Intelligent cleaning device

Abstract

The utility model discloses an intelligent cleaning device. The intelligent cleaning device comprises a device body, a walking assembly and a clamping module. The clamping module is connected to the device body. The clamping module comprises two clamping mechanisms and a driving motor. The two clamping mechanisms are arranged at an interval, and the interval direction intersects with the height direction of the device body. The driving motor is in transmission connection with the two clamping mechanisms and used for driving at least one of the two clamping mechanisms to move towards the other clamping mechanism so that the two clamping mechanisms can clamp the target object. The walking assembly is installed at the bottom of the device body and used for driving the device body to walk. In this way, the movable obstacles in the to-be-cleaned area can be carried, and the cleaning coverage rate of the to-be-cleaned area is increased.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning devices, and in particular to intelligent cleaning devices. Background Art

[0002] With the development of science and technology, various smart products have appeared in people's lives, which can reduce people's work burden. In the home environment, smart cleaning devices can help people clean the floor and various work surfaces. However, in the existing technology, after the smart cleaning device recognizes the obstacle during the cleaning process, it will choose to avoid it, resulting in some areas blocked by movable obstacles not being cleaned. Utility Model Content

[0003] The main technical problem solved by the present application is to provide an intelligent cleaning device that can move movable obstacles in the area to be cleaned and improve the cleaning coverage of the area to be cleaned.

[0004] In order to solve the above technical problems, the technical solution adopted in this application is: to provide an intelligent cleaning device. The intelligent cleaning device includes a device body, a walking assembly and a clamping module. The clamping module is connected to the device body. The clamping module includes two clamping mechanisms and a driving motor. The two clamping mechanisms are arranged at intervals and the spacing direction intersects with the height direction of the device body. The driving motor is respectively connected to the two clamping mechanisms in a transmission manner, and is used to drive at least one of the two clamping mechanisms to move toward the other, so that the two clamping mechanisms clamp the target object. The walking assembly is installed at the bottom of the device body, and is used to drive the device body to walk.

[0005] The beneficial effects of the present application are as follows: different from the prior art, the clamping module is connected to the device body through the clamping module, the clamping module includes two clamping mechanisms and a driving motor, the two clamping mechanisms are arranged at intervals and the spacing direction intersects with the height direction of the device body, the driving motor is respectively connected to the two clamping mechanisms for driving at least one of the two clamping mechanisms to move toward the other, so that the two clamping mechanisms clamp the target object, and the walking component is installed at the bottom of the device body for driving the device body to walk. When the intelligent cleaning device identifies an obstacle during the cleaning process and confirms that the obstacle is a movable target object, the intelligent cleaning device can clamp target objects of different sizes under the drive of the driving motor, so as to be able to transfer some obstacles in the area to be cleaned, thereby improving the cleaning coverage of the area to be cleaned, and the intelligent cleaning device can also store and organize the target objects by transferring the target objects in the area to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a schematic diagram of the structure of the intelligent cleaning device of the present application for clamping a target object;

[0007] Figure 2 for Figure 1 The schematic diagram of the structure of the clamping module clamping the target object after hiding some parts;

[0008] Figure 3 for Figure 2 A schematic diagram of the three-dimensional structure of the structure shown;

[0009] Figure 4 for Figure 1 The schematic diagram of the exploded structure of the clamping module shown is a diagram with some parts hidden;

[0010] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the first clamping mechanism shown;

[0011] Figure 6 This is another structural schematic diagram of the clamping module of the intelligent cleaning device embodiment of the present application;

[0012] Figure 7 This is a schematic diagram of the connection structure between the driving motor and the first sliding member and the second sliding member of an embodiment of the intelligent cleaning device of the present application. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0014] After long-term research, the inventors have found that in a home environment, intelligent cleaning devices can assist people in cleaning the floor and various work surfaces. However, in the prior art, after identifying obstacles during the cleaning process, intelligent cleaning devices will choose to avoid them, resulting in some areas blocked by movable obstacles not being cleaned. In order to solve this technical problem, the present application provides the following embodiments.

[0015] like Figure 1As shown, the intelligent cleaning device 1 described in the embodiment of the intelligent cleaning device of the present application may have one or more functions such as sweeping, mopping and vacuuming. For example, the intelligent cleaning device 1 may be a sweeping robot, a mopping robot, a washing and mopping integrated robot, a sweeping, washing and mopping integrated robot, etc. When the intelligent cleaning device 1 performs a sweeping task, the intelligent cleaning device 1 may absorb various garbage objects from the outside, such as dust particles, paper scraps, hair, etc. When the intelligent cleaning device 1 performs a mopping task, the intelligent cleaning device 1 may wet the working surface to remove dirt on the working surface. When performing a cleaning task, the intelligent cleaning device 1 may carry and transfer some obstacles in the area to be cleaned to facilitate cleaning of the area to be cleaned. The intelligent cleaning device 1 may also store and organize the target objects 30 in the area to be cleaned by carrying and transferring the target objects 30 in the area to be cleaned, such as placing shoes and pet toys in the corresponding preset storage area. Of course, the intelligent cleaning device 1 may also be a robot dedicated to storage and organization, which can organize the ground and the work surface.

[0016] The following is an exemplary structure of an intelligent cleaning device.

[0017] like Figures 1 to 5 As shown, the intelligent cleaning device described in the embodiment of the intelligent cleaning device of the present application includes a device body 10, a walking component 11 and a clamping module 20. The walking component 11 is arranged at the bottom of the device body 10. The clamping module 20 is connected to the device body 10. The clamping module 20 includes two clamping mechanisms and a driving motor 300. The two clamping mechanisms are arranged at intervals and the spacing direction D1 intersects with the height direction D2 of the device body 10. The driving motor 300 is respectively connected to the two clamping mechanisms in a transmission manner, and is used to drive at least one of the two clamping mechanisms to move toward the other, so that the two clamping mechanisms clamp the target object 30. The walking component 11 is installed at the bottom of the device body 10, and is used to drive the device body 10 to walk.

[0018] Among them, the two clamping mechanisms can be represented by the following first clamping mechanism 201 and the following second clamping mechanism 202. That is, the clamping module 20 includes the first clamping mechanism 201, the second clamping mechanism 202 and the driving motor 300. The first clamping mechanism 201 and the second clamping mechanism 202 are arranged at intervals, and the spacing direction D1 intersects with the height direction D2 of the device body 10. The driving motor 300 is respectively connected to the first clamping mechanism 201 and the second clamping mechanism 202 for driving at least one of the first clamping mechanism 201 and the second clamping mechanism 202 to move toward the other.

[0019] In some embodiments, the clamping module 20 is installed on the front side of the device body 10 along the travel direction, and the spacing direction D1 is the left-right direction perpendicular to the travel direction of the device body 10. In some embodiments, the clamping module 20 is installed on the left or right side of the device body 10 in the travel direction, and the spacing direction D1 is the travel direction of the device body 10.

[0020] The walking component 11 can make the intelligent cleaning device 1 movable, so that the intelligent cleaning device 1 can transfer the target object 30 of the area to be cleaned. In some embodiments, the walking component 11 may include a driving wheel and a universal wheel, and the device body 10 is driven by the driving wheel to walk. In some embodiments, the device body 10 can be used to perform at least one of the cleaning actions of sweeping, mopping and vacuuming. Specifically, for the intelligent cleaning device 1 with the function of sweeping or vacuuming, the bottom of the device body 10 is at least provided with a dust suction port for garbage to enter. For the intelligent cleaning device 1 with the function of mopping, the bottom of the device body 10 is at least provided with a mopping module for mopping.

[0021] When the intelligent cleaning device 1 identifies an obstacle during the cleaning process and confirms that the obstacle is a movable target object 30, the intelligent cleaning device 1, under the drive of the drive motor 300, can clamp target objects 30 of different sizes to transfer some obstacles in the area to be cleaned, thereby improving the cleaning coverage of the area to be cleaned. The intelligent cleaning device 1 can also store and organize the target objects 30 by transferring the target objects 30 in the area to be cleaned.

[0022] Specifically, the clamping module 20 has an initial state in which the target object 30 is not clamped. In the initial state, the first clamping mechanism 201 and the second clamping mechanism 202 are spaced apart along the spacing direction D1. The driving motor 300 can adjust the spacing distance between the first clamping mechanism 201 and the second clamping mechanism 202 along the spacing direction D1, so that the first clamping mechanism 201 and the second clamping mechanism 202 can clamp target objects 30 of different sizes. For example, when the driving motor 300 is set to rotate forward, the movement directions of the first clamping mechanism 201 and the second clamping mechanism 202 are separated from each other, so that the spacing distance between the first clamping mechanism 201 and the second clamping mechanism 202 is increased, and when the driving motor 300 is reversed, the first clamping mechanism 201 and the second clamping mechanism 202 move toward each other, so that the spacing distance between the first clamping mechanism 201 and the second clamping mechanism 202 is reduced.

[0023] After the intelligent cleaning device 1 finds the target object 30, it can move closer to the target object 30 and make the first clamping mechanism 201 and the second clamping mechanism 202 respectively located on both sides of the target object 30. Then, driven by the driving motor 300, the first clamping mechanism 201 and the second clamping mechanism 202 can approach each other until they abut against both sides of the target object 30 to clamp the target object 30.

[0024] Optionally, the first clamping mechanism 201 and the second clamping mechanism 202 may be the same or different. The first clamping mechanism 201 and the second clamping mechanism 202 may also be symmetrically arranged.

[0025] In some embodiments, driven by the driving motor 300 , one of the first clamping mechanism 201 and the second clamping mechanism 202 moves toward the other to clamp the target object 30 .

[0026] In other embodiments, driven by the driving motor 300, the first clamping mechanism 201 and the second clamping mechanism 202 both move toward each other to clamp the target object 30, that is, the first clamping mechanism 201 and the second clamping mechanism 202 move toward each other. Compared with the implementation in which one of the first clamping mechanism 201 and the second clamping mechanism 202 moves toward the other, such a configuration is conducive to shortening the movement stroke of the first clamping mechanism 201 or the second clamping mechanism 202 during the clamping process, improving the clamping efficiency, and at the same time, it is conducive to balancing the force on both sides of the clamped target object 30, thereby improving the clamping stability.

[0027] Optionally, the two clamping mechanisms are configured to be pressed by the target object 30 and driven by the drive motor 300 to move so as to lift the target object 30 .

[0028] Further, in the state of clamping the target object 30 , the two clamping mechanisms are configured to be pressed by the target object 30 and driven by the driving motor 300 to move so as to lift the target object 30 .

[0029] Specifically, the driving motor 300 may be used to provide power for the first clamping mechanism 201 and the second clamping mechanism 202 to move, so that the first clamping mechanism 201 and the second clamping mechanism 202 clamp and lift the target object 30 .

[0030] Driven by the driving motor 300, the first clamping mechanism 201 and the second clamping mechanism 202 clamp the target object 30 and apply a force on both sides of the target object 30, so that the target object 30 rises relative to the device body 10, so that the target object 30 can be separated from the ground. This can not only avoid excessive friction between the target object 30 and the ground to damage the target object 30, but also avoid the target object 30 causing secondary pollution to the cleaned ground area during the transfer of the target object 30.

[0031] By utilizing the drive motor 300 to drive the first clamping mechanism 201 and the second clamping mechanism 202 to clamp and lift the target object 30, the drive motor 300 can drive at least one of the first clamping mechanism 201 and the second clamping mechanism 202 to move in two degrees of freedom. This is beneficial to reducing the number of drive motors 300 arranged in the intelligent cleaning device 1, which can reduce costs.

[0032] In other embodiments, a spring is provided between the first clamping mechanism 201 and the second clamping mechanism 202, and the spring elastically abuts against the first clamping mechanism 201 and the second clamping mechanism 202. When the first clamping mechanism 201 and the second clamping mechanism 202 are close to each other, the spring is compressed and rotated upward by the elastic force of the spring.

[0033] In some embodiments, during the process of grasping the target object 30, the first clamping mechanism 201 and the second clamping mechanism 202 start moving toward each other earlier than the start time of lifting the target object 30. In other embodiments, during the process of grasping the target object 30, the first clamping mechanism 201 and the second clamping mechanism 202 move toward each other synchronously with lifting the target object 30.

[0034] In some embodiments, one of the first clamping mechanism 201 and the second clamping mechanism 202 moves relative to the device body 10 to lift the target object.

[0035] Optionally, the two clamping mechanisms are further configured to lift the target object 30 when the drive motor 300 drives at least one of the two clamping mechanisms to move toward the other.

[0036] Specifically, at least one of the two clamping mechanisms may move upward while moving toward the other, so that the target object 30 can be actively lifted when the two clamping mechanisms are close to each other.

[0037] With such arrangement, the driving motor 300 can drive at least one of the first clamping mechanism 201 and the second clamping mechanism 202 to move in two degrees of freedom simultaneously, thereby improving the control effect of the lifting process of the target object 30 and thus improving the stability of the lifting process of the target object 30 .

[0038] In other embodiments, Figure 6As shown, the clamping module 20 includes a threaded rod 601 and a lifting member 602. The threaded rod 601 is connected to the driving motor 300 and is driven to rotate by the driving motor 300. The threaded rod 601 has an external thread, and the lifting member 602 has a threaded hole and is screwed on the external thread of the threaded rod 601. The threaded rod 601 rotates to drive the lifting member 602 to rise or fall. The lifting member 602 is used to drive the first clamping mechanism 201 and the second clamping mechanism 202 to rise when rising. A flange portion 603 is also fixedly provided on the threaded rod 601. The flange portion 603 has a first end and a second end spaced apart in a direction perpendicular to the spacing direction D1 and perpendicular to the rising direction of the lifting member 602. The first clamping mechanism 201 is connected to the first end of the flange 603 through the first traction member 604, and the second clamping mechanism 202 is connected to the second end of the flange 603 through the second traction member 605. The rotation of the threaded rod 601 can drive the flange 603 to rotate, and make the first end of the flange 603 move toward the second clamping mechanism 202, and at the same time make the second end of the flange 603 move toward the first clamping mechanism 201, and then drive the first clamping mechanism 201 and the second clamping mechanism 202 to move toward each other through the first traction member 604 and the second traction member 605. In this way, the driving motor 300 can drive the first clamping mechanism 201 and the second clamping mechanism 202 to move toward each other and rise along the spacing direction D1 by driving the threaded rod 601 to rotate.

[0039] Alternatively, if Figures 1 to 4 As shown, the clamping module 20 includes two sliding members spaced apart along the spacing direction D1, and the two sliding members are arranged to be slidable relative to the device body 10 along the spacing direction D1. The two sliding members are movably connected to the two clamping mechanisms respectively, and the two sliding members are both transmission-connected to the driving motor 300. The driving motor 300 is used to drive at least one of the two sliding members to move toward the other, and then drive the two clamping mechanisms to move toward each other along the spacing direction D1, so that the two clamping mechanisms clamp and lift the target object 30. Among them, the two sliding members can be represented by the following first sliding member 101 and the following second sliding member 102. Further, the driving motor 300 is used to drive the two sliding members to move toward each other along the spacing direction D1, and then drive the two clamping mechanisms to move toward each other along the spacing direction D1.

[0040] Such a configuration can facilitate the adjustment of the spacing distance between the first clamping mechanism 201 and the second clamping mechanism 202 to a larger or smaller value, thereby facilitating the clamping module 20 to clamp objects of different sizes. At the same time, in the process of grasping the target object 30, the start time of the first clamping mechanism 201 and the second clamping mechanism 202 to move toward each other can be earlier than the start time of lifting the target object 30, which is beneficial to improving the stability during the clamping process.

[0041] Specifically, the first clamping mechanism 201 and the second clamping mechanism 202 both have a holding surface 211 for clamping the target object 30. The two sliding members are the first sliding member 101 and the second sliding member 102, respectively. The first clamping mechanism 201 is movably connected to the first sliding member 101, and the second clamping mechanism 202 is movably connected to the second sliding member 102. The driving motor 300 is used to drive the first sliding member 101 and the second sliding member 102 to move toward each other along the spacing direction D1, thereby driving the first clamping mechanism 201 and the second clamping mechanism 202 to move toward each other along the spacing direction D1, and clamp the target object 30 through the holding surface 211. The spacing direction D1 intersects with the height direction D2 of the device body 10. The first clamping mechanism 201 is configured to move relative to the first sliding member 101 and at least partially rise when its holding surface 211 is pressed, and the second clamping mechanism 202 is configured to move relative to the second sliding member 102 and at least partially rise when its holding surface 211 is pressed.

[0042] In the initial state, the pressing surface 211 of the first clamping mechanism 201 and the pressing surface 211 of the second clamping mechanism 202 can be spaced and arranged opposite to each other. When the target object 30 needs to be clamped, the intelligent cleaning device 1 moves so that the target object 30 is between the pressing surface 211 of the first clamping mechanism 201 and the pressing surface 211 of the second clamping mechanism 202, and the first sliding member 101 and the second sliding member 102 are close to each other, so that the pressing surface 211 of the first clamping mechanism 201 and the pressing surface 211 of the second clamping mechanism 202 can be pressed on both sides of the target object 30 to clamp the target object 30.

[0043] When the pressing surface 211 of the first clamping mechanism 201 and the pressing surface 211 of the second clamping mechanism 202 clamp the target object 30, they will be subjected to the reaction force of the target object 30, which is equivalent to the target object 30 applying pressure to the pressing surface 211 of the first clamping mechanism 201 and the pressing surface 211 of the second clamping mechanism 202. Therefore, as the driving motor 300 further drives the first clamping mechanism 201 and the second clamping mechanism 202, under the action of the reaction force of the target object 30, the first clamping mechanism 201 and the second clamping mechanism 202 at least partially rise.

[0044] Optionally, the first sliding member 101 and the second sliding member 102 may be the same or different. The first sliding member 101 and the second sliding member 102 may also be symmetrically arranged.

[0045] In some embodiments, the pressing surface 211 is perpendicular to the ground or inclined to the ground.

[0046] In some embodiments, the pressing surface 211 may also be configured as a curved surface or a bent surface.

[0047] In some embodiments, the first clamping mechanism 201 has at least two continuous or discontinuous pressing surfaces 211 , and the second clamping mechanism 202 has at least two continuous or discontinuous pressing surfaces 211 .

[0048] In some embodiments, Figures 1 to 4 As shown, the clamping module 20 may include a mounting bracket 100, and the first sliding member 101 and the second sliding member 102 are slidably disposed on the mounting bracket 100 along the spacing direction D1. The mounting bracket 100 is used to guide the first sliding member 101 and the second sliding member 102 to move along the spacing direction D1, and the mounting bracket 100 may also limit the first sliding member 101 and the second sliding member 102 from moving perpendicular to the spacing direction D1, thereby improving the movement stability of the first sliding member 101 and the second sliding member 102.

[0049] Furthermore, the mounting bracket 100 can be used to be fixedly connected to the device body 10 , and the driving motor 300 is installed on the device body 10 or the mounting bracket 100 .

[0050] Alternatively, if Figures 1 to 4 As shown, the clamping module 20 also includes an elastic reset member. The elastic reset member elastically abuts between the clamping mechanism and the corresponding sliding member, and is elastically deformed when the clamping mechanism moves relative to the sliding member. The elastic reset member is also used to drive the clamping mechanism to reset by deformation recovery. The elastic reset member can be represented by the following first elastic reset member 401 and the following second elastic reset member 402.

[0051] Specifically, the clamping module 20 further includes a first elastic reset member 401 and a second elastic reset member 402. The first elastic reset member 401 elastically abuts between the first clamping mechanism 201 and the first sliding member 101, and is elastically deformed when the first clamping mechanism 201 moves relative to the first sliding member 101. The first elastic reset member 401 is also used to drive the first clamping mechanism 201 to reset by deformation recovery. The second elastic reset member 402 elastically abuts between the second clamping mechanism 202 and the second sliding member 102, and is elastically deformed when the second clamping mechanism 202 moves relative to the second sliding member 102. The second elastic reset member 402 is also used to drive the second clamping mechanism 202 to reset by deformation recovery.

[0052] When grabbing the target object 30, the first elastic reset member 401 and the second elastic reset member 402 are both elastically deformed, and the first elastic reset member 401 can play a role in supporting the first clamping mechanism 201, and the second elastic reset member 402 can play a role in supporting the second clamping mechanism 202, so as to maintain the clamping effect on the target object 30. When the target object 30 is carried to the target position, the driving motor 300 can switch the rotation direction so that the first sliding member 101 and the second sliding member 102 are separated from each other, and at this time, the first elastic reset member 401 and the second elastic reset member 402 are elastically deformed and restored, driving the first clamping mechanism 201 and the second clamping mechanism 202 to descend, so as to put down the target object 30. Such a configuration is conducive to improving the stability of the process of putting down the target object 30.

[0053] Optionally, the first elastic return member 401 and the second elastic return member 402 are torsion springs.

[0054] Optionally, the first elastic reset member 401 and the second elastic reset member 402 may be the same or different. The first elastic reset member 401 and the second elastic reset member 402 may also be symmetrically arranged.

[0055] Alternatively, if Figures 1 to 4 As shown, the clamping mechanism is rotatably connected to the corresponding sliding member, and the clamping mechanism rotates upward relative to the corresponding sliding member to lift the target object 30. Further, the clamping mechanism is rotatably connected to the corresponding sliding member, and the clamping mechanism is pressed by the target object 30 and driven by the drive motor 300 to rotate upward relative to the corresponding sliding member when the target object 30 is clamped.

[0056] Specifically, the first clamping mechanism 201 is rotatably connected to the first sliding member 101, and the first clamping mechanism 201 is driven by the first sliding member 101 and its holding surface 211 is pressed to rotate upward relative to the first sliding member 101. The second clamping mechanism 202 is rotatably connected to the second sliding member 102, and the second clamping mechanism 202 is driven by the second sliding member 102 and its holding surface 211 is pressed to rotate upward relative to the second sliding member 102.

[0057] Such a configuration is helpful to improve the smoothness of the upward and downward rotation of the first clamping mechanism 201 and the second clamping mechanism 202, and reduce the risk of getting stuck.

[0058] Optionally, the clamping mechanism is slidably connected to the corresponding sliding member, and the clamping mechanism slides upward relative to the corresponding sliding member to lift the target object 30. In some embodiments, the first clamping mechanism 201 is configured to slide relative to the first sliding member 101 and at least partially rise when its pressing surface 211 is pressed, and the second clamping mechanism 202 is configured to slide relative to the second sliding member 102 and at least partially rise when its pressing surface 211 is pressed.

[0059] Alternatively, if Figures 1 to 4 As shown, both clamping mechanisms include a first rotating shaft 212, a second rotating shaft 213, a rotating member 214 and a clamping jaw 220. The clamping mechanism clamps the target object 30 through the clamping jaw 220. The rotating member 214 is rotatably connected to the clamping jaw 220 through the second rotating shaft 213, and is rotatably connected to the corresponding sliding member through the first rotating shaft 212.

[0060] By arranging the rotating member 214 to be rotatably connected to the clamping jaw 220 via the second rotating shaft 213 , the clamping jaw 220 can adjust its posture by rotating relative to the rotating member 214 , which is beneficial to enhancing the clamping effect of the clamping jaw 220 on the target object 30 .

[0061] Specifically, the first clamping mechanism 201 and the second clamping mechanism 202 each include a first rotating shaft 212, a second rotating shaft 213, a rotating member 214 and a clamping jaw 220. The rotating member 214 is rotatably connected to the clamping jaw 220 via the second rotating shaft 213. The pressing surface 211 is located on the clamping jaw 220. The rotating member 214 of the first clamping mechanism 201 is rotatably connected to the first sliding member 101 via the corresponding first rotating shaft 212, and the rotating member 214 of the second clamping mechanism 202 is rotatably connected to the second sliding member 102 via the corresponding first rotating shaft 212.

[0062] Alternatively, if Figures 1 to 4 As shown, the first elastic return member 401 is sleeved on the first rotating shaft 212 of the first clamping mechanism 201 , and the second elastic return member 402 is sleeved on the first rotating shaft 212 of the second clamping mechanism 202 .

[0063] Optionally, in the spacing direction D1, the second rotation axes 213 of the two clamping mechanisms are located between the first rotation axes 212 of the two clamping mechanisms. In some embodiments, in the height direction D2 of the device body 10, the first rotation axis 212 is located below the second rotation axis 213. In other embodiments, in the height direction D2 of the device body 10, the first rotation axis 212 is located above the second rotation axis 213.

[0064] Specifically, in the height direction D2 of the device body 10, the first rotation axis 212 is located below the second rotation axis 213. In the spacing direction D1, the second rotation axis 213 of the first clamping mechanism 201 is located between the first rotation axis 212 of the first clamping mechanism 201 and the second clamping mechanism 202, and the second rotation axis 213 of the second clamping mechanism 202 is located between the first rotation axis 212 of the second clamping mechanism 202 and the first clamping mechanism 201.

[0065] In some embodiments, the rotation of the jaw 220 relative to the rotating member 214 means that the entire jaw 220 rotates relative to the rotating member 214. In other embodiments, the rotation of the jaw 220 relative to the rotating member 214 means that a portion of the jaw 220 close to the rotating member 214 rotates relative to the rotating member 214.

[0066] In the process of grabbing the target object 30, the reaction force of the target object 30 is applied to the clamping jaws 220 of the first clamping mechanism 201 and the second clamping mechanism 202 through the pressing surfaces 211 of the first clamping mechanism 201 and the second clamping mechanism 202. Compared with the first rotating shaft 212, the target object 30 is closer to the second rotating shaft 213, and the second rotating shaft 213 is located above the first rotating shaft 212. Therefore, the reaction force of the target object 30 can be transmitted to the rotating member 214 through the clamping jaws 220 and the second rotating shaft 213, so that the rotating member 214 rotates in the ascending direction. The ascending of the rotating member 214 can drive the clamping jaws 220 to ascend accordingly, thereby driving the target object 30 to ascend.

[0067] Alternatively, if Figures 1 to 4 As shown, each clamping jaw 220 includes a connecting portion 222 and an envelope portion 223, wherein the envelope portion 223 is used to clamp the target object 30. The connecting portion 222 is rotatably connected to the rotating member 214 via the second rotating shaft 213.

[0068] Optionally, the connecting portion 222 and the enveloping portion 223 are arranged at an angle, which is beneficial to forming an envelope for the target object 30. Furthermore, the openings of the two clamping mechanisms at the angles are arranged opposite to each other.

[0069] Optionally, each clamping jaw 220 includes a third rotation axis 221 . The connecting portion 222 is rotationally connected to the envelope portion 223 via the third rotation axis 221 .

[0070] Furthermore, in the height direction D2 of the device body 10 , the third rotation axis 221 is located below the second rotation axis 213 .

[0071] Specifically, the pressing surface 211 is located on the envelope portion 223. The connecting portion 222 and the envelope portion 223 are arranged at an angle, the opening of the angle of the first clamping mechanism 201 faces the second clamping mechanism 202, and the opening of the angle of the second clamping mechanism 202 faces the first clamping mechanism 201.

[0072] The extension direction of the connecting portion 222 intersects with the extension direction of the envelope portion 223, so that the connecting portion 222 and the envelope portion 223 may form an angle. In the process of grasping the target object 30, the opening of the angle is toward the target object 30, and the target object 30 is clamped between the envelope portion 223 of the first clamping mechanism 201 and the envelope portion 223 of the second clamping mechanism 202, and the reaction force of the target object 30 can be applied to the envelope portion 223 through the pressing surface 211. Since the third rotation axis 221 is located below the second rotation axis 213, the envelope portion 223 is correspondingly located below the connecting portion 222, so that the reaction force of the target object 30 can drive the envelope portion 223 to rotate relative to the connecting portion 222 and increase the angle formed by the connecting portion 222 and the envelope portion 223, which is conducive to improving the degree of envelopment of the target object 30 by the connecting portion 222 and the envelope portion 223, and enhancing the clamping effect of the clamping jaw 220 on the target object 30.

[0073] Alternatively, if Figures 1 to 4 As shown, each clamping jaw 220 further includes an elastic member 224. The elastic member 224 elastically abuts between the connecting portion 222 and the envelope portion 223, and elastically deforms when the connecting portion 222 and the envelope portion 223 rotate relative to each other. The elastic member 224 is also used to drive the connecting portion 222 and the envelope portion 223 to reset by deformation recovery.

[0074] When grabbing the target object 30, the elastic member 224 is elastically deformed, and the elastic member 224 can play a role in supporting the envelope 223 to maintain the clamping effect of the envelope 223 on the target object 30. When the target object 30 is carried to the target position, the driving motor 300 can switch the rotation direction so that the first sliding member 101 and the second sliding member 102 are separated from each other. At this time, the elastic member 224 elastically deforms and recovers, driving the envelope 223 to move so that the angle becomes smaller, so as to put down the target object 30. Such a configuration is conducive to improving the smoothness of the process of putting down the target object 30.

[0075] Optionally, the elastic member 224 is a torsion spring.

[0076] Optionally, the elastic member 224 is sleeved on the corresponding third rotation shaft 221 .

[0077] Optionally, the elastic member 224 is a spring or an elastic bandage, and the length of the elastic member 224 changes with the angle between the connecting portion 222 and the envelope portion 223 .

[0078] Optionally, the elastic modulus of the elastic member 224 is greater than the elastic modulus of the first elastic return member 401 and the elastic modulus of the second elastic return member 402, so that the first elastic return member 401 and the second elastic return member 402 can provide less resistance to the rotation of the rotating member 214, thereby facilitating lifting of the target object 30.

[0079] In some embodiments, the connecting portion 222 and the envelope portion 223 may be fixedly connected. Further, both the first clamping mechanism 201 and the second clamping mechanism 202 are rigid structural elements, and the interior thereof is not easily deformed.

[0080] Alternatively, if Figures 1 to 4 As shown, one of the clamping jaw 220 and the rotating member 214 is provided with a guide portion 215, and the other of the clamping jaw 220 and the rotating member 214 is provided with a limiting portion 225. The limiting portion 225 cooperates with the guiding portion 215 to slide along the extending direction of the guiding portion 215. For example, the guiding portion 215 is in the shape of a strip groove, a slide rail, etc. Such a configuration is conducive to improving the stability of the clamping jaw 220 during movement.

[0081] In some embodiments, the guide portion 215 is in the shape of an arc with the second rotation axis 213 as the center, and the guide portion 215 is used to guide the clamping jaw 220 to rotate around the second rotation axis 213. Correspondingly, the clamping jaw 220 is a rigid structural element, and the inside is not easily deformed. Further, correspondingly, the elastic member 224 is connected between the rotating member 214 and the clamping jaw 220, and plays the role of supporting the clamping jaw 220 and resetting the clamping jaw 220.

[0082] Optionally, the limiting portion 225 is protrudingly disposed on one of the envelope portion 223 and the rotating member 214 , and the guiding portion 215 is disposed on the other of the envelope portion 223 and the rotating member 214 .

[0083] Alternatively, if Figures 1 to 4 As shown, a limiting portion 225 is protruded from the clamping jaw 220, and a guiding portion 215 is provided on the rotating member 214. The limiting portion 225 is inserted into the guiding portion 215 and abuts against the side wall of the guiding portion 215. The reaction force of the target object 30 can be transmitted to the rotating member 214 through the clamping jaw 220 and the limiting portion 225, so that the rotating member 214 rotates in an upward direction.

[0084] Alternatively, if Figures 1 to 4 As shown, a limiting portion 225 is protruding from the envelope portion 223, and the limiting portion 225 is located below the third rotation axis 221. A guide portion 215 is provided on the rotating member 214, and the guide portion 215 is located below the second rotation axis 213, one end of the guide portion 215 is close to the second rotation axis 213 and the other end of the guide portion 215 is away from the second rotation axis 213, and the limiting portion 225 is inserted into the guide portion 215 and can slide toward one end of the guide portion 215. Further, in the initial state, the guide portion 215 extends along the height direction D2 of the device body 10.

[0085] The limiting portion 225 can slide along the extension direction of the guide portion 215, so that the guide portion 215 and the limiting portion 225 can guide the connection portion 222 to rotate around the second rotation axis 213 and the envelope portion 223 to rotate around the third rotation axis 221, which can improve the stability of the first clamping mechanism 201 and the second clamping mechanism 202 in grabbing the target object 30. Specifically, in the process of grabbing the target object 30, the reaction force of the target object 30 can drive the envelope portion 223 to rotate relative to the connection portion 222 and drive the connection portion 222 to rotate relative to the sliding member, so that the angle formed by the connection portion 222 and the envelope portion 223 increases, and at this time, the limiting portion 225 slides in the guide portion 215 toward the end of the guide portion 215 away from the second rotation axis 213.

[0086] Alternatively, if Figure 7 As shown, the clamping module 20 includes a transmission screw 500, and the output shaft of the driving motor 300 is in transmission connection with the transmission screw 500. The transmission screw 500 has a first thread segment 501 and a second thread segment 502 with opposite thread rotation directions, and both sliding members are provided with threaded holes and are respectively screwed into the first thread segment 501 and the second thread segment 502. The driving motor 300 drives the two sliding members to move toward each other along the spacing direction D1 by driving the transmission screw 500 to rotate.

[0087] Specifically, the first sliding member 101 is provided with a threaded hole and screwed to the first threaded section 501, and the second sliding member 102 is provided with a threaded hole and screwed to the second threaded section 502. The driving motor 300 drives the transmission screw 500 to rotate to drive the first sliding member 101 and the second sliding member 102 to move toward each other along the spacing direction D1.

[0088] With such arrangement, the first sliding member 101 and the second sliding member 102 are controlled to move in different directions by the driving motor 300, which is beneficial to reducing the number of arranged motors and making the movement reliability and stability of the first sliding member 101 and the second sliding member 102 high.

[0089] Alternatively, if Figures 1 to 4 As shown, the bottoms of the two clamping mechanisms are both provided with hook portions 226. The hook portions 226 extend from the bottoms of the corresponding clamping mechanisms toward the other clamping mechanism.

[0090] Specifically, the bottom of the first clamping mechanism 201 and the bottom of the second clamping mechanism 202 are both provided with a hook portion 226. The hook portion 226 of the first clamping mechanism 201 extends toward the second clamping mechanism 202, and the hook portion 226 of the second clamping mechanism 202 extends toward the first clamping mechanism 201. Further, the hook portion 226 is located at the bottom of the clamping jaw 220. Furthermore, the hook portion 226 is located at the bottom of the envelope portion 223.

[0091] With such arrangement, in the process of grasping the target object 30, the hook portion 226 can be easily extended under the target object 30 to carry the target object 30, which can improve the degree of envelopment of the target object 30 by the first clamping mechanism 201 and the second clamping mechanism 202, thereby enhancing the clamping stability and lifting stability of the target object 30 by the first clamping mechanism 201 and the second clamping mechanism 202.

[0092] To sum up, this embodiment can achieve the ability to clamp and lift target objects 30 of different sizes under the drive of the drive motor 300. The drive motor 300 can drive at least one of the first clamping mechanism 201 and the second clamping mechanism 202 to move in two degrees of freedom, which is convenient for carrying and transferring the target object 30. This is beneficial to reducing the number of drive motors 300 arranged in the intelligent cleaning device 1 and can reduce costs.

[0093] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An intelligent cleaning device, characterized in that: include: Device body; A clamping module connected to the device body; The clamping module comprises two clamping mechanisms and a driving motor; the two clamping mechanisms are arranged at intervals and the spacing direction intersects with the height direction of the device body; the driving motor is respectively connected to the two clamping mechanisms for driving at least one of the two clamping mechanisms to move toward the other, so that the two clamping mechanisms clamp the target object; The walking assembly is installed at the bottom of the device body and is used to drive the device body to walk.

2. The intelligent cleaning device according to claim 1, characterized in that: The two clamping mechanisms are configured to be pressed by the target object and driven by the driving motor to move so as to lift the target object.

3. The intelligent cleaning device according to claim 1, characterized in that: The two clamping mechanisms are further configured to lift the target object when the drive motor drives at least one of the two clamping mechanisms to move toward the other.

4. The intelligent cleaning device according to claim 2 or 3, characterized in that: The clamping module comprises two sliding members spaced apart along the spacing direction, the two sliding members being arranged to be slidable relative to the device body along the spacing direction; the two sliding members are movably connected to the two clamping mechanisms respectively, and the two sliding members are both drivingly connected to the driving motor; The driving motor is used to drive at least one of the two sliding members to move toward the other, thereby driving the two clamping mechanisms to move toward each other along the spacing direction.

5. The intelligent cleaning device according to claim 4, characterized in that: The clamping module also includes an elastic reset member; the elastic reset member elastically abuts between the clamping mechanism and the corresponding sliding member, and elastically deforms when the clamping mechanism moves relative to the sliding member. The elastic reset member is also used to drive the clamping mechanism to reset through deformation recovery.

6. The intelligent cleaning device according to claim 4, characterized in that: The clamping mechanism is rotatably connected to the corresponding sliding member, and the clamping mechanism rotates upward relative to the corresponding sliding member to lift the target object.

7. The intelligent cleaning device according to claim 6, characterized in that: The two clamping mechanisms each include a first rotating shaft, a second rotating shaft, a rotating member and a clamp; the clamping mechanism clamps the target object via the clamp; the rotating member is rotationally connected to the clamp via the second rotating shaft, and is rotationally connected to the corresponding sliding member via the first rotating shaft.

8. The intelligent cleaning device according to claim 7, characterized in that: Each of the clamping claws comprises a connecting portion and an envelope portion connected to each other, wherein the envelope portion is used to clamp the target object; the connecting portion and the envelope portion are arranged at an angle.

9. The intelligent cleaning device according to claim 8, characterized in that: Each of the clamping jaws comprises a third rotating shaft; the connecting portion is rotatably connected to the rotating member via the second rotating shaft, and is also rotatably connected to the envelope portion via the third rotating shaft; in the height direction of the device body, the third rotating shaft is located below the second rotating shaft; Each of the clamping jaws also includes an elastic member; the elastic member elastically abuts between the connecting portion and the envelope portion, and elastically deforms when the connecting portion and the envelope portion rotate relative to each other; the elastic member is also used to drive the connecting portion and the envelope portion to reset through deformation recovery.

10. The intelligent cleaning device according to claim 7, characterized in that: One of the clamping jaw and the rotating member is provided with a guide portion, and the other of the clamping jaw and the rotating member is provided with a limiting portion; the limiting portion and the guiding portion cooperate with each other to be able to slide along the extending direction of the guiding portion.

11. The intelligent cleaning device according to claim 10, characterized in that: Each of the clamping claws comprises a connecting portion and an envelope portion, wherein the envelope portion is used to clamp the target object; the connecting portion is rotationally connected to the rotating member through the second rotating shaft, and is also rotationally connected to the envelope portion; The limiting portion is protrudingly arranged on one of the envelope portion and the rotating member, and the guiding portion is arranged on the other of the envelope portion and the rotating member; the limiting portion is inserted into the guiding portion and can slide toward one end of the guiding portion.

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