A cleaning device

Abstract

The application discloses a cleaning device, which comprises a device main body, a clamping module and a walking assembly. The clamping module is connected to the device main body. The clamping module comprises a driving motor, a transmission rope and two clamping assemblies for clamping target objects. The output shaft of the driving motor is in transmission connection with at least one of the two clamping assemblies through the transmission rope. The driving motor is used for driving at least one of the two clamping assemblies to move through the transmission rope, so as to clamp or release the target objects. The walking assembly is installed on the device main body and is used for driving the device main body to walk. In this way, the cleaning device can carry and transfer the target objects, the transmission rope is used for transmission, the driving motor is convenient for driving the clamping assembly to perform clamping work, and the clamping assembly is convenient for storage.

Description

Technical Field

[0001] This application relates to the field of intelligent cleaning technology, and in particular to a cleaning device. Background Technology

[0002] With the development of technology, various smart products have appeared in people's lives, thereby reducing their workload. In the home environment, smart cleaning devices can help people clean floors and various work surfaces.

[0003] However, in existing technologies, cleaning devices will avoid obstacles after identifying them during the cleaning process, resulting in some areas blocked by movable obstacles not being cleaned, which affects the cleaning effect. Obstacles can also block the path of the cleaning device, thus limiting the subsequent cleaning process. Summary of the Invention

[0004] This application provides a cleaning device that can transport and move target objects. By using a transmission rope for transmission, it is easy to drive the clamping component to perform clamping work, and at the same time, it is easy to store the clamping component.

[0005] To solve the above-mentioned technical problems, the technical solution adopted in this application is: to provide a cleaning device. The cleaning device includes a device body, a clamping module, and a walking assembly. The clamping module is connected to the device body. The clamping module includes a drive motor, a transmission rope, and two clamping assemblies for clamping a target object. The output shaft of the drive motor is connected to at least one of the two clamping assemblies via the transmission rope. The drive motor is used to drive at least one of the two clamping assemblies to move via the transmission rope to clamp or release the target object. The walking assembly is mounted on the device body and is used to drive the device body to move.

[0006] The beneficial effects of this application are as follows: Unlike the prior art, a clamping module is connected to the main body of the device. The clamping module includes a drive motor, a transmission rope, and two clamping components for clamping the target object. The output shaft of the drive motor is connected to at least one of the two clamping components via the transmission rope. The drive motor is used to drive at least one of the two clamping components to move via the transmission rope to clamp or release the target object. A walking component is installed at the bottom of the main body of the device to drive the main body of the device to move. By using the two clamping components to clamp the target object in the area to be cleaned, the cleaning device can transport and transfer the target object. In addition, using the transmission rope for transmission can reduce transmission noise, reduce lubrication maintenance, reduce weight, promote compact structure, increase power density, facilitate the drive motor to drive the clamping components to perform clamping work, and facilitate the storage of the clamping components. Attached Figure Description

[0007] Figure 1 This is a top view of an embodiment of the cleaning device of this application;

[0008] Figure 2 This is a side view of an embodiment of the cleaning device of this application;

[0009] Figure 3 for Figure 1 The diagram shows the structure of the clamping module clamping the target object.

[0010] Figure 4 for Figure 1 Another schematic diagram of the clamping module clamping the target object;

[0011] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the clamping module shown;

[0012] Figure 6 This is a schematic diagram of the first clamping component and the process of the first clamping component switching between an extended state and a folded state.

[0013] Figure 7 for Figure 1 The diagram shows a bottom view of the clamping module holding the target object. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0015] Through long-term research, the inventors have discovered that in existing technologies, cleaning devices avoid obstacles during the cleaning process, resulting in areas obscured by movable obstacles remaining uncleaned, thus affecting the cleaning effect. Furthermore, obstacles can block the cleaning device's path, limiting subsequent cleaning operations. To address this technical problem, this application provides the following embodiments.

[0016] like Figures 1 to 4As shown in the embodiments of this application, the cleaning device 1 can have one or more functions such as sweeping, mopping, and vacuuming. For example, the cleaning device 1 can be a sweeping robot, a mopping robot, a washing and mopping robot, or a sweeping, washing, and mopping robot. When the cleaning device 1 is performing a sweeping task, it can suck up various debris from the outside world, such as dust particles, paper scraps, and hair. When the cleaning device 1 is performing a mopping task, it can wet the working surface to remove dirt. When performing a cleaning task, the cleaning device 1 can move and transfer some obstacles in the area to be cleaned to facilitate cleaning. The cleaning device 1 can also collect and organize the target objects 300 in the area to be cleaned by moving and transferring them, such as placing shoes, paper balls, yarn balls, and pet toys into corresponding preset storage areas. Of course, the cleaning device 1 can also be a robot specifically designed for storage and organization, capable of cleaning floors and work surfaces.

[0017] The following is an exemplary structure of the cleaning device 1.

[0018] like Figure 1 as well as Figures 5 to 7 As shown, the cleaning device 1 includes a device body 100, a clamping module 200, and a walking assembly 101. The clamping module 200 is connected to the device body 100. The clamping module 200 includes a drive motor 210, a transmission rope 220, and two clamping assemblies 230 for clamping a target object 300. The output shaft of the drive motor 210 is connected to at least one of the two clamping assemblies 230 via the transmission rope 220. The drive motor 210 drives at least one of the two clamping assemblies 230 to move via the transmission rope 220 to clamp or release the target object 300. The walking assembly 101 is mounted on the device body 100 and is used to move the device body 100. For example, the walking assembly 101 is mounted on the bottom of the device body 100.

[0019] Two clamping components 230 can work together to clamp the target object 300 between the two clamping components 230. In some embodiments, the two clamping components 230 are identical and arranged in a mirror image. In other embodiments, the two clamping components 230 have different structures.

[0020] In some embodiments, the drive motor 210 is configured to drive the two clamping components 230 to move in order to clamp or release the target object 300, thereby reducing the number of motors required. In other embodiments, the drive motor 210 is configured to drive one of the two clamping components 230 to move in order to clamp or release the target object 300, and the other of the two clamping components 230 may be driven by another motor.

[0021] In some embodiments, the output shaft of the drive motor 210 is connected to one of the two clamping assemblies 230 via a transmission rope 220. In other embodiments, the output shaft of the drive motor 210 is connected to one of the two clamping assemblies 230 via a transmission rope 220, and the output shaft of the drive motor 210 is connected to the other of the two clamping assemblies 230 in other ways.

[0022] If a transmission is made using a gear rack, double gear, or lead screw structure, on the one hand, the production and assembly of gear racks, double gears, or lead screws is more complex, the cost is higher, lubrication and maintenance are required, and the transmission distance is limited. On the other hand, if metal is used, the weight will be greater.

[0023] By using the transmission rope 220 for transmission, the transmission rope 220 has the advantages of zero backlash, no transmission noise, no need for lubrication and maintenance, light weight, compact structure and high power density during transmission. It is convenient for the drive motor 210 to drive the clamping component 230 to perform clamping work, and it is also convenient to store the clamping component 230. In addition, by adjusting the length of the transmission rope 220, the transmission rope 220 can be adapted to the transmission requirements in different scenarios, which is convenient for the assembly and structural adjustment of the clamping module 200.

[0024] Of course, in some embodiments, the transmission rope 220 can be combined with a gear rack, double gear or lead screw and other structures for transmission, which can reduce backlash, reduce noise and reduce weight, which is beneficial for long-distance transmission, improve structural compactness, increase power density, facilitate the drive motor 210 to drive the clamping assembly 230 to perform clamping work, and facilitate the storage of the clamping assembly 230.

[0025] The walking component 101 enables the cleaning device 1 to be movable, thereby allowing the cleaning device 1 to transport and move the target object 300 in the area to be cleaned. In some embodiments, the walking component 101 may include drive wheels and casters, with the device body 100 moving under the drive wheels.

[0026] The drive motor 210 can adjust the rotation direction of its output shaft, thereby allowing the clamping assembly 230 to switch between clamping and releasing the target object 300. Specifically, taking the drive motor 210 driving two clamping assemblies 230 to clamp the target object 300 as an example, the process of the cleaning device 1 clamping and transferring the target object 300 is as follows: When the cleaning device 1 identifies an obstacle and confirms that the obstacle is a movable target object 300 during the cleaning process, it can walk closer to the target object 300. Under the drive of the drive mechanism, the two clamping assemblies 230 can approach each other from both sides of the target object 300 to clamp target objects 300 of different sizes. Thus, the cleaning device 1 can transfer some obstacles in the area to be cleaned, improving the cleaning coverage of the area to be cleaned. The cleaning device 1 can also collect and organize the target object 300 by transferring the target object 300 in the area to be cleaned. After the cleaning device 1 transports the target object 300 to the target position, under the drive of the drive mechanism, the two clamping components 230 can move away from the sides of the target object 300 to release the target object 300. For other embodiments of the clamping components 230 releasing the target object 300, refer to the reverse process of other embodiments of the clamping components 230 clamping the target object 300 in this application.

[0027] Optionally, such as Figures 5 to 7 As shown, the two clamping assemblies 230 include a first clamping assembly 230a and a second clamping assembly 230b. A transmission rope 220 is connected to both the first clamping assembly 230a and the output shaft of the drive motor 210. The drive motor 210 drives the first clamping assembly 230a to move via the transmission rope 220, thereby clamping or releasing the target object 300. In other words, one of the two clamping assemblies 230 is the first clamping assembly 230a, and the other is the second clamping assembly 230b.

[0028] This configuration reduces transmission noise, lubrication maintenance, weight, promotes a compact structure, increases power density, facilitates the drive motor 210 to drive the clamping assembly 230 for clamping operations, and facilitates the storage of the clamping assembly 230.

[0029] In other embodiments, the transmission rope 220 is connected to the first clamping assembly 230a, the output shaft of the drive motor 210, and the second clamping assembly 230b. The drive motor 210 is used to drive the first clamping assembly 230a and the second clamping assembly 230b to move via the transmission rope 220, so as to clamp or release the target object 300.

[0030] Optionally, such as Figures 5 to 7As shown, the two clamping components 230 include a first clamping component 230a and a second clamping component 230b. The output shaft of the drive motor 210 is connected to the first clamping component 230a, and the transmission rope 220 is connected to both the first clamping component 230a and the second clamping component 230b, so that the output shaft of the drive motor 210 is connected to the second clamping component 230b via the first clamping component 230a and the transmission rope 220. The drive motor 210 is used to drive the first clamping component 230a and the second clamping component 230b to move, so as to clamp or release the target object 300.

[0031] This configuration facilitates the synchronous movement of the first clamping component 230a and the second clamping component 230b under the drive of the drive motor 210, improving the control precision of clamping or releasing the target object 300. It also reduces transmission noise, reduces lubrication maintenance, reduces weight, promotes a compact structure, increases power density, facilitates the drive motor 210 to drive the clamping component 230 for clamping work, and facilitates the storage of the clamping component 230.

[0032] The first clamping component 230a and the second clamping component 230b can be set at intervals. The length and specifications of the transmission rope 220 can be set or adjusted according to the interval between the first clamping component 230a and the second clamping component 230b, so that the clamping module 200 can adapt to the clamping requirements in different scenarios, and at the same time facilitate the assembly and structural adjustment of the clamping module 200.

[0033] Optionally, such as Figure 1 as well as Figures 5 to 7 As shown, the first clamping assembly 230a includes a first transmission member 231, and the second clamping assembly 230b includes a second transmission member 232. Both the first transmission member 231 and the second transmission member 232 are rotatably connected to the device body 100. The output shaft of the drive motor 210 is connected to the first transmission member 231, and the transmission rope 220 is connected to both the first transmission member 231 and the second transmission member 232. The drive motor 210 drives the first transmission member 231 and the second transmission member 232 to rotate relative to the device body 100, so that the first clamping assembly 230a and the second clamping assembly 230b clamp or release the target object 300.

[0034] Specifically, the drive motor 210 drives the first transmission component 231 to rotate relative to the device body 100. When the first transmission component 231 rotates relative to the device body 100, on the one hand, the first transmission component 231 can drive the first clamping assembly 230a to move toward or away from the target object 300; on the other hand, the first transmission component 231 can drive the second transmission component 232 to rotate relative to the device body 100 via the transmission rope 220. When the second transmission component 232 rotates relative to the device body 100, it can drive the second clamping assembly 230b to move toward or away from the target object 300. When both the first clamping assembly 230a and the second clamping assembly 230b move toward the target object 300, they can clamp the target object 300; when both move away from the target object 300, they can release the target object 300.

[0035] This configuration helps to improve the smoothness of the movement of the first clamping component 230a and the second clamping component 230b relative to the main body 100 of the device, reduces the risk of jamming, and helps to maintain the stability and synchronization of the movement trajectories of the first clamping component 230a and the second clamping component 230b.

[0036] Optionally, such as Figure 1 as well as Figures 5 to 7 As shown, the clamping module 200 includes a mounting member 240, which is fixedly disposed on the device body 100. The clamping module 200 is mounted on the device body 100 via the mounting member 240. Specifically, the drive motor 210 may be disposed on the mounting member 240. The first transmission member 231 and the second transmission member 232 are both rotatably connected to the mounting member 240, so as to be rotatably connected to the device body 100 via the mounting member 240.

[0037] Optionally, such as Figures 5 to 7 As shown, the drive motor 210 drives the first transmission member 231 to rotate along the first direction a1, and drives the second transmission member 232 to rotate along the second direction a2 via the first transmission member 231 and the transmission rope 220, so that the first clamping assembly 230a and the second clamping assembly 230b clamp the target object 300. The drive motor 210 also drives the first transmission member 231 to rotate along the second direction a2, and drives the second transmission member 232 to rotate along the first direction a1 via the first transmission member 231 and the transmission rope 220, so that the first clamping assembly 230a and the second clamping assembly 230b release the target object 300. The first direction a1 and the second direction a2 are opposite.

[0038] The drive motor 210 can adjust the rotation direction of its output shaft, thereby allowing the first clamping component 230a and the second clamping component 230b to switch between clamping and releasing the target object 300. This configuration ensures that the rotation directions of the first transmission component 231 and the second transmission component 232 are opposite, and correspondingly, the movement trajectories of the first clamping component 230a and the second clamping component 230b are mirror-symmetrical. This allows the first clamping component 230a and the second clamping component 230b to cooperate, enabling them to simultaneously clamp or release the target object 300.

[0039] Optionally, the rotation axis L1 of the first transmission member 231 is parallel to the rotation axis L2 of the second transmission member 232.

[0040] In other embodiments, the rotation axis L1 of the first transmission member 231 and the rotation axis L2 of the second transmission member 232 may not be parallel. For example, the rotation axis L1 of the first transmission member 231 and the rotation axis L2 of the second transmission member 232 may be set at an angle.

[0041] Optionally, such as Figures 5 to 7 As shown, the transmission rope 220 includes a first sub-rope 221 and a second sub-rope 222, both of which are connected to the first transmission member 231 and the second transmission member 232. When the first transmission member 231 is driven by the drive motor 210 to rotate along the first direction a1, it drives the second transmission member 232 to rotate along the second direction a2 via the first sub-rope 221. When the first transmission member 231 is driven by the drive motor 210 to rotate along the second direction a2, it drives the second transmission member 232 to rotate along the first direction a1 via the second sub-rope 222.

[0042] The first sub-rope 221 and the second sub-rope 222 can transmit tension respectively. By setting the first sub-rope 221 and the second sub-rope 222 respectively, the first transmission member 231 can drive the second transmission member 232 to rotate in different directions as needed. Specifically, when it is necessary to clamp the target object 300, the rotation of the first transmission member 231 in the first direction a1 can put the first sub-rope 221 in a taut state, so that the first sub-rope 221 can drive the second transmission member 232 to rotate in the second direction a2. When the second transmission member 232 rotates in the second direction a2, it will drive the second sub-rope 222 to move, so that the second sub-rope 222 follows the movement of the second transmission member 232. When it is necessary to release the target object 300, the first transmission member 231 rotates along the second direction a2, which can put the second sub-rope 222 in a tensile state. Thus, the second transmission member 232 can be driven to rotate along the first direction a1 through the second sub-rope 222. When the second transmission member 232 rotates along the first direction a1, it will drive the first sub-rope 221 to move, so that the first sub-rope 221 follows the movement of the second transmission member 232.

[0043] Optionally, such as Figures 5 to 7 As shown, the first sub-rope 221 has a first connecting segment 2211 connecting the first transmission member 231 and the second transmission member 232, and the second sub-rope 222 has a second connecting segment 2221 connecting the first transmission member 231 and the second transmission member 232. On a first reference plane perpendicular to the rotation axis L1 of the first transmission member 231, the projections of the first connecting segment 2211 and the second connecting segment 2221 intersect. The clamping module 200 has a second reference plane passing through the rotation axis L1 of the first transmission member 231 and the rotation axis L2 of the second transmission member 232. The two ends of the first connecting segment 2211 are located on opposite sides of the second reference plane, and the two ends of the second connecting segment 2221 are also located on opposite sides of the second reference plane. The two ends of the first connecting segment 2211 are spaced apart from the second reference plane, and the two ends of the second connecting segment 2221 are also spaced apart from the second reference plane.

[0044] This configuration allows the first transmission member 231 to apply force to the first connecting section 2211 and the second connecting section 2221 in different directions, and allows the first connecting section 2211 and the second connecting section 2221 to apply force to the second transmission member 232 in different directions, thereby enabling the second transmission member 232 to rotate in different directions.

[0045] Furthermore, the clamping module 200 is used to clamp the target object 300 in front of the traveling direction of the cleaning device 1. One end of the first connecting segment 2211 and one end of the second connecting segment 2221 are located in front of the second reference plane, and the other ends of the first connecting segment 2211 and the second connecting segment 2221 are located in rear of the second reference plane. The clamping assembly 230 is located in front of the second reference plane when clamping the target object 300.

[0046] Optionally, such as Figures 5 to 7 As shown, the first sub-rope 221 also includes a first fixed section 2212 and a second fixed section 2213 respectively connected to the two ends of the first connecting section 2211. The first fixed section 2212 is connected to the first transmission member 231, and the second fixed section 2213 is connected to the second transmission member 232. The first connecting section 2211 is connected to the first transmission member 231 via the first fixed section 2212, and the first connecting section 2211 is connected to the second transmission member 232 via the second fixed section 2213. For example, the first fixed section 2212 surrounds and is embedded around the outer periphery of the first transmission member 231, and the second fixed section 2213 surrounds and is embedded around the outer periphery of the second transmission member 232. The second sub-rope 222 can be arranged with reference to the first sub-rope 221.

[0047] Optionally, the second sub-rope 222 can be different from the first sub-rope 221, or they can be mirror images of each other.

[0048] Optionally, such as Figure 7 As shown, the first transmission member 231 has a receiving space 2311, and the drive motor 210 is at least partially received in the receiving space 2311. For example, the drive motor 210 is entirely received in the receiving space 2311.

[0049] By providing a accommodating space 2311 to house the drive motor 210, the distance between the output shaft of the drive motor 210 and the first transmission member 231 can be reduced, simplifying the structure and facilitating the transmission connection between the output shaft of the drive motor 210 and the first transmission member 231. Furthermore, it reduces the space occupied by the clamping module 200, thus reducing its overall size. For example, the first transmission member 231 can be fixedly connected to the output shaft of the drive motor 210.

[0050] Optionally, such as Figure 1 as well as Figures 5 to 7 As shown, both clamping assemblies 230 include clamping members 233 for clamping the target object 300. The output shaft of the drive motor 210 is connected to the clamping member 233 of at least one of the clamping assemblies 230 via a transmission rope 220. The drive motor 210 is used to drive the clamping member 233 of at least one of the clamping assemblies 230 away from the device body 100 and clamp the target object 300 via the transmission rope 220. The drive motor 210 is also used to drive the clamping member 233 of at least one of the clamping assemblies 230 to release the target object 300 and move closer to the device body 100 via the transmission rope 220.

[0051] In some embodiments, the output shaft of the drive motor 210 is driveably connected to the clamping member 233 of one of the two clamping assemblies 230 via a transmission rope 220. In other embodiments, the output shaft of the drive motor 210 is driveably connected to the clamping members 233 of both clamping assemblies 230 via the transmission rope 220.

[0052] Driven by the drive motor 210, the clamping member 233 can switch between being close to the device body 100 and being far away from the device body 100. When not clamping the target object 300, the clamping member 233 can be close to the device body 100, thereby reducing the overall size of the cleaning device 1, facilitating the cleaning device 1 to move and clean in the area to be cleaned, and also facilitating the storage of the cleaning device 1. When clamping the target object 300, the clamping member 233 can be far away from the device body 100 to reduce the risk of interference between the device body 100 and the target object 300, thereby facilitating the clamping of target objects 300 of various sizes.

[0053] Optionally, such as Figure 1 As shown, the main body 100 of the device is provided with a receiving groove 102, which is used to store the clamping component 230 close to the main body 100 of the device.

[0054] When it is necessary to clamp the target object 300, the drive motor 210 can drive the clamping assembly 230 to move, so that the clamping member 233 extends out of the receiving groove 102 and moves away from the device body 100. When clamping the target object 300 is finished, the drive motor 210 can drive the clamping assembly 230 to move, so that the clamping member 233 moves closer to the device body 100 and enters the receiving groove 102. In this way, the clamping assembly 230 can be stored in the receiving groove 102, which helps to make the surface of the cleaning device 1 flat and aesthetically pleasing, while reducing the risk of collision between the clamping assembly 230 and the outside world.

[0055] Optionally, such as Figure 1 as well as Figures 5 to 7 As shown, the clamping assembly 230 has an extended state and a folded state. The drive motor 210 is used to drive the clamping assembly 230 from the folded state to the extended state, so that the clamping member 233 moves away from the device body 100 and clamps the target object 300. The drive motor 210 is also used to drive the clamping assembly 230 from the extended state to the folded state, so that the clamping member 233 releases the target object 300 and moves closer to the device body 100.

[0056] By switching the clamping assembly 230 between an extended state and a folded state, the distance between the clamping member 233 and the device body 100 can be adjusted. When the clamping assembly 230 is in the extended state, it is larger, allowing for a larger distance between the clamping member 233 and the device body 100, reducing the risk of interference between the device body 100 and the target object 300, thus facilitating the clamping of target objects 300 of various sizes. When the clamping assembly 230 is in the folded state, it is smaller, occupying less space, and allowing for a smaller or even no distance between the clamping member 233 and the device body 100, which helps to reduce the overall size of the cleaning device 1, facilitating its movement and cleaning within the area to be cleaned, and also making it easier to store the cleaning device 1.

[0057] It should be noted that the structure of the clamping component 230 changes when it is in the extended state. In the extended state, the clamping component 230 can be in different degrees of extension to be able to clamp target objects 300 of different sizes. When the clamping component 230 can clamp the smallest target object 300, the degree of extension can be considered to be the maximum. At this time, the clamping component 230 is in the extreme extension state. The clamping component 230 can switch between the extreme extension state and the folded state. The extension state of the clamping component 230 can include the extreme extension state and the transition state between the extreme extension state and the folded state.

[0058] Optionally, such as Figure 1 as well as Figures 5 to 7As shown, the clamping assembly 230 includes a transmission member, a first connecting rod 235, a second connecting rod 236, and a third connecting rod 237. The transmission member and the first connecting rod 235 are fixedly arranged relative to each other. The transmission member and the second connecting rod 236 are rotatably connected to the device body 100, and the first connecting rod 235 and the second connecting rod 236 are also rotatably connected to the third connecting rod 237. The third connecting rod 237 is connected to the clamping member 233. The drive motor 210 is used to drive the transmission member and the second connecting rod 236 to rotate relative to the device body 100, so that the clamping assembly 230 can switch between a folded state and an extended state.

[0059] Specifically, the first link 235 can rotate synchronously with the transmission component. For example, the first link 235 and the transmission component can be fixedly connected by integral molding. The transmission component can be either the first transmission component 231 or the second transmission component 232 mentioned above. The transmission component and the second link 236 are respectively rotatably connected to the mounting component 240, so as to be rotatably connected to the device body 100 through the mounting component 240. The first link 235, the second link 236, and the third link 237 can form a linkage structure, with one end of the third link 237 rotatably connected to the first link 235, the other end of the third link 237 connected to the clamping component 233, and the two ends of the third link 237 rotatably connected to the second link 236. In this way, the movement trajectory of the clamping component 233 can be controlled, which can improve the stability of the position and attitude transformation process of the clamping component 233, while reducing the risk of interference.

[0060] Of course, the clamping assembly 230 may also include more links to form a more complex linkage structure to drive the clamping assembly 230 to move. For example, the linkage structure may also be configured as other 4-link, 5-link, or 6-link linkage structures, or as 7-link, 8-link, or linkage structures with more links.

[0061] Optionally, such as Figures 5 to 7 As shown, the clamping assembly 230 includes a linkage structure rotatably connected to the device body 100 and also rotatably connected to the clamping member 233. The clamping member 233 rotates relative to the linkage structure to match the shape of the target object 300.

[0062] The drive motor 210 is used to drive the linkage structure to rotate and deform relative to the device body 100, so that the clamping assembly 230 can switch between a folded state and an extended state. For example, the linkage structure includes a third link 237, and the clamping member 233 is rotatably connected to the third link 237. The clamping member 233 rotates relative to the third link 237 to match the shape of the target object 300.

[0063] Specifically, the target object 300 can have different shapes and contours. When the clamping member 233 clamps the target object 300, the reaction force of the target object 300 allows the clamping member 233 to rotate relative to the third link 237. In other words, the posture of the clamping member 233 can be adaptively adjusted according to the shape of the target object 300. This improves the stability of the clamping member 233 in clamping the target object 300 and its adaptability to the shape of the target object 300.

[0064] Furthermore, the axis of rotation of the clamping member 233 relative to the third link 237 is parallel to the axis of rotation of the transmission member.

[0065] Optionally, such as Figures 5 to 7 As shown, the clamping assembly 230 includes a resilient reset member (not shown), which elastically abuts against the clamping member 233 and the connecting rod structure. The resilient reset member elastically deforms when the clamping member 233 rotates relative to the connecting rod structure, and is used to reset the clamping member 233 through elastic deformation recovery. For example, the resilient reset member can be a spring. Alternatively, the resilient reset member elastically abuts against the clamping member 233 and the third connecting rod 237, and elastically deforms when the clamping member 233 rotates relative to the third connecting rod 237.

[0066] When the clamping member 233 rotates relative to the third link 237, the elastic reset member provides support, which helps maintain the clamping force between the clamping member 233 and the target object 300. When the clamping member 233 releases the target object 300, the elastic member drives the clamping member 233 to rotate and reset, which facilitates subsequent clamping processes.

[0067] Optionally, such as Figures 5 to 7 As shown, the clamping member 233 includes an elastic portion 2331, which is disposed on the side of the clamping member 233 for abutting against the target object 300 to match the shape of the target object 300. For example, the elastic portion 2331 is made of silicone or rubber.

[0068] When the clamping member 233 clamps the target object 300, the reaction force of the target object 300 allows the elastic part 2331 to elastically deform according to the shape of the target object 300. In other words, the shape of the elastic part 2331 can adaptively adjust according to the shape of the target object 300. This further improves the stability of the clamping member 233 in clamping the target object 300 and its adaptability to the shape of the target object 300, reducing the risk of mechanical damage to the target object 300 and the clamping member 233.

[0069] Optionally, the elastic portion 2331 is surrounded by a deformation space, which is compressed when the elastic portion 2331 elastically deforms. For example, the deformation space is formed by bending a sheet of silicone or rubber. By providing a deformation space, the elastic portion 2331 can be easily deformed, improving the flexibility of the shape change of the elastic portion 2331 and enhancing its adaptability to the shape of the target object 300.

[0070] In summary, this embodiment enables the cleaning device 1 to transport and transfer the target object 300 by using two clamping components 230 to clamp the area to be cleaned. In addition, the use of the transmission rope 220 for transmission can reduce transmission noise, reduce lubrication maintenance, reduce weight, promote a compact structure, increase power density, facilitate the drive motor 210 to drive the clamping components 230 to perform clamping work, and facilitate the storage of the clamping components 230.

[0071] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A cleaning device, characterized in that, include: Main body of the device; A clamping module is connected to the main body of the device; The clamping module includes a drive motor, a transmission rope, and two clamping components for clamping a target object; the output shaft of the drive motor is connected to at least one of the two clamping components via the transmission rope; the drive motor is used to drive at least one of the two clamping components to move via the transmission rope to clamp or release the target object. Both clamping assemblies include clamping elements for clamping the target object, and the output shaft of the drive motor is connected to the clamping element of at least one of the two clamping assemblies via the transmission rope. The clamping assembly includes a transmission component, a first connecting rod, a second connecting rod, and a third connecting rod. The transmission component and the first connecting rod are fixedly arranged relative to each other. The transmission component and the second connecting rod are rotatably connected to the main body of the device. The first connecting rod and the second connecting rod are also rotatably connected to the third connecting rod. The third connecting rod is connected to the clamping component. The clamping assembly has an extended state and a folded state; in the extended state, the distance between the clamping member and the device body is greater than the distance between the clamping member and the device body in the folded state; the drive motor is used to drive the transmission member and the second connecting rod to rotate relative to the device body, so that the clamping assembly switches between the folded state and the extended state. A walking component is installed on the main body of the device to drive the main body of the device to move.

2. The cleaning device according to claim 1, characterized in that, The two clamping assemblies include a first clamping assembly and a second clamping assembly; the transmission rope is respectively connected to the first clamping assembly and the output shaft of the drive motor; the drive motor is used to drive the first clamping assembly to move through the transmission rope in order to clamp or release the target object.

3. The cleaning device according to claim 1, characterized in that, The two clamping components include a first clamping component and a second clamping component; the output shaft of the drive motor is connected to the first clamping component, and the transmission rope is connected to the first clamping component and the second clamping component respectively, so that the output shaft of the drive motor is connected to the second clamping component through the first clamping component and the transmission rope; the drive motor is used to drive the first clamping component and the second clamping component to move, so as to clamp or release the target object.

4. The cleaning device according to claim 3, characterized in that, The first clamping assembly includes a first transmission component, and the second clamping assembly includes a second transmission component. Both the first and second transmission components are rotatably connected to the main body of the device. The output shaft of the drive motor is connected to the first transmission component, and the transmission rope is connected to both the first and second transmission components. The drive motor is used to drive the first transmission member and the second transmission member to rotate relative to the main body of the device, so that the first clamping assembly and the second clamping assembly clamp or release the target object.

5. The cleaning device according to claim 4, characterized in that, The drive motor is used to drive the first transmission component to rotate in a first direction, and to drive the second transmission component to rotate in a second direction through the first transmission component and the transmission rope, so that the first clamping assembly and the second clamping assembly clamp the target object; The drive motor is also used to drive the first transmission component to rotate in the second direction, and to drive the second transmission component to rotate in the first direction through the first transmission component and the transmission rope, so that the first clamping assembly and the second clamping assembly release the target object; The first direction and the second direction are opposite.

6. The cleaning device according to claim 5, characterized in that, The transmission rope includes a first sub-rope and a second sub-rope, and both the first sub-rope and the second sub-rope are connected to the first transmission component and the second transmission component; When the first transmission member is driven by the drive motor to rotate in the first direction, it drives the second transmission member to rotate in the second direction through the first sub-rope; when the first transmission member is driven by the drive motor to rotate in the second direction, it drives the second transmission member to rotate in the first direction through the second sub-rope.

7. The cleaning device according to claim 6, characterized in that, The first sub-rope has a first connecting segment connecting the first transmission member and the second transmission member, and the second sub-rope has a second connecting segment connecting the first transmission member and the second transmission member; on a first reference plane perpendicular to the rotation axis of the first transmission member, the projections of the first connecting segment and the second connecting segment intersect; The clamping module has a second reference plane passing through the rotation axis of the first transmission member and the rotation axis of the second transmission member. The two ends of the first connecting segment are respectively located on both sides of the second reference plane, and the two ends of the second connecting segment are respectively located on both sides of the second reference plane.

8. The cleaning device according to claim 4, characterized in that, The first transmission component has a receiving space, and the drive motor is at least partially received in the receiving space.

9. The cleaning apparatus according to any one of claims 1 to 3, characterized in that, The drive motor is used to drive the clamping member of at least one of the two clamping assemblies away from the device body and clamp the target object via the transmission rope; the drive motor is also used to drive the clamping member of at least one of the two clamping assemblies to release the target object and move closer to the device body via the transmission rope.

10. The cleaning device according to claim 9, characterized in that, The main body of the device is provided with a receiving groove for receiving the clamping component that is close to the main body of the device.

11. The cleaning device according to claim 9, characterized in that, The drive motor is used to drive the clamping assembly to switch from the folded state to the extended state, so that the clamping member moves away from the device body and clamps the target object; the drive motor is also used to drive the clamping assembly to switch from the extended state to the folded state, so that the clamping member releases the target object and moves closer to the device body.

12. The cleaning device according to claim 9, characterized in that, The clamping assembly includes a linkage structure that is rotatably connected to the main body of the device and also rotatably connected to the clamping member; the clamping member rotates relative to the linkage structure to match the shape of the target object.

13. The cleaning device according to claim 12, characterized in that, The clamping member includes an elastic reset member, which elastically abuts against the clamping member and the connecting rod structure; the elastic reset member elastically deforms when the clamping member rotates relative to the connecting rod structure, and the elastic reset member is used to drive the clamping member to reset through elastic deformation recovery.

14. The cleaning device according to claim 9, characterized in that, The clamping member includes an elastic portion disposed on one side of the clamping member for abutting the target object, so as to match the shape of the target object.

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