive the first gripping members 121 to move toward the cleaning device 500, so that the first gripping members 121 are in contact with the surface of the body 501 of the cleaning device 500. In this way, the first gripping members 121 of the two first grippers 12 exert a pair of opposing forces on the cleaning device 500, so that the two first gripping members 121 jointly keep the cleaning device 500 fixed to the gripping frame 11, achieving the effect of fixing the cleaning device 500 to the gripping mechanism 1, so that the gripping mechanism 1 can drive the cleaning device 500 to move. In addition, when the holding mechanism 1 needs to contact and separate from the cleaning equipment 500, the first holding device 12 drives the first holding member 121 to move away from the cleaning equipment 500, so that the first holding member 121 separates from the surface of the body 501 of the cleaning equipment 500, thereby allowing the cleaning equipment 500 to move relative to the holding mechanism 1.

[0087] It should be further explained that: In some of the above embodiments, the number of first holding members 121 in the holding mechanism 1 is configured as two as an example, but this application is not limited to this. For example, the number of first holding members 121 can also be configured as three, four, or five, but at least two first holding members 121 are arranged opposite each other, so that the cleaning device 500 can be fixed to the holding mechanism 1 by the oppositely arranged first holding members 121. In addition, in the above embodiments, the first holding member 121 of each first holder 12 can be driven as an example, but this application is not limited to this. However, in the oppositely arranged first holders 12, at least one side of the first holder 12 can be driven, so that the cleaning device 500 can be pushed towards the first holding member 121 of the other side of the first holder 12 by the first holding member 121 of the same side of the first holder 12, so that the oppositely arranged first holding members 121 jointly hold (or clamp) and fix the cleaning device 500.

[0088] See Figures 6 to 8As shown, in some embodiments of this application, the first gripper 12 includes a first gripper driver 122 and a first gripper 121. The first gripper driver 122 is disposed on the gripper frame 11 and is configured to drive the first gripper 121 to move. The first holding member 121 includes a first fitting body 1211, a first limiting body 1212, and a second limiting body 1213. The first fitting body 1211 has a first fitting surface 12110, which is used to abut against the side of the body 501 of the cleaning device 500. The first limiting body 1212 and the second limiting body 1213 are both disposed on the side of the first fitting body 1211 with the first fitting surface 12110. The first limiting body 1212 and the second limiting body 1213 are spaced apart in the height direction of the climbing device 100. The first limiting body 1212 and the second limiting body 1213 are respectively abutted against and limited by both sides of the body 501 (i.e., the upper and lower ends) of the cleaning device 500 in the height direction of the climbing device 100.

[0089] Specifically, the first mating body 1211 is the main component that contacts the body 501 of the cleaning equipment 500. The contour and curvature of the first mating surface 12110 facing the side of the cleaning equipment 500 can be adapted to the shape of the side of the body 501 of the cleaning equipment 500 to ensure that the first mating surface 12110 can tightly abut against the side of the body 501 of the cleaning equipment 500, increase the contact area between the two, reduce local pressure concentration, avoid damage to the outer shell of the body 501 of the cleaning equipment 500, and increase the friction when holding it to prevent the cleaning equipment 500 from sliding during the holding process.

[0090] Furthermore, the first limiting body 1212 and the second limiting body 1213 are both fixedly disposed on the side of the first fitting body 1211 having the first fitting surface 12110, and the two are distributed at intervals in the height direction of the climbing device 100, forming a certain height difference. When the first fitting surface 12110 abuts against the side of the cleaning device 500 body 501, the first limiting body 1212 and the second limiting body 1213 correspond exactly to the two ends of the cleaning device 500 body 501 (for example, the first limiting body 1212 corresponds to the top position of the cleaning device 500 body 501, and the second limiting body 1213 corresponds to the bottom position of the cleaning device 500 body 501), and abut against the two ends of the cleaning device 500 body 501 from both sides in the height direction of the climbing device 100. This two-way limiting structure can effectively limit the displacement or shaking of the cleaning equipment 500 along the height direction of the climbing device 100 during the holding process, and prevent the cleaning equipment 500 from moving up and down inside the holding member, thus further enhancing the stability of the holding.

[0091] For example, during the actual holding process, when the cleaning device 500 moves between the two opposing first holders 12, the first holding driver 122 is activated first, driving the first holding members 121 on both sides to move synchronously toward the cleaning device 500. As the first holding members 121 approach, the first contact surface 12110 contacts and gradually adheres to the side of the body 501 of the cleaning device 500 until a tight contact is formed; at the same time, the first limiting body 1212 and the second limiting body 1213 also move to the upper and lower ends of the body 501 of the cleaning device 500, respectively abutting against the ends of the body 501, completing the limiting in the height direction of the climbing device 100. At this time, the first holding member 121 of the first holding device 12 on both sides not only forms a clamping force on the cleaning device 500 in the horizontal direction through the first contact surface 12110, but also forms a limiting constraint on the cleaning device 500 in the height direction through the first limiting body 1212 and the second limiting body 1213, realizing the dual fixing effect of "horizontal clamping + height limiting" on the cleaning device 500, so that the cleaning device 500 can always maintain a stable posture under the drive of the holding mechanism 1, whether it moves along the length direction or rises and falls in the height direction, avoiding risks such as deviation, sliding or falling off.

[0092] When it is necessary to release the grip on the cleaning device 500, the first gripping driver 122 drives the first gripping member 121 to move away from the cleaning device 500. The first contact surface 12110 separates from the side of the body 501 of the cleaning device 500, and the first limiting body 1212 and the second limiting body 1213 also disengage from both ends of the body 501 of the cleaning device 500, completely releasing the cleaning device 500 and allowing it to move freely or be used for subsequent operations. This structural design ensures stability during gripping while also facilitating release, further optimizing the performance of the gripping assembly.

[0093] It should be further noted that, in different embodiments, the distance between the first limiting body 1212 and the second limiting body 1213 in the height direction of the climbing device 100 can be adjusted according to the height of the body 501 of different specifications of cleaning equipment 500 (for example, by setting multiple mounting holes on the first fitting body 1211 to achieve flexible adjustment of the installation position of the first limiting body 1212 and the second limiting body 1213), or it can be directly designed as a telescopic structure to adapt to cleaning equipment 500 of different heights and sizes, ensuring that the first gripper 12 can reliably limit the cleaning equipment 500 of various specifications. In addition, the part of the first gripper 121 that contacts the body 501 of the cleaning equipment 500 can be made of elastic material (such as rubber, silicone, etc.), which, while achieving the limiting function, further buffers the collision force and protects the body 501 of the cleaning equipment 500 from damage.

[0094] For example, see Figure 7As shown, in some embodiments of this application, the holding frame 11 is provided with first mounting holes 111 disposed opposite each other in the horizontal direction, and the first holding device 12 includes a first holding member 121, a first holding driver 122, and a first mounting bracket 123. The first mounting bracket 123 is fixedly disposed on the holding frame 11, and the first holding driver 122 is fixed to the first mounting bracket 123 to indirectly fix it to the holding frame 11. In the axial direction of the first mounting hole 111, the orthographic projection of the drive shaft of the first holding driver 122 is located within the orthographic projection of the first mounting hole 111.

[0095] For example, see Figure 7 As shown, in some embodiments of this application, the holding frame 11 has first mounting holes 111 that are oppositely arranged in the horizontal direction (e.g., the width direction of the climbing device 100, i.e., the Y direction; or the length direction of the climbing device 100, i.e., the X direction). Meanwhile, the first holding device 12 includes a first holding member 121, a first holding driver 122, and a first mounting bracket 123. The first mounting bracket 123 serves as an intermediate connecting component and is fixedly disposed on the holding frame 11, while the first holding driver 122 indirectly achieves a stable connection with the holding frame 11 by being fixed to the first mounting bracket 123. Further, the first holding member 121 has a guide protrusion 1214 on the side opposite to the first contact surface 12110 (i.e., the side away from the cleaning device 500). The shape of the guide protrusion 1214 is adapted to the contour of the inner peripheral wall of the first mounting hole 111, and the two form a tight guiding fit in the axial direction of the first mounting hole 111. Specifically, the guide protrusion 1214 can be embedded in the first mounting hole 111. When the first holding driver 122 drives the first holding member 121 to move in the horizontal direction, the guide protrusion 1214 slides along the inner peripheral wall of the first mounting hole 111. With the constraint of the hole wall on the protrusion, the radial displacement (such as up and down or left and right swaying) of the first holding member 121 during the movement is strictly limited.

[0096] In actual operation, when the first gripping driver 122 is activated and drives the first gripping member 121 to approach or move away from the cleaning device 500, the guide protrusion 1214 and the first mounting hole 111 play a dual role in guiding the first gripping member 121: on the one hand, the mechanical structure constraint ensures that the first gripping member 121 always moves along the preset horizontal trajectory, avoiding movement deviation caused by driving force fluctuations or the reaction force of the cleaning device 500; on the other hand, it disperses the radial force on the first gripping member 121, reduces the bending stress of the drive shaft, and extends the service life of the first gripping driver 122.

[0097] See Figures 9 to 11As shown, in some embodiments of this application, the holding assembly includes at least two second holding members 13, and the at least two second holding members 13 are arranged opposite each other and spaced apart. Each second holding member 13 has a retractable plug-in rod 131. When the cleaning device 500 is fixed to the holding mechanism 1 by the holding assembly (which includes the second holding members 13), the mechanical interlock between the holding assembly and the cleaning device 500 is achieved by inserting the plug-in rod 131 into a pre-set docking hole 502 on the body 501 of the cleaning device 500. The plug-in rod 131 can be operated in an extended state and a retracted state: when the plug-in rod 131 extends and inserts into the docking hole 502, the cleaning device 500 is reliably fixed to the holding mechanism 1 and moves with it; when the plug-in rod 131 retracts from the docking hole 502, the cleaning device 500 is deconnected from the holding mechanism 1 and can be freely separated.

[0098] Furthermore, the end of the plug-in rod 131 may be provided with a guide or elastic structure to accommodate minor deviations in the docking holes 502 of different models, ensuring smoothness and stability of the plugging process. Through the aforementioned plugging and mating method, the second gripper 13 can adapt to cleaning equipment 500s of various shapes and weights. As long as its body 501 has corresponding docking holes 502, it can be quickly installed and fixed without any structural modifications to the cleaning equipment 500 itself. In addition, during climbing, the gripping mechanism 1 forms a rigid connection with the cleaning equipment 500 through the second gripper 13, ensuring that the cleaning equipment 500 will not shift or shake during lifting, translation, or other actions, guaranteeing the stability and safety of the climbing process.

[0099] In summary, the climbing device 100 according to this application achieves a simple and reliable detachable connection with the cleaning equipment 500 by mechanically fixing it through the engagement of the plug rod 131 of the second gripper 13 with the docking hole 502, which significantly improves the adaptability and ease of operation of different models of cleaning equipment 500.

[0100] Among them, see Figure 10As shown, in some embodiments of this application, the second gripper 13 may include a second gripping driver 132 and a plug-in rod 131. The second gripping driver 132 is fixedly mounted on the gripping frame 11. The drive shaft of the second gripping driver 132 is connected to the plug-in rod 131, and the drive shaft and the plug-in rod 131 are coaxially arranged. The drive shaft drives the plug-in rod 131 to extend and retract, allowing the plug-in rod 131 to extend into or retract from the docking hole 502 of the body 501, thereby realizing the insertion and detachment of the cleaning equipment 500 from the docking hole 502. It should be further noted that the second gripping driver 132, as the power source of the plug-in rod 131, can be driven by electronic, pneumatic, or hydraulic means, and has the characteristics of rapid response and precise position control. The coaxial design between the drive shaft and the plug-in rod 131 effectively ensures the linearity and stability of power transmission, avoids off-center loading or jamming, and improves the reliability of the plugging action. When the second gripping driver 132 receives the extension command, the drive shaft pushes the plug rod 131 to extend axially and accurately insert it into the docking hole 502 of the cleaning equipment 500 body 501, forming a mechanical interlock; when it is necessary to disconnect, the second gripping driver 132 controls the drive shaft to retract in the opposite direction, driving the plug rod 131 to smoothly exit the docking hole 502, so that the cleaning equipment 500 can be safely removed.

[0101] For example, see Figure 10 As shown, in some embodiments of this application, the second gripper 13 further includes a contact panel 133. The contact panel 133 is fixedly mounted on the outside of the second gripper driver 132, and is adapted to maintain surface contact with the side of the body 501 of the cleaning device 500. This large-area contact engagement significantly increases the contact area between the second gripper 13 and the body 501 of the cleaning device 500. It is also worth noting that the fit between the contact panel 133 and the body 501, combined with the locking engagement formed by the insertion of the plug rod 131 into the docking hole 502, constitutes a multiple stable connection mechanism, significantly enhancing the overall rigidity and anti-disturbance capability of the climbing device 100 during the movement of the cleaning device 500, effectively suppressing device shaking or displacement.

[0102] Furthermore, the portion of the contact panel 133 that contacts the body 501 of the cleaning device 500 is made of an elastic material (such as rubber or silicone). This elastic design not only effectively limits the cleaning device 500 during holding, cushioning accidental collisions or vibrations and preventing scratches or structural damage to the body 501, but also ensures that the cleaning device 500 is stably held between the two opposing contact panels 133. This elastic clamping effect further enhances the device's centering and anti-slip capability within the holding mechanism 1, improving safety and reliability during operation.

[0103] In addition, a stepped hole 1330 is provided on the contact panel 133, through which the insertion rod 131 passes to achieve telescopic movement. The stepped hole 1330 structure forms a guiding engagement with the insertion rod 131, ensuring that the insertion rod 131 maintains axial stability during extension and retraction, thus improving insertion accuracy; on the other hand, it can mechanically limit the displacement stroke of the insertion rod 131, preventing it from accidentally dislodging from the drive shaft of the second holding driver 132, thereby enhancing the reliability and durability of the overall structure.

[0104] In summary, by adding a contact panel 133 with buffering and guiding functions, the second gripper 13 not only achieves mechanical interlocking but also further optimizes the protection effect and connection stability of the cleaning equipment 500.

[0105] Among them, see Figure 11 and Figure 12 As shown, in some embodiments of this application, the second gripper 13 includes a second gripping driver 132, a positioning mounting bracket 134, a connecting rod 131, and a trajectory guide 135. Both the second gripping driver 132 and the positioning mounting bracket 134 are fixedly mounted on the gripping frame 11 and remain relatively stationary. The positioning mounting bracket 134 is provided with a guide limiting hole 1340, and the connecting rod 131 passes through the guide limiting hole 1340, allowing it to extend and retract along the axial direction of the guide limiting hole 1340. The axis of the guide limiting hole 1340 intersects perpendicularly with the axis of the drive shaft of the second gripping driver 132.

[0106] The trajectory guide 135 is connected to the drive shaft of the second gripping actuator 132, and is driven by the drive shaft of the second gripping actuator 132 to move axially along the trajectory guide 135. The trajectory guide 135 and the insertion rod 131 cooperate through a guide structure to achieve coordinated movement under the action of the actuator. Figure 11 and Figure 12 As shown, when the second holding driver 132 pushes the trajectory guide 135 to move relative to the positioning mounting bracket 134, the trajectory guide 135 and the plug rod 131 move relative to each other, thereby driving the plug rod 131 to extend or retract into the guide limiting hole 1340.

[0107] More specifically, see Figure 11 and Figure 12As shown, the trajectory guide 135 is provided with a trajectory guide groove 1350, which includes a first state segment 1350a, a second state segment 1350b, and a transition segment 1350c connecting the two. The trajectory guide groove 1350 extends along the axial direction of the drive shaft, wherein the first state segment 1350a and the second state segment 1350b are staggered in the axial direction of the plug-in rod 131, and the first state segment 1350a is closer to the cleaning device 500 than the second state segment 1350b. The plug-in rod 131 includes a rod body 131a and a guide pin 131b, which can be separate or integrally formed. The rod body 131a passes through the guide limiting hole 1340 (the axial direction of the rod body 131a can be understood as the axial direction of the plug-in rod 131); the guide pin 131b extends into the trajectory guide groove 1350 and can slide along the groove.

[0108] For example, such as Figure 12 As shown in (a), when the guide pin 131b is in the first state segment 1350a of the trajectory guide groove 1350, the rod body 131a of the plug rod 131 does not extend into the docking hole 502 of the cleaning device 500. Next, in conjunction with... Figure 12 As shown in (b), when the second holding actuator 132 pushes the trajectory guide 135 forward, it forces the guide pin 131b to slide from the first state segment 1350a through the transition segment 1350c into the second state segment 1350b, thereby causing the plug rod 131 to extend and ultimately insert the rod body 131a into the docking hole 502, forming a locking fit. Thus, through the coordinated use of trajectory guidance and drive, precise extension and retraction control of the plug rod 131 is achieved, improving the reliability of the connection between the plug rod 131 and the docking hole 502 and the consistency of operation.

[0109] Combination Figure 5 and Figures 13 to 18 As shown, in some embodiments of this application, the holding assembly further includes a third holding member 14, which is used to detachably fix the radar dome 503 of the cleaning device 500, the radar dome 503 protruding from the top of the body 501 of the cleaning device 500. By setting the third holding member 14 to be fixedly connected to the radar dome 503 of the cleaning device 500, the cleaning device 500 is thus fixed to the holding mechanism 1.

[0110] Specifically, see Figures 13 to 18As shown, in some embodiments of this application, the third gripper 14 includes a guide mounting frame 141, a gripping claw 142, a claw transmission component 143, and a third gripping driver 144. The guide mounting frame 141 serves as the basic mounting structure of the third gripper 14, fixedly mounted on the gripping frame 11, providing a stable mounting reference and support for the remaining components. The gripping claw 142 is used to directly engage with the radome 503 for fixation. It is movably mounted on the guide mounting frame 141, and a guiding engagement is formed between the gripping claw 142 and the guide mounting frame 141. This guiding engagement ensures that the gripping claw 142 always moves along a preset trajectory during its movement, avoiding any deviation in movement that could affect the engagement accuracy with the radome 503. The claw transmission component 143 serves as a power transmission component, connecting the gripping claw 142 and the third gripping driver 144, so that the third gripping driver 144 can drive the gripping claw 142 to perform corresponding actions. When the third gripping driver 144 is activated, power is transmitted to the gripping pawl 142 through the pawl transmission component 143, causing the gripping pawl 142 to move along the guide trajectory of the guide mounting bracket 141, thereby achieving the effect of fixing or separating the gripping pawl 142 from the radar dome 503.

[0111] More specifically, see Figure 13 As shown, the radar dome 503 has a hollow design, which is adapted to fit with the gripping claw 142 of the third gripper 14. When the third gripper 14 is fixedly connected to the radar dome 503, the gripping claw 142 can be precisely embedded into the hollow structure of the radar dome 503. This embedding and fitting method can, on the one hand, achieve a locking and limiting action between the gripping claw 142 and the hollow structure in the height direction, effectively restricting the vertical displacement of the cleaning device 500 and achieving stable fixation in the height direction. On the other hand, the side of the gripping claw 142 abuts against the inner wall of the hollow structure, which can restrict the horizontal movement of the cleaning device 500 (including the front-back, left-right, and circumferential directions), thereby simultaneously achieving reliable fixation in the horizontal direction.

[0112] Through the hollow design of the radar dome 503 and the embedded cooperation of the holding claw 142, the fixing effect of the third holding device 14 on the cleaning equipment 500 is extended from one direction to multiple directions, which further improves the overall stability of the connection between the cleaning equipment 500 and the holding mechanism 1, and ensures that the cleaning equipment 500 will not shift or fall off due to external force during the holding process.

[0113] For example, in combination Figure 14 and Figure 15As shown, in some embodiments of this application, the guide mounting frame 141 includes a main mounting frame 1411, a guide frame 1412, and a secondary mounting frame 1413. The main mounting frame 1411 serves as the basic support structure of the guide mounting frame 141 and is fixedly mounted on the holding frame 11, providing a stable mounting reference for the entire third holding device 14. The guide frame 1412 and the secondary mounting frame 1413 are both fixedly connected to the main mounting frame 1411, respectively undertaking the guiding function and the load-bearing function of the third holding actuator 144.

[0114] Specifically, the holding claw 142 includes a sliding part 1421 and a claw part 1422. The sliding part 1421 and the claw part 1422 are fixedly connected to form an integrated movable structure. The guide frame 1412 is constructed as a groove structure, and the sliding part 1421 is adapted to be a slider, so that the sliding part 1421 is slidably disposed in the groove of the guide frame 1412, thereby realizing that the holding claw 142 can be slidably installed on the guide mounting frame 141. This slider and groove cooperation method ensures that the holding claw 142 moves smoothly along a straight trajectory during the movement, avoiding deviation of movement. When the two holding claws 142 gradually approach each other under the driving action, their claw parts 1422 are used to jointly hold and fix the radar cover 503 of the cleaning equipment 500, forming a symmetrical clamping effect and improving the fixation reliability.

[0115] The auxiliary mounting frame 1413 supports the third gripping driver 144, fixing it to the gripping frame 11 to ensure stable power output. The hook transmission component 143 is specifically constructed as a double-ended forward and reverse threaded screw, with both ends screwed to the sliding portions 1421 of the two gripping hooks 142. Since the threads of the double-ended forward and reverse threaded screws are opposite, when the third gripping driver 144 drives the double-ended forward and reverse threaded screws to rotate, it synchronously drives the two oppositely positioned gripping hooks 142 to move towards or away from each other along the guide frame 1412, allowing the two hook portions 1422 to move closer or further apart, thus efficiently and accurately completing the detachable fixing of the radar dome 503.

[0116] Through the above structural design, the third gripper 14 integrates symmetrical drive and linear guidance within a limited space, further optimizing the synchronization and stability of the gripping action, ensuring that the cleaning equipment 500 is subjected to uniform force during the fixing process, and avoiding local stress concentration.

[0117] Furthermore, such as Figure 14 and Figure 15As shown, in some embodiments of this application, the claw portion 1422 is provided with an auxiliary roller 1423. The rolling direction of the auxiliary roller 1423 is the same as the moving direction of the holding claw 142. Specifically, the auxiliary roller 1423 is rotatably mounted in the claw portion 1422 and can contact the surface of the radome 503. Since the rolling direction of the auxiliary roller 1423 is consistent with the horizontal moving direction of the holding claw 142, when the holding claw 142 is displaced relative to the radome 503, the auxiliary roller 1423 can replace the sliding friction between the claw portion 1422 and the surface of the radome 503 by rolling.

[0118] This configuration allows the auxiliary roller 1423 to convert the sliding friction between the claw 1422 and the surface of the radome 503 into rolling friction during the actions of the gripping claw 142 closing to grip the radome 503 or separating to release the radome 503. By significantly reducing the frictional force when the two are in contact, not only are the gripping and releasing actions smoother and less strenuous, reducing the load on the third gripping actuator 144, but it also effectively avoids wear on the surface of the radome 503 or jamming of the claw 1422 that may be caused by excessive friction, thus improving the reliability and durability of the third gripper 14.

[0119] For example, in combination Figure 16 and Figure 17 As shown, in some embodiments of this application, the guide mounting frame 141 includes a main mounting frame body 1411 and two guide rails 1414. The main mounting frame body 1411 serves as the basic support structure of the guide mounting frame 141 and is fixedly mounted on the holding frame 11, providing a stable mounting reference for the entire third holding device 14. The two guide rails 1414 are fixedly mounted on the main mounting frame body 1411 and provide linear guidance for the holding claws 142. Furthermore, the third holding driver 144 is also fixedly mounted on the main mounting frame body 1411, achieving a centralized arrangement of the power source and making the structure more compact.

[0120] Specifically, the holding hook 142 includes a sliding part 1421 and a hook part 1422. The sliding part 1421 and the hook part 1422 are fixedly connected to form an integrated movable structure. The sliding part 1421 is specifically constructed as a slider, which allows it to be fitted onto the corresponding guide rail 1414, thereby enabling the sliding part 1421 to be slidably set on the guide mounting frame 141, and thus enabling the entire holding hook 142 to be slidably mounted on the guide mounting frame 141. This cooperation between the slider and the guide rail 1414 ensures that the holding hook 142 can move smoothly along a precise straight trajectory during operation, effectively avoiding movement deviation. When the two holding hooks 142 gradually approach each other along the guide rail 1414 under the driving action, their hook parts 1422 are used to jointly hold and fix the radar cover 503 of the cleaning equipment 500, forming a symmetrical clamping, which improves the reliability and stability of the fixation.

[0121] The pawl drive component 143 includes two meshing racks 1431 and a drive gear 1432. Both meshing racks 1431 are slidably mounted on the main mounting frame 1411, and each meshing rack 1431 is fixedly connected to the sliding part 1421 of a holding pawl 142, achieving linkage between the racks and the holding pawls 142. The drive gear 1432 is drively connected to the output end of the third holding driver 144, and simultaneously meshes between the two meshing racks 1431. When the third holding driver 144 starts and drives the drive gear 1432 to rotate, the drive gear 1432 synchronously drives the two meshing racks 1431 to move in opposite directions, thereby driving the two holding pawls 142 to move in opposite or opposite directions along the guide rail 1414, achieving reliable holding or smooth release of the radar dome 503 by the two pawl parts 1422.

[0122] By employing a gear and rack transmission system, the movement of the two gripping claws 142 is strictly synchronized and in opposite directions, ensuring a uniform distribution of clamping force. Simultaneously, the guide rail 1414 provides high-precision linear guidance, further optimizing the accuracy of the third gripper 14's movement and the rigidity of the overall structure, effectively improving the stability and reliability during the fixing of the radar dome 503.

[0123] Furthermore, such as Figure 16 and Figure 17As shown, in some embodiments of this application, the claw portion 1422 is provided with an auxiliary roller 1423. The rolling direction of the auxiliary roller 1423 is the same as the moving direction of the holding claw 142. Specifically, the auxiliary roller 1423 is rotatably mounted in the claw portion 1422 and can contact the surface of the radome 503. Since the rolling direction of the auxiliary roller 1423 is consistent with the horizontal moving direction of the holding claw 142, when the holding claw 142 is displaced relative to the radome 503, the auxiliary roller 1423 can replace the sliding friction between the claw portion 1422 and the surface of the radome 503 by rolling.

[0124] This configuration allows the auxiliary roller 1423 to convert the sliding friction between the claw 1422 and the surface of the radome 503 into rolling friction during the actions of the gripping claw 142 closing to grip the radome 503 or separating to release the radome 503. By significantly reducing the frictional force when the two are in contact, not only are the gripping and releasing actions smoother and less strenuous, reducing the load on the third gripping actuator 144, but it also effectively avoids wear on the surface of the radome 503 or jamming of the claw 1422 that may be caused by excessive friction, thus improving the reliability and durability of the third gripper 14.

[0125] For example, in combination Figure 18 and Figure 19 As shown, in some embodiments of this application, the guide mounting frame 141 includes a main mounting frame body 1411 and a cover plate 1415. The main mounting frame body 1411 has a mounting space 1416 for accommodating an internal transmission mechanism, and is fixedly mounted on the holding frame 11 as a basic support structure. The cover plate 1415 covers the opening of the mounting space 1416, forming a closed or semi-closed box structure together with the main mounting frame body 1411, providing a stable mounting reference and protection for the internal components.

[0126] Specifically, the holding hook 142 includes a sliding part 1421 and a hook part 1422. The sliding part 1421 is housed within the mounting space 1416 and slidably disposed on the main mounting frame 1411; the hook part 1422 is fixedly connected to the sliding part 1421 and extends to the outside of the mounting space 1416 for direct engagement with the radome 503. By sliding the sliding part 1421 within the mounting space 1416, the entire holding hook 142 is slidably disposed on the guide mounting frame 141.

[0127] The pawl drive component 143 is specifically constructed as a rotating block, which is disposed within the installation space 1416 and located between the sliding portions 1421 of the two gripping pawls 142, forming a transmission connection with the two sliding portions 1421. Simultaneously, the rotating block is transmissionally connected to the output end of the third gripping driver 144, which is fixedly mounted on the cover plate 1415. When the third gripping driver 144 is activated, it drives the rotating block to rotate, which in turn pushes the sliding portions 1421 of the two gripping pawls 142 to slide synchronously in opposite directions within the installation space 1416, thereby causing the pawl portions 1422 to move closer together to grip the radome 503 or move away to release the radome 503.

[0128] By integrating the transmission mechanism into the mounting space 1416 formed by the main mounting frame 1411 and the cover plate 1415, not only is the spatial layout of the third gripper 14 optimized, making its structure more compact and neat, but the internal transmission components are also effectively protected from the influence of the external environment, improving the reliability and service life of the operation. The transmission method of the rotating block ensures the synchronization of the movement of the two gripping claws 142, realizing stable and precise detachable fixing of the radome 503.

[0129] Furthermore, such as Figure 18 and Figure 19 As shown, in some embodiments of this application, the claw portion 1422 is provided with an auxiliary roller 1423. The rolling direction of the auxiliary roller 1423 is the same as the moving direction of the holding claw 142. Specifically, the auxiliary roller 1423 is rotatably mounted in the claw portion 1422 and can contact the surface of the radome 503. Since the rolling direction of the auxiliary roller 1423 is consistent with the horizontal moving direction of the holding claw 142, when the holding claw 142 is displaced relative to the radome 503, the auxiliary roller 1423 can replace the sliding friction between the claw portion 1422 and the surface of the radome 503 by rolling.

[0130] This configuration allows the auxiliary roller 1423 to convert the sliding friction between the claw 1422 and the surface of the radome 503 into rolling friction during the actions of the gripping claw 142 closing to grip the radome 503 or separating to release the radome 503. By significantly reducing the frictional force when the two are in contact, not only are the gripping and releasing actions smoother and less strenuous, reducing the load on the third gripping actuator 144, but it also effectively avoids wear on the surface of the radome 503 or jamming of the claw 1422 that may be caused by excessive friction, thus improving the reliability and durability of the third gripper 14.

[0131] See Figure 9 and Figure 10As shown, in some embodiments of this application, the holding mechanism 1 further includes a positioning connector 16. The positioning connector 16 is disposed on the holding frame 11 and is used to extend into a pre-set alignment hole 504 in the body 501 of the cleaning device 500 during the assembly and docking process between the cleaning device 500 and the holding mechanism 1. Exemplarily, the alignment hole 504 can be configured as a dust collection hole or other interface hole with standard size and position located at the rear end of the body 501. This avoids the need to additionally open the alignment hole 504 in the body 501.

[0132] Specifically, the positioning connector 16 extends from the rear of the cleaning device 500 toward the alignment hole 504. When the cleaning device 500 moves relative to the holding mechanism 1 to a near-assembled position, the positioning connector 16 first extends into the alignment hole 504. Through the cooperation between the connector and the hole wall, the cleaning device 500 is initially positioned in the horizontal plane (front-back and left-right directions). This pre-positioning mechanism can effectively guide the cleaning device 500 to accurately reach the ideal holding position of the holding assembly, providing an accurate alignment reference for the subsequent holding or locking actions of the first holding device 12, the second holding device 13, and / or the third holding device 14.

[0133] Furthermore, when the positioning connector 16 is fully inserted into the alignment hole 504, its outer wall forms a tight fit with the inner wall of the alignment hole 504. This fit not only achieves horizontal limitation but also restricts the vertical displacement of the cleaning device 500 by the contact between the upper or lower surface of the positioning connector 16 and the corresponding edge of the alignment hole 504 in the height direction of the climbing device 100. Therefore, in conjunction with the holding assembly, the positioning connector 16 participates in the comprehensive limitation of the cleaning device 500 in both the height and horizontal directions, significantly enhancing the overall stability of the cleaning device 500 when fixed to the holding mechanism 1, and effectively preventing swaying or displacement during climbing or movement.

[0134] More specifically, the positioning connector 16 is also provided with a sliding roller 161. The sliding roller 161 is rotatably mounted on the front end or side of the positioning connector 16. During the insertion or removal of the positioning connector 16 into the alignment hole 504, the sliding roller 161 is adapted to contact the inner wall of the alignment hole 504. The sliding roller 161 can replace the sliding friction between the body of the positioning connector 16 and the inner wall of the alignment hole 504 by rolling. This arrangement makes the insertion and removal process of the positioning connector 16 smoother and less strenuous, effectively avoiding insertion difficulties, jamming, or component wear that may be caused by excessive friction, thus improving the reliability and durability of the alignment operation.

[0135] See Figure 21As shown, in some embodiments of this application, the holding mechanism 1 further includes a sliding actuator 17. The sliding actuator 17 is disposed on the holding frame 11 and is drively connected to the positioning connector 16. The sliding actuator 17 is configured to drive the positioning connector 16 to move along the length of the climbing device 100, thereby enabling the positioning connector 16 to selectively extend into or retract from the alignment hole 504 of the cleaning device 500 body 501.

[0136] Specifically, the sliding actuator 17 serves as the power source for the positioning connector 16, transmitting the driving action to the positioning connector 16 via a transmission assembly (such as a lead screw and nut mechanism, a gear and rack mechanism, or a linear motor). Under the control of the sliding actuator 17, the positioning connector 16 can perform precise telescopic movements along a preset linear trajectory in the length direction.

[0137] During the assembly of the cleaning component 1000 and the climbing device 100, after the cleaning device 500 is secured by the first holder 12 and / or the second holder 13 and / or the third holder 14, the position of the body 501 of the cleaning device 500 relative to the holding frame 11 is determined. At this time, the pre-set alignment hole 504 of the body 501 and the positioning connector 16 are aligned in the horizontal plane. The sliding drive 17 is then activated, driving the positioning connector 16 to move along the length direction toward the alignment hole 504 and smoothly extend into the alignment hole 504.

[0138] It is worth noting that by pre-positioning and fixing the cleaning device 500 with the holding component, it can be ensured that the alignment hole 504 and the positioning connector 16 are accurately aligned in the height direction (Z direction), effectively avoiding interference or reverse force during the insertion process due to height deviation, thereby ensuring the smoothness and reliability of the assembly process.

[0139] When the positioning connector 16 is fully inserted into the alignment hole 504 under the drive of the sliding actuator 17, its outer wall forms a tight fit with the inner wall of the alignment hole 504. This fit not only further strengthens the limiting of the cleaning device 500 in the horizontal plane (front-back and left-right directions), but also constrains the cleaning device 500 in the height direction of the climbing device 100 by the contact between the upper or lower surface of the positioning connector 16 and the corresponding edge of the alignment hole 504, thus limiting its vertical displacement.

[0140] By adding a sliding actuator 17 and implementing active drive control for the positioning connector 16, the automated operation of the positioning connector is achieved, further improving alignment accuracy and assembly efficiency. This design works in conjunction with the holding component to form a multi-level positioning strategy of "pre-fixing of the holding component" and "precise positioning of the positioning connector 16," significantly enhancing the connection rigidity and overall stability of the cleaning equipment 500 on the holding mechanism 1, and ensuring the safety and reliability of the climbing device 100 during complex movements.

[0141] See Figure 9 and Figure 10 As shown, in some embodiments of this application, the holding mechanism 1 further includes two guide positioning members 15. Each guide positioning member 15 extends along the length direction of the climbing device 100, and the two guide positioning members 15 are fixed to the holding frame 11 opposite to each other and spaced apart in the width direction of the climbing device 100. The two guide positioning members 15 together form a guide channel 150, which is used to guide the cleaning device 500 into a predetermined position during the combination of the cleaning device 500 and the holding mechanism 1.

[0142] Specifically, the inner surfaces of the two guide positioning members 15 opposite each other form guide surfaces. When the cleaning device 500 approaches the holding mechanism 1 along its length, its body 501 will first contact these two guide surfaces. As the cleaning device 500 continues to move forward, under the action of the guide surfaces, the cleaning device 500 is automatically corrected for positional deviation and gradually guided to the central area between the two guide positioning members 15, thereby achieving a centered arrangement in the holding mechanism 1.

[0143] This centering guidance mechanism ensures that the final position of the cleaning device 500 aligns with the design center of the holding assembly. On one hand, this provides an ideal centering reference for the first holding member 12 and / or the second holding member 13 to clamp the cleaning device 500 in the width direction, guaranteeing a symmetrical distribution of clamping force and avoiding unilateral stress concentration or insecure grip caused by the offset of the cleaning device 500. On the other hand, it also ensures that the alignment hole 504 on the body 501 of the cleaning device 500 can be precisely aligned with the positioning connector 16 in the horizontal plane, creating conditions for the smooth insertion of the positioning connector 16 and achieving coordinated positioning between the holding assembly and the positioning connector 16.

[0144] By setting the guide positioning component 15, automatic centering and preliminary positioning of the cleaning equipment 500 are achieved during the assembly process, reducing the requirements for initial docking accuracy and improving the alignment success rate and assembly efficiency. The user experience of the climbing device 100 is further optimized, enabling the cleaning equipment 500 to be quickly and accurately installed onto the holding mechanism 1.

[0145] See Figure 9 and Figure 10 As shown, in some embodiments of this application, the guide positioning member 15 includes a guide segment 151 and a limiting segment 152. The guide segment 151 and the limiting segment 152 are connected sequentially along the length of the climbing device 100, together forming a functionally composite positioning structure.

[0146] Specifically, the guide section 151 is positioned near the side where the cleaning device 500 enters, and has a guide surface. The guide surface extends along the length of the climbing device 100 and is configured to form a smooth guiding engagement with the side of the cleaning device 500's body 501. As the cleaning device 500 enters along its length, the guide section 151 smoothly corrects any lateral positional deviations by contacting the surface with the side of the body 501, gradually guiding the cleaning device 500 to the central area between the two guide positioning members 15.

[0147] Furthermore, the limiting segment 152 is connected to the rear of the guide segment 151 (along the entry direction of the cleaning device 500). The limiting segment 152 has a limiting surface that extends primarily along the width direction of the climbing device 100 toward another guide positioning member 15. When the cleaning device 500 reaches the predetermined holding position after being guided by the guide segment 151, the side of the body 501 of the cleaning device 500 finally abuts against the limiting surface of the limiting segment 152. This limiting surface constitutes the final limiting of the cleaning device 500 in the entry direction, preventing it from moving further in. This ensures that the cleaning device 500 is accurately positioned and centered in the predetermined holding position.

[0148] By combining the dynamic guidance of the guide segment 151 with the static limiting of the limiting segment 152, and with its surface morphology flexibly designed according to actual needs, the guide positioning component 15 achieves full-process control of the cleaning equipment 500 from "initial guidance" to "precise positioning". This segmented and variable-form design not only ensures that the cleaning equipment 500 can be smoothly and automatically centered, but also enhances its adaptability to different body sizes 501, ultimately constraining it stably in the ideal position. This facilitates the reliable clamping of the holding component and the precise insertion of the positioning connector 16, further improving the automation, adaptability, and positioning accuracy of the cleaning component 1000 and the climbing device 100 during the assembly process.

[0149] See Figure 1 and Figure 2 As shown, the cleaning component 1000 according to this application includes a climbing device 100 and a cleaning device 500 adapted to be held by the holding mechanism 1 of the climbing device 100, and the cleaning device 500 can be displaced in the length and height directions of the climbing device 100 based on the holding mechanism 1 and the motion mechanism 2 of the climbing device 100.

[0150] Specifically, in the cleaning component 1000, the climbing device 100 serves as a mobile auxiliary platform for the cleaning equipment 500. The coordinated movement between its motion mechanism 2 and holding mechanism 1 jointly undertakes the movement requirements of the cleaning equipment 500 in the height direction (Z direction) and length direction (X direction). The cleaning equipment 500 itself does not need to have any additional structures specifically for climbing or movement in a specific direction, thus maintaining its design independence and functionality.

[0151] When the cleaning equipment 500 needs to perform routine cleaning tasks on flat ground, it can be separated from the climbing device 100 and operate flexibly as an independent unit, avoiding additional load and size constraints. When encountering structures with height differences such as stairs or thresholds, the cleaning equipment 500 can be placed into the holding mechanism 1 and fixed, and the climbing device 100 can be used to stably and efficiently complete obstacle climbing or descending actions by means of its lifting and lateral movement functions.

[0152] The design of this cleaning component 1000 effectively expands the application scenarios and working range of the cleaning equipment 500, improves the utilization rate and user convenience of the cleaning equipment 500, and at the same time minimizes the restrictions and modifications to the design of the cleaning equipment 500 itself, thus having good versatility and economy.

[0153] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A climbing device for a cleaning apparatus, characterized in that The application relates to a cleaning device, comprising: a holding mechanism, the holding mechanism comprising a holding frame and a holding component, the holding component being arranged on the holding frame, the holding component being used for detachably fixing the cleaning device; a moving mechanism, the holding frame being arranged on the moving mechanism, and the holding frame being configured to move in a first direction and a second direction; the first direction and the second direction being arranged perpendicularly.

2. The climbing device of claim 1, wherein, The holding component comprises: at least two first holders, first holding parts of the two first holders being arranged oppositely and at intervals, the two first holding parts being used for jointly holding an outer surface of a fuselage of the cleaning device, wherein at least one of the first holders is configured to drive the first holding part thereof to be close to or away from the cleaning device; and / or at least two second holders, the two second holders being arranged oppositely and at intervals, each of the second holders being provided with a plug-in rod used for extending into a docking hole of the fuselage of the cleaning device; and / or a third holder used for detachably fixing a radar cover of the cleaning device, the radar cover being protruded from a top of the fuselage of the cleaning device.

3. The climbing device of claim 2, wherein, The first holder comprises a first holding driver and the first holding part, the first holding driver being arranged on the holding frame, and the first holding driver being configured to drive the first holding part to move; wherein the first holding part comprises a first close body, a first limiting body and a second limiting body, the first close body being provided with a first close surface used for abutting against a side surface of the fuselage of the cleaning device, the first limiting body and the second limiting body being arranged on one side of the first close body provided with the first close surface, and the first limiting body and the second limiting body being arranged at intervals in the second direction, and the first limiting body and the second limiting body being respectively abutted against and limited by two ends of the fuselage of the cleaning device in the second direction.

4. The climbing device of claim 2, wherein, The second holder comprises a second holding driver and the plug-in rod, the second holding driver being fixedly arranged on the holding frame, a driving shaft of the second holding driver being connected with the plug-in rod, the driving shaft and the plug-in rod being arranged coaxially, and the driving shaft driving the plug-in rod to extend or retract, so that the plug-in rod is used for extending into or moving out of the docking hole of the fuselage; Alternatively, the second holder comprises a second holding driver, a positioning mounting frame, the plug-in rod and a track guide; the second holding driver and the positioning mounting frame are fixedly arranged on the holding frame, the positioning mounting frame has a guide limiting hole, the plug-in rod is adapted to pass through the guide limiting hole, and the axis of the guide limiting hole is perpendicular to the axis of the driving shaft; the track guide is connected with the driving shaft of the second holding driver, the driving shaft drives the track guide to move along the axis of the driving shaft of the second holding driver, and the track guide is guided and matched with the plug-in rod; during the movement of the track guide relative to the positioning mounting frame driven by the second holding driver, the track guide moves relative to the plug-in rod, so that the plug-in rod extends out of or retracts into the guide limiting hole.

5. The climbing device of claim 2, wherein, The third holder comprises: a guide mounting frame fixedly arranged on the holding frame; a holding hook movably arranged on the guide mounting frame and guided and matched with the guide mounting frame; a hook transmission member transmissionally connected with the holding hook; a third holding driver transmissionally connected with the hook transmission member, the third holding driver being configured to drive the hook transmission member to act, so that the holding hook detachably fixes the radome.

6. Climbing device according to any of claims 1 to 5, characterized in that The holding mechanism further comprises a positioning plug-in member arranged on the holding frame, the positioning plug-in member being used to extend into the alignment hole of the cleaning equipment body.

7. Climbing device according to claim 6, characterized in that The holding mechanism further comprises a sliding driver arranged on the holding frame and transmissionally connected with the positioning plug-in member, the sliding driver being configured to drive the positioning plug-in member to move in the first direction, so that the positioning plug-in member is used to selectively extend into the alignment hole.

8. Climbing device according to any of claims 1 to 5, characterized in that The holding mechanism further comprises two guide positioning members, each of which is arranged in the first direction, and the two guide positioning members are oppositely and spacedly arranged in a third direction on the holding frame, so that the two guide positioning members are used to jointly drive the cleaning equipment to be centrally arranged on the holding mechanism. The first direction, the second direction and the third direction are perpendicular to each other.

9. The climbing device of claim 8, wherein, The guide positioning member comprises a guide segment body and a limiting segment body, the guide segment body and the limiting segment body being connected in sequence in the first direction; wherein, a guide surface of the guide segment body is arranged in the first direction, the guide surface being used to guide and match with the side surface of the cleaning equipment body; a limiting surface of the limiting segment body is arranged in the third direction towards the other guide positioning member, the limiting surface being used to abut and limit the side surface of the cleaning equipment body.

10. The climbing device of claim 1, wherein, The movement mechanism comprises two lifters, the two lifters are respectively arranged on the two sides of the holding mechanism in a third direction; the first direction, the second direction and the third direction are perpendicular to each other; wherein the lifter comprises a first frame body, a second frame body and a connecting arm, the connecting arm is movably connected between the first frame body and the second frame body, wherein the first frame body and the second frame body are arranged in parallel in the second direction, and the first frame body and the holding frame are slidably connected in the first direction. Alternatively, the movement mechanism comprises two lifting translators, the two lifting translators are respectively arranged on the two sides of the holding mechanism in a third direction; the first direction, the second direction and the third direction are perpendicular to each other; wherein the lifting translator comprises a translation component and a lifting component, the translation component and the lifting component move relative to each other in the first direction, and the lifting component and the holding frame move relative to each other in the second direction.

11. A cleaning assembly characterized by, Comprise: The climbing device according to any one of claims 1 to 10; The cleaning device is suitable for being held by the holding mechanism of the climbing device, and based on the holding mechanism and the movement mechanism of the climbing device, the cleaning device can be displaced in the first direction and the second direction.

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