Shell assembly and cleaning equipment

Abstract

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

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, and particularly relates to a housing assembly and a cleaning device. Background Art

[0002] With the iterative update and development of technology, cleaning devices, especially self-moving cleaning devices, have entered ordinary family life and have gradually been popularized at home and abroad. For current cleaning devices, in order to better achieve the cleaning function, a robotic arm is added to achieve the grasping or moving of obstacles or garbage. Specifically, when it is necessary to move a target object, the robotic arm unfolds to perform a grasping action. When it is not necessary to move the target object, the robotic arm folds and is stored in the arm bin of the housing assembly. Thus, the reliability of the robotic arm will affect the reliability of the whole machine. Content of the Utility Model

[0003] A series of simplified concepts are introduced in the content of the utility model, which will be further described in detail in the specific implementation part. This part of the utility model does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] An embodiment of the first aspect of the utility model provides a housing assembly, which is applied to a cleaning device and includes: a base body, an installation bin is opened on the base body, the robotic arm of the cleaning device can be folded and stored in the installation bin, a bin opening is provided on the installation bin, and the base body is further provided with an installation groove for installing a driving wheel assembly of the cleaning device; a door body, the door body is movable relative to the base body to open or close the bin opening.

[0005] Further, the housing assembly further includes: a transmission device, the transmission device is connected to the base body and the door body, and the transmission device is used to drive the door body to translate and / or flip relative to the base body to open or close the bin opening.

[0006] Further, the transmission device includes a driving part and a swing rod assembly, the swing rod assembly is at least connected to the driving part and is hinged to the door body, and the driving part drives the door body to translate at least through the swing rod assembly to open or close the bin opening.

[0007] Further, the swing rod assembly includes a plurality of swing rods, the plurality of swing rods include a first swing rod and a second swing rod, the first swing rod is connected between the driving part and the door body, the second swing rod is hinged between the base body and the door body, the driving part is used to drive the first swing rod to rotate, and drives the second swing rod to rotate through the door body, so that the door body moves relative to the base body, wherein the door body at the limit position of opening the bin opening is parallel to the door body of closing the bin opening.

[0008] Further, a first connection part and a second connection part are respectively arranged at two ends of the swing rod. The first swing rod is connected to the driving part through the first connection part, the first swing rod is hinged to the door body through the second connection part, the second swing rod is hinged to the base body through the first connection part, and the second swing rod is hinged to the door body through the second connection part.

[0009] Further, the door body is provided with a first hinge part hinged to the first swing rod and a second hinge part hinged to the second swing rod. The number of the first hinge parts is one, and a plurality of second hinge parts are distributed on at least part of the circumferential side of the first hinge part.

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

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

[0012] Further, the swing rod is arranged in a bent structure, and the first connection part and the second connection part are located at two ends of the bent structure.

[0013] Further, the swing rod includes a first arm, a second arm and a third arm which are sequentially bent. The first arm and the third arm are arranged oppositely. The first connection part is located on the first arm, the second connection part is located on the third arm, and the length of the first arm is less than the length of the third arm.

[0014] Further, the third arm includes a straight line segment and an oblique line segment. The straight line segment is connected to the second arm and is arranged oppositely to the first arm. The oblique line segment is inclined towards the direction close to the first arm relative to the straight line segment. The second connection part is located at the end of the oblique line segment far from the straight line segment.

[0015] Further, taking the straight line passing through the center of the first connection part and perpendicular to the straight line segment of the third arm as the reference line, the included angle between the first arm and the reference line is 45° to 90°.

[0016] Further, at least part of the first arm of the swing rod abuts against the base body so that the door body is in the limit position of opening the hatch.

[0017] Further, the included angle between the first arm of the second swing rod and the reference line is greater than the included angle between the first arm of the first swing rod and the reference line so that when the door body is in the limit position of the hatch, the first arm of the second swing rod abuts against the base body.

[0018] Further, the first arm of the first swing rod is inclined in the direction away from the third arm from the end connected to the second arm to the end close to the first connection part.

[0019] Furthermore, the straight line segments of the first arm and the third arm of the second swing rod are arranged in parallel. When the door body is in the limit position of opening the hatch, the first arm of the second swing rod abuts against the base body.

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

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

[0022] Furthermore, at least part of the third arm of the swing rod further includes a transition section connecting the straight line segment and the inclined line segment, and the transition section is set as at least one of a straight line, an inclined line, a curve, and a bent line.

[0023] Furthermore, the transmission device is located inside the base body, the driving part is located outside the installation bin, and the bin wall of the installation bin and the nearby base body are provided with mutually communicating avoidance openings for avoiding the swing rod assembly.

[0024] Furthermore, the transmission device further includes a driving part and a flipping mechanism. The flipping mechanism is connected to the driving part and the door body, and the driving part rotates through the flipping mechanism to drive the door body to flip so as to open or close the hatch.

[0025] Furthermore, the transmission device further includes a driving part and a translation mechanism. The translation mechanism is connected to the driving part and the door body, and the driving part moves horizontally through the translation mechanism to drive the door body to move horizontally so as to open or close the hatch.

[0026] An embodiment of the second aspect of the present invention provides a cleaning device, including: a robotic arm, and the housing assembly according to any one of the first aspect.

[0027] For the housing assembly and the cleaning device provided by the embodiments of the present invention, the cleaning device includes a robotic arm, the housing assembly includes a base body and a door body, the base body is provided with an installation bin, and the robotic arm can be folded and stored in the installation bin, so that when the robotic arm does not need to perform grasping operations, it can be stored in the installation bin of the base body, reducing the space occupied by the robotic arm, making the overall volume of the cleaning device smaller, and facilitating storage and movement. By making the door body movable relative to the base body to open or close the hatch, in this way, after the door body closes the hatch, the installation bin is relatively enclosed, which can prevent dust, liquid, etc. in the external environment from entering the installation bin, reducing the possibility that the robotic arm in the installation bin is contaminated by dust in the external environment and soaked by liquid, which is beneficial to extending the service life of the robotic arm and thus improving the overall reliability of the cleaning device.

[0028] The above description is only an overview of the technical solution of the present utility model. In order to be able to understand the technical means of the present utility model more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present utility model more obvious and understandable, the following specifically illustrates the specific embodiments of the present utility model. Brief Description of the Drawings

[0029] The following drawings of the present utility model are used as part of the embodiments of the present utility model to understand the present utility model. The embodiments of the present utility model and their descriptions are shown in the drawings to explain the principles of the present utility model.

[0030] In the drawings:

[0031] Figure 1 It shows a partial structural schematic diagram of a perspective view of the door closing hatch of the housing assembly of an embodiment of the present utility model;

[0032] Figure 2 It shows Figure 1 Another perspective structural schematic diagram of the shown embodiment;

[0033] Figure 3 It shows Figure 1 Another perspective structural schematic diagram of the shown embodiment;

[0034] Figure 4 It shows Figure 1 Another perspective structural schematic diagram of the shown embodiment;

[0035] Figure 5 It shows a partial structural schematic diagram of a perspective view of the door opening hatch of the housing assembly of an embodiment of the present utility model;

[0036] Figure 6 It shows Figure 5 Another perspective structural schematic diagram of the shown embodiment;

[0037] Figure 7 It shows Figure 5 Another perspective structural schematic diagram of the shown embodiment;

[0038] Figure 8 It shows Figure 5 Another perspective structural schematic diagram of the shown embodiment;

[0039] Figure 9 It shows a structural schematic diagram of a perspective view of the door body and the swing rod assembly in the state of the door body closing hatch of the present utility model;

[0040] Figure 10 It shows a structural schematic diagram of a perspective view of the first swing rod of the present utility model;

[0041] Figure 11 Shows a schematic structural view of a second swing rod of an embodiment of the present utility model from a perspective;

[0042] Figure 12 Shows a schematic structural view of a second swing rod of another embodiment of the present utility model from a perspective;

[0043] Figure 13 Shows Figure 10 A schematic structural view of another perspective of the illustrated embodiment;

[0044] Figure 14 Shows Figure 11 A schematic structural view of another perspective of the illustrated embodiment;

[0045] Figure 15 Shows a schematic view of the process posture of the door body relative to the base translating and rotating out or translating and rotating back in the first embodiment of the present utility model;

[0046] Figure 16 Shows a schematic view of the process posture of the door body relative to the base translating and rotating out or translating and rotating back in the second embodiment of the present utility model;

[0047] Figure 17 Shows a partial schematic structural view of a housing assembly of another embodiment of the present utility model.

[0048] Explanation of reference numerals

[0049] 100 Housing assembly, 110 Base, 111 Installation bin, 1111 Bin opening, 112 Avoidance opening, 113 Connection seat, 120 Door body, 121 First hinge portion, 122 Second hinge portion, 130 Transmission device, 131 Driving portion, 132 Swing rod assembly, 133 First swing rod, 134 Second swing rod, 135 First connection portion, 136 Second connection portion, 137 First arm, 138 Second arm, 139 Third arm, 1391 Straight line segment, 1392 Oblique line segment, 1393 Transition segment. Detailed implementation manners

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

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present utility model. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0052] Now, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present utility model is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art.

[0053] As Figures 1 to 17 shown, an embodiment of the present utility model provides a housing assembly 100 and a cleaning device. Among them, the housing assembly 100 is applied to the cleaning device, and the cleaning device can be a sweeping robot, a mopping robot, a sweeping and mopping integrated machine, or other cleaning robots that meet the requirements.

[0054] Specifically, the cleaning device includes but is not limited to: the housing assembly 100, a cleaning assembly, a driving wheel assembly, etc. The above-mentioned various components cooperate with each other to enable the cleaning device to move autonomously to achieve the cleaning function. The functional elements and the like that constitute the above-mentioned components in the cleaning device are integrally arranged on the housing assembly 100. It can be understood that the cleaning device can be a self-moving cleaning device, where the self-moving cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without the operation of the user.

[0055] As Figure 1 、 Figure 5 、 Figure 17 shown, the housing assembly 100 provided by the embodiment of the present utility model includes: a base body 110, the base body 110 is provided with an installation bin 111, the robotic arm of the cleaning device can be folded and stored in the installation bin 111, the installation bin 111 is provided with a bin opening 1111, and the base body 110 is further provided with an installation groove for installing the driving wheel assembly of the cleaning device; a door body 120, the door body 120 is movable relative to the base body 110 to open or close the bin opening 1111.

[0056] The housing assembly 100 provided by the embodiment of the present utility model includes a base body 110 and a door body 120. Among them, an installation bin 111 is provided on the base body 110. The cleaning device includes a robotic arm, and the robotic arm can be folded and stored in the installation bin 111, so that when the robotic arm does not need to perform object grasping operations, it can be stored in the installation bin 111 of the base body 110, reducing the space occupied by the robotic arm, making the overall volume of the cleaning device smaller, facilitating storage and movement, and being beneficial to improving the aesthetics of the appearance of the cleaning device. The door body 120 is movable relative to the base body 110 to open or close the bin opening 1111. In this way, as Figure 1 , Figure 2 , Figure 3 , Figure 4 shown, after the door body 120 closes the bin opening 1111, the installation bin 111 is relatively enclosed, which can prevent dust, liquid, etc. in the external environment from entering the installation bin 111, reducing the possibility that the robotic arm in the installation bin 111 is contaminated by dust in the external environment or soaked by liquid, being beneficial to extending the service life of the robotic arm, and thus improving the overall reliability of the cleaning device.

[0057] It can be understood that, as Figure 5 , Figure 6 , and 7, Figure 8 shown, when the door body 120 moves relative to the base body 110 to open the bin opening 1111, the robotic arm can move and extend out of the bin opening 1111. Thus, by using the unfolding movement of the robotic arm, the grasping or moving of obstacles, objects, and garbage near the housing assembly 100 can be realized to better achieve the autonomous cleaning function. It can be understood that the above objects can also be objects required by the user, such as a remote control, an apple, etc., which will not be listed one by one here. At the same time, since an installation groove is also provided on the base body 110, the drive wheel assembly of the cleaning device is installed on the base body 110 through the installation groove, so that the operation of the drive wheel assembly can drive the base body 110 to move. Since the robotic arm is connected to the base body 110, such as the robotic arm can be connected to a part of the structure of the installation bin 111, so that the robotic arm can move randomly with the movement of the base body 110 to reach the target position.

[0058] Furthermore, as Figure 17 shown, the base body 110 can be understood as the main part of the housing assembly 100 of the cleaning device. The installation bin 111 is directly opened on the base body 110. The bin opening 1111 of the installation bin 111 can face upward. The installation groove is directly opened on the base body 110, and the opening of the installation groove faces downward. The robotic arm and the drive wheel assembly are installed on the base body 110. Specifically, the shape of the base body 110 can be generally the same as the outer shape of the housing assembly 100 of the cleaning device. For example, the shape of the base body 110 can be generally disc-shaped, disc-shaped with a round rear and a square front, or other shapes, etc.

[0059] Or, as Figures 1 to 8As shown, the base body 110 may include a base shell (not shown in the figure) and a connecting seat 113. The connecting seat 113 is installed on the base shell. An installation bin 111 may be opened at the top of the connecting seat 113, and the robotic arm is connected to the connecting seat 113. Alternatively, the connecting seat 113 may be provided with a through groove, and the connecting seat 113 and the base shell enclose the installation bin 111, and the robotic arm is installed on the base shell through the through groove of the connecting seat 113. Among them, an installation groove may be opened at the bottom of the base shell, and the drive wheel assembly is installed on the base shell. Specifically, the shape of the base shell may be generally the same as the outer shape of the housing assembly 100 of the cleaning device. For example, the shape of the base shell may be generally disc-shaped, disc-shaped with a round front and a square rear, or other shapes, etc. The shape of the connecting seat 113 may be rectangular, circular, other regular shapes or irregular shapes.

[0060] As Figure 4 and Figure 8 As shown, in some possible embodiments provided by the present utility model, the housing assembly 100 further includes: a transmission device 130. The transmission device 130 connects the base body 110 and the door body 120, so that the transmission device 130 drives the door body 120 to move relative to the base body 110 to open or close the hatch 1111. This kind of setting is beneficial to improving the intelligence of the housing assembly 100 and improving the user satisfaction.

[0061] Among them, the transmission device 130 is used to drive the door body 120 to translate and / or flip relative to the base body 110 to open or close the hatch 1111. For example, the transmission device 130 may drive the door body 120 to translate relative to the base body 110 to open or close the hatch 1111, or the transmission device 130 may drive the door body 120 to flip relative to the base body 110 to open or close the hatch 1111, or the transmission device 130 may drive the door body 120 to translate and flip relative to the base body 110 to open or close the hatch 1111. Thus, the requirements of different structures of the transmission device 130 can be met.

[0062] It can be understood that in other examples, the door body 120 and the base body 110 may also be separately arranged, and the door body 120 is manually moved relative to the base body 110 to open or close the hatch 1111. This kind of arrangement can simplify the setting of the transmission device 130, reduce the volume of the housing assembly 100, and is beneficial to saving the manufacturing cost.

[0063] As Figure 4 and Figure 8 As shown, in some possible embodiments provided by the present utility model, the transmission device 130 includes a driving part 131 and a swing rod assembly 132. The swing rod assembly 132 is at least connected to the driving part 131 and is hinged to the door body 120. The driving part 131 drives the door body 120 to translate at least through the swing rod assembly 132 to open or close the hatch 1111.

[0064] Among them, the door body 120 is driven by the driving part 131 and the swing rod assembly 132 to at least translate relative to the base body 110 to open or close the hatch 1111. Compared with the door body 120 flipping relative to the base body 110 to open or close the hatch 1111, the space occupied by the door body 120 after at least translating relative to the base body 110 to open the hatch 1111 is reduced.

[0065] Furthermore, the driving part 131 drives the door body 120 to at least translate to open or close the hatch 1111 through the swing rod assembly 132. It can be that the driving part 131 drives the door body 120 to translate horizontally relative to the base body 110 through the swing rod assembly 132, or the driving part 131 drives the door body 120 to translate synchronously in the horizontal and vertical directions relative to the base body 110 through the swing rod assembly 132, or the driving part 131 drives the door body 120 to translate synchronously in the horizontal and vertical directions relative to the base body 110 through the swing rod assembly 132 and accompanied by a flipping motion. Thus, the requirements of different structures of the swing rod assembly 132 can be met.

[0066] Specifically, the driving part 131 drives the door body 120 to translate synchronously in the horizontal and vertical directions relative to the base body 110 through the swing rod assembly 132, and the driving part 131 drives the door body 120 to translate synchronously in the horizontal and vertical directions relative to the base body 110 through the swing rod assembly 132 and accompanied by a flipping motion can be understood as the door body 120 translating and rotating out or translating and rotating back relative to the base body 110.

[0067] Specifically, Figure 15 The schematic diagram of the process posture of the door body 120 translating and rotating out or translating and rotating back relative to the base body 110 in the first embodiment of the present invention is shown. In this embodiment, the driving part 131 drives the door body 120 to translate synchronously in the horizontal and vertical directions relative to the base body 110 through the swing rod assembly 132, so that the door body 120 translates and rotates out or translates and rotates back relative to the base body 110. Among them, as Figure 15As shown, when the door body is in the 120a posture, the door body 120 closes the hatch 1111. When the door body is in the 120c posture, the door body opens the hatch 1111. When the door body is in other postures between the 120a posture and the 120c posture, such as when the door body is in the 120b posture, the door body is located at a position between the open hatch 1111 and the closed hatch 1111. Specifically, the door body in the 120b posture is parallel to the door bodies in the 120a posture and the 120c posture, only the positions are different. That is to say, the door bodies 120 in each of the 120a posture, 120b posture, and 120c postures are parallel to each other, and the horizontal and vertical positions of the door bodies 120 in each of the 120a posture, 120b posture, and 120c postures are different. That is, during the translational rotation out or translational rotation back of the door body 120 relative to the base body 110 in this embodiment, the door bodies 120 in each posture are parallel to each other, and the horizontal positions and vertical positions of the door bodies 120 in each posture are different.

[0068] Specifically, Figure 15 In the embodiment shown, during the movement of the door body between the 120a posture and the 120c posture, the movement trajectory of the door body 120 is as shown by the dotted line Q. It can be understood that the movement trajectory Q of the door body 120 can be a straight line, a curve, a broken line, or a line of other shapes, and the present utility model does not make specific limitations thereon.

[0069] Specifically, Figure 16The figure shows a schematic diagram of the attitude during the translational rotation-out or translational rotation-back of the door body 120 in the second embodiment of the present utility model. In this embodiment, the driving part 131 drives the door body 120 to translate synchronously in the horizontal and vertical directions relative to the base body 110 along with a flipping motion through the swing rod assembly 132, so that the door body 120 translates and rotates out or translates and rotates back relative to the base body 110. Among them, when the door body is in the 120a attitude, the door body 120 closes the hatch 1111. When the door body is in the 120c attitude, the door body opens the hatch 1111. The door bodies in the 120a attitude and the 120c attitude are parallel to each other, and the positions of the door bodies in the horizontal and vertical directions in the 120a attitude and the 120c attitude are different. When the door body is in other attitudes between the 120a attitude and the 120c attitude, such as when the door body is in the 120b attitude, the door body is located at a position between the opened hatch 1111 and the closed hatch 1111. The door body in the 120b attitude is not parallel to the door bodies in the 120a attitude and the 120c attitude, and the horizontal and vertical positions of the door body in the 120b attitude are different from those of the door bodies in the 120a attitude and the 120c attitude. That is to say, during the translational rotation-out or translational rotation-back of the door body 120 relative to the base body 110 in this embodiment, the door bodies 120 in some attitudes are parallel to each other, and the door bodies 120 in some attitudes are not parallel to each other, and the horizontal position and / or vertical position of the door body 120 in each attitude are different.

[0070] Specifically, Figure 16 During the movement of the door body in the 120a attitude and the 120c attitude in the shown embodiment, the movement track of the door body 120 is as shown by the dotted line Q. It can be understood that the movement track Q of the door body 120 can be a curve, a broken line or a line of other shapes. The curve can be a convex curve or a concave curve. The present utility model does not make specific limitations on this. Among them, the swing rod assembly 132 is at least connected to the driving part 131 and is hinged to the door body 120. It can be understood that the swing rod assembly 132 includes multiple swing rods. All of the multiple swing rods can be connected to the driving part 131, or some of the multiple swing rods can be connected to the driving part 131. All of the multiple swing rods are hinged to the door body 120, or some of the multiple swing rods are hinged to the door body 120. Thus, the requirements of different structures of the swing rod assembly 132 can be met.

[0071] In some possible embodiments provided by the present utility model, the transmission device 130 further includes a driving part 131 and a flipping mechanism (not shown in the figure). The flipping mechanism is connected to the driving part 131 and the door body 120. The driving part 131 rotates through the flipping mechanism to drive the door body 120 to flip to open or close the hatch 1111. With this arrangement, during the process of the door body 120 opening or closing the hatch 1111, the occupation of the horizontal space of the base body 110 by the door body 120 can be reduced, and the layout requirements with a relatively small horizontal space of the base body 110 can be met.

[0072] Specifically, the flipping mechanism may include a gear mechanism, a rack and pinion structure, or other mechanisms. During the process of the flipping mechanism driving the door body 120 to flip relative to the base body 110 to open or close the hatch 1111, the door body 120 is not parallel in each posture, the position of the door body 120 in the vertical direction changes in each posture, and the position of the door body 120 in the horizontal direction changes in each posture.

[0073] In some possible embodiments provided by the present utility model, the transmission device 130 further includes a driving part 131 and a translation mechanism (not shown in the figure). The translation mechanism is connected to the driving part 131 and the door body 120. The driving part 131 translates through the translation mechanism to drive the door body 120 to translate in the horizontal direction to open or close the hatch 1111. With this arrangement, during the process of the door body 120 opening or closing the hatch 1111, the occupation of the vertical space of the base body 110 by the door body 120 can be reduced, and the layout requirements with a relatively small vertical space of the base body 110 can be met.

[0074] Specifically, the translation mechanism may include a slide rail and slider mechanism, a belt drive mechanism, a chain drive mechanism, etc. During the process of the translation mechanism driving the door body 120 to translate in the horizontal direction relative to the base body 110 to open or close the hatch 1111, the door body 120 is parallel to each other in each posture, the position of the door body 120 in the vertical direction remains unchanged in each posture, and the position of the door body 120 in the horizontal direction changes in each posture.

[0075] Such as Figure 4 、 Figure 8 、 Figure 9As shown, in some possible embodiments provided by the present utility model, the swing rod assembly 132 includes a plurality of swing rods, and the plurality of swing rods include a first swing rod 133 and a second swing rod 134. The first swing rod 133 is connected between the driving part 131 and the door body 120, and the second swing rod 134 is hinged between the base body 110 and the door body 120. By driving the first swing rod 133 to rotate through the driving part 131, the first swing rod 133 can drive the door body 120 to move. The movement of the door body 120 will drive the second swing rod 134 to move. Since the second swing rod 134 is hinged between the base body 110 and the door body 120, the movement of the second swing rod 134 will limit the movement of the door body 120. In this way, through the cooperation of the first swing rod 133 and the second swing rod 134, the door body 120 can move relative to the base body 110 to open the hatch 1111 or close the hatch 1111. Thus, the door body 120 moves translationally to open or close the hatch 1111. Among them, the door body 120 at the limit position of opening the hatch 1111 is parallel to the door body 120 of closing the hatch 1111. Specifically, the door body 120 at the limit position of opening the hatch 1111 can be as Figures 5 to 8 shown, and the door body 120 of closing the hatch 1111 can be as Figures 1 to 4 shown.

[0076] With this kind of setting, the structure of the swing rod assembly 132 is relatively simple and easy to implement, which is beneficial to simplifying the structure of the transmission device 130, making the cost of the transmission device 130 relatively low, and further being able to reduce the overall manufacturing cost of the housing assembly 100. At the same time, by making the door body 120 at the limit position of opening the hatch 1111 parallel to the door body 120 of closing the hatch 1111, compared with the door body 120 flipping relative to the base body 110 to open or close the hatch 1111, it can reduce the occupation of the vertical space of the base body 110 by the door body 120 during the process of the door body 120 opening or closing the hatch 1111, and can reduce the occupied space in the vertical direction of the base body 110 after the door body 120 opens the hatch 1111. At the same time, by making the door body 120 at the limit position of opening the hatch 1111 parallel to the door body 120 of closing the hatch 1111, compared with the translational mechanism driving the door body 120 to move translationally relative to the base body 110 along the horizontal direction to open or close the hatch 1111, and the length of the translational mechanism arrangement usually needs to be relatively large, the swing rod assembly 132 of the embodiment of the present utility model has a compact structure and a small volume, can meet the design requirements of the transmission device 130 with a compact structure and a small volume, and further can meet the design requirements of the housing assembly 100 with a compact structure and a small volume, making the layout of the cleaning device compact and the volume small.

[0077] Specifically, it can be as Figure 15In the illustrated embodiment, the driving part 131 drives the door body 120 to translate synchronously in the horizontal direction and the vertical direction relative to the base body 110 through the swing rod assembly 132, so that the door body 120 translates and rotates out or translates and rotates back relative to the base body 110 to open or close the hatch 1111. Alternatively, as Figure 16 shown, the driving part 131 drives the door body 120 to translate synchronously in the horizontal direction and the vertical direction relative to the base body 110 through the swing rod assembly 132 and is accompanied by a flipping motion, so that the door body 120 translates and rotates out or translates and rotates back relative to the base body 110 to open or close the hatch 1111.

[0078] Among them, the number of swing rods can be multiple. Among them, the number of the first swing rods 133 can be multiple. For example, the number of the first swing rods 133 can be one, two, three or other numbers. The number of the second swing rods 134 can be multiple. For example, the number of the second swing rods 134 can be one, two, three or other numbers. It can be understood that the number of the first swing rods 133 and the number of the second swing rods 134 can be equal or unequal. Among them, the first swing rod 133 is used to connect the driving part 131 and the door body 120, and the second swing rod 134 is used to connect the door body 120 and the base body 110. The structures of the first swing rod 133 and the second swing rod 134 can be the same or different. The structures of the multiple first swing rods 133 can be the same or different. The structures of the multiple second swing rods 134 can be the same or different.

[0079] As Figure 4 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 and Figure 12 shown, in some possible embodiments provided by the present utility model, first connection parts 135 and second connection parts 136 are respectively arranged at both ends of the swing rod. The first swing rod 133 is connected to the driving part 131 through the first connection part 135, and the first swing rod 133 is hinged to the door body 120 through the second connection part 136, so that the first swing rod 133 is connected to the driving part 131 and is hinged to the door body 120. The second swing rod 134 is hinged to the base body 110 through the first connection part 135, and the second swing rod 134 is hinged to the door body 120 through the second connection part 136, so that the second swing rod 134 is hinged to the base body 110 and the door body 120.

[0080] Among them, the first connection part 135 and the second connection part 136 on the swing rod can be connection holes, connection convex columns, connection ears or other structures.

[0081] Specifically, the first connection part 135 and the second connection part 136 on the swing rod are connection holes, such as Figure 10 and Figure 13As shown, a limiting surface is provided on the hole wall of the first connecting portion 135 on the first swing rod 133. The driving portion 131 is a motor, and the output shaft of the motor passes through the connecting hole. Through the setting of the limiting surface, the rotation of the output shaft of the motor drives the first swing rod 133 to rotate. Specifically, the first connecting portion 135 of the first swing rod 133 can be a D-shaped hole, a flat hole, a rectangular hole, a hexagonal hole, etc. As Figure 11 , Figure 12 , Figure 14 shown, the first connecting portion 135 on the second swing rod 134 can be a circular hole and is hinged to the base body 110 through a hinge shaft. The second connecting portions 136 on each swing rod can also be circular holes and are hinged to the door body 120 through a hinge shaft.

[0082] As Figure 9 shown, in some possible embodiments provided by the present utility model, the door body 120 is provided with a first hinged portion 121 hinged to the first swing rod 133 and a second hinged portion 122 hinged to the second swing rod 134. The number of the first hinged portions 121 is one, and a plurality of second hinged portions 122 are distributed on at least a part of the circumferential side of the first hinged portion 121.

[0083] That is to say, the hinged point between the first swing rod 133 and the door body 120 can be understood as the first hinged portion 121, and the hinged point between the second swing rod 134 and the door body 120 can be understood as the second hinged portion 122. Therefore, in this embodiment, the number of the first swing rods 133 is one, and the number of the second swing rods 134 is multiple. The hinged points of the multiple second swing rods 134 with the door body 120 can be distributed on the circumferential side of the hinged point between the first swing rod 133 and the door body 120. Thus, the driving portion 131 can drive the door body 120 to move through one first swing rod 133, with a simple structure and low cost. At the same time, a plurality of second swing rods 134 are hinged between the door body 120 and the base body 110, which can ensure the stability and reliability of the translational rotation out and translational rotation back of the door body 120.

[0084] Specifically, the number of the second hinged portions 122 can be two, three, four, five, or other numbers, that is, the number of the second swing rods 134 can be two, three, four, five, or other numbers.

[0085] Among them, a plurality of second hinged portions 122 can be distributed on a part of the circumferential side of the first hinged portion 121. For example, a plurality of second hinged portions 122 can be distributed on the same side, different sides, or the entire circumferential side of the first hinged portion 121, etc.

[0086] As Figure 4 , Figure 8 , Figure 9As shown, in some possible embodiments provided by the present utility model, the number of the second hinge parts 122 is four. The second hinge parts 122 are distributed in pairs along the first direction on both sides of the first hinge part 121, and the second hinge parts 122 distributed in pairs are distributed along the second direction on both sides of the first hinge part 121. The first direction and the second direction are perpendicular. Among them, the first direction can be as shown by the arrow X in Figure 4 and Figure 9 , and the second direction can be as shown by the arrow Y in Figure 4 and Figure 9 .

[0087] In this embodiment, the number of the second hinge parts 122 is four. The four second hinge parts 122 are distributed on different sides of the first hinge part 121 with the first hinge part 121 as the center. Thus, through the second swing rod 134 hinged to the four second hinge parts 122, the door body 120 can be supported well and stably, and a good limiting effect can be exerted on the movement of the door body 120 driven by the first swing rod 133, so that the entire door body 120 can translate and swing out or translate and swing back as shown in Figure 15 or Figure 16 under the combined action of the first swing rod 133 and the second swing rod 134.

[0088] It can be understood that the structures of the four second swing rods 134 can be the same or different.

[0089] Such as Figure 4 , Figure 10 , Figure 11 , Figure 12 In some possible embodiments provided by the present utility model, the shape of the second swing rod 134 matches the shape of the first swing rod 133, so that the swing rod assembly 132 drives the door body 120 to move.

[0090] Since the first swing rod 133 is connected to the driving part 131 and the door body 120, the driving part 131 drives the door body 120 to move through the first swing rod 133. This part of the movement can be understood as the main movement of the door body 120. Since the second swing rod 134 is hinged between the door body 120 and the base body 110, the movement of the door body 120 driven by the first swing rod 133 will drive the second swing rod 134 to move. At the same time, since the second swing rod 134 is hinged to the base body 110, the movement of the door body 120 will be limited, so that the door body 120 can translate at least relative to the base body 110, such as the door body 120 translating and swinging out or translating and swinging back as shown in Figure 15 or Figure 16 relative to the base body 110. This part of the movement can be understood as the auxiliary movement of the door body 120.

[0091] In this embodiment, the shape of the second swing rod 134 matches the shape of the first swing rod 133, such that the movement trajectory of the second swing rod 134 is substantially the same as that of the first swing rod 133, that is, the second swing rod 134 does not impede the movement of the first swing rod 133, enabling the first swing rod 133 to drive the door body 120 to smoothly swing out and swing back. At the same time, through the restriction of the movement of the door body 120 by multiple second swing rods 134, the door body 120 can perform translational movement relative to the base body 110. Thus, through the cooperation of the first swing rod 133 and the second swing rod 134, the door body 120 can at least translate relative to the base body 110 to open or close the hatch 1111.

[0092] As Figure 10 , Figure 11 and Figure 12 shown, in some possible embodiments provided by the present utility model, the swing rod is provided with a bent structure, and the first connecting portion 135 and the second connecting portion 136 are located at both ends of the bent structure.

[0093] In this embodiment, the setting of the bent structure enables the swing rod to increase the movement stroke in a limited space. Specifically, the first swing rod 133 is a bent structure, and the second swing rod 134 is a bent structure. Thus, through the cooperation of the first swing rod 133 and the second swing rod 134, the overall movement stroke of the swing rod assembly 132 can be increased in a limited space, enabling the door body 120 to have sufficient movement space relative to the base body 110. Moreover, both the first swing rod 133 and the second swing rod 134 are provided with bent structures, providing movement space for the door body 120 to swing out or swing back relative to the base body 110, and thus enabling the door body 120 to translate and swing out to open the hatch or swing back in parallel to close the hatch.

[0094] It can be understood that due to the different setting positions of the first swing rod 133 and the second swing rod 134, and the different setting positions of multiple second swing rods 134, the bent structures on each swing rod can be the same or different, depending on the specific situation.

[0095] As Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14As shown, in some possible embodiments provided by the present utility model, the swing rod includes a first arm 137, a second arm 138, and a third arm 139 that are sequentially bent, such that the swing rod forms a bent structure by using the first arm 137, the second arm 138, and the third arm 139. The first arm 137 and the third arm 139 are arranged oppositely. The first connecting portion 135 is located on the first arm 137, and the second connecting portion 136 is located on the third arm 139. The length of the first arm 137 is less than the length of the third arm 139, such that the bent structure is disposed near the first connecting portion 135. Since the first connecting portion 135 of the first swing rod 133 is connected to the driving portion 131, the first connecting portion 135 of the second swing rod 134 is hinged to the base body 110, and the second connecting portion 136 of each swing rod is hinged to the door body 120, the bent structure is located at a portion of the swing rod away from the door body 120, that is, on a side of the bent structure close to the driving portion 131 or the base body 110. Thus, sufficient movement space is provided for the door body 120 to rotate out or rotate back relative to the base body 110, such that the first swing rod 133 and the second swing rod 134 cooperate to enable the door body 120 to translate and rotate out or translate and rotate back relative to the base body 110 as Figure 15 or Figure 16 shown in the embodiment to open or close the hatch 1111 by translating and rotating out or translating and rotating back.

[0096] Specifically, the first arm 137, the second arm 138, and the third arm 139 may be an integrally formed structure, which is convenient for processing, easy to produce, and reduces the manufacturing cost. Alternatively, the first arm 137, the second arm 138, and the third arm 139 may be a split structure and assembled into a swing rod.

[0097] As Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 shown, in some possible embodiments provided by the present utility model, the third arm 139 includes a straight segment 1391 and an inclined segment 1392. The straight segment 1391 is connected to the second arm 138 and is disposed opposite to the first arm 137. The inclined segment 1392 is inclined in a direction close to the first arm 137 relative to the straight segment 1391. The second connecting portion 136 is located at an end of the inclined segment 1392 away from the straight segment 1391.

[0098] In this embodiment, a bending structure can be formed by the straight-line segment 1391 of the third arm 139, the second arm 138, and the first arm 137, providing sufficient movement space for the door body 120 to swing out and swing back relative to the base body 110. By arranging the second connecting portion 136 at the end of the inclined-line segment 1392 away from the straight-line segment 1391, and the inclined-line segment 1392 being inclined towards the first arm 137 relative to the straight-line segment 1391, the overall third arm 139 belongs to a concave hook-shaped structure, reducing the space occupied by the swing rod, and thus being able to meet the design requirements of the transmission device 130 with a compact structure and a small volume. At the same time, with this arrangement, on the basis of ensuring that the swing rod assembly 132 enables the door body 120 to have sufficient movement space, the distance between the door body 120 and the base body 110 after the door body 120 opens the hatch 1111 is small, further reducing the space occupied by the door body 120 after opening the hatch 1111.

[0099] As Figure 13 and Figure 14 shown, in some possible embodiments provided by the present utility model, taking the straight line passing through the center of the first connecting portion 135 and perpendicular to the straight-line segment 1391 of the third arm 139 as the reference line, the included angle between the first arm 137 and the reference line is 45° to 90°.

[0100] Among them, the straight line passing through the center of the first connecting portion 135 and perpendicular to the straight-line segment 1391 of the third arm 139 can be as Figure 13 and Figure 14 the straight line P shown, where the included angle between the first arm 137 and the reference line P can be as Figure 13 and Figure 14 the angle α shown in. That is to say, the range of the angle α is 45° to 90°. By reasonably setting the range of the angle α, the bending structure of the swing rod has a reasonable bending angle, providing sufficient movement space for the door body 120 to swing out and swing back relative to the base body 110.

[0101] Specifically, Figure 13 the angle α in can be understood as the included angle between the first arm 137 of the first swing rod 133 and the reference line, Figure 14 the angle α in can be understood as the included angle between the first arm 137 of the second swing rod 134 in an embodiment and the reference line. It can be understood that the movement space of the swing rod can be understood as being on the side of the first arm 137 away from the angle α, that is, on the side of the first arm 137 away from the bending structure. That is to say, the movement space of the swing rod can be understood as being negatively correlated with the angle α. Specifically, as Figure 13 and Figure 14 shown, the swing rod moves in the counterclockwise direction O shown in Figure 13 and Figure 14 to open the hatch 1111 of the door body 120.

[0102] In some possible embodiments provided by the present utility model, at least a part of the first arm 137 of the swing rod abuts against the base body 110, so that the door body 120 is in the limit position of opening the hatch 1111.

[0103] Among them, the limit position where the door body 120 opens the hatch 1111 can be understood as the maximum limit position where the door body 120 translates and rotates out relative to the base body 110. At this position, the door body 120 cannot translate and rotate out relative to the base body 110 anymore, and the door body 120 can only translate and rotate back relative to the base body 110 to gradually close the hatch 1111. Specifically, as Figure 5 , Figure 6 , Figure 7 , Figure 8 The attitude of the door body 120 shown can be understood as the maximum limit position where the door body 120 translates and rotates out relative to the base body 110.

[0104] In this embodiment, the angle of the bending structure of the swing rod can be reasonably set. For example, the angle between the first arm 137 of the first swing rod 133 and the reference line, and the angle between the first arm 137 of the second swing rod 134 and the reference line are reasonably set, so that at least a part of the first arm 137 of the swing rod abuts against the base body 110 to achieve mechanical limit. Thus, the movement of the door body 120 is well limited, and the door body 120 can be kept in the position of opening the hatch 1111.

[0105] Specifically, it can be that the first arm of the first swing rod 133 abuts against the base body 110, so that the door body 120 is in the limit position of opening the hatch 1111; or, it can be that the first arm 137 of the second swing rod 134 abuts against the base body 110, so that the door body 120 is in the limit position of opening the hatch 1111; or, it can be that the first arms 137 of both the first swing rod 133 and the second swing rod 134 abut against the base body 110, so that the door body 120 is in the limit position of opening the hatch 1111. Specifically, as Figure 6 shown, the first arm 137 of the second swing rod 134 abuts against the base body 110, so that the door body 120 is in the limit position of opening the hatch 1111.

[0106] In the above embodiment, the angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the angle between the first arm 137 of the first swing rod 133 and the reference line, so that when the door body 120 is in the limit position of the hatch 1111, the first arm 137 of the second swing rod 134 abuts against the base body 110.

[0107] Among them, the included angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the included angle between the first arm 137 of the first swing rod 133 and the reference line. During the process that the first swing rod 133 drives the second swing rod 134 to move through the door body 120, a part of the structure of the second swing rod 134, such as the third arm 139 of the second swing rod 134, will abut against the base body 110 to limit the movement of the door body 120 relative to the base body 110, so that the door body 120 can be reliably and stably held at the position of opening the hatch 1111.

[0108] Specifically, Figure 13 the first swing rod 133 in Figure 14 and the second swing rod 134 in Figure 6 rotate counterclockwise around the first connecting portion 135 as the center, which will drive the door body 120 to move relative to the base body 110 to open the hatch 1111. Since the included angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the included angle between the first arm 137 of the first swing rod 133 and the reference line, during the counterclockwise rotation of the first swing rod 133 and the second swing rod 134, the movement space of the second swing rod 134 will be smaller than that of the first swing rod 133. In this way, the first arm 137 of the second swing rod 134 will abut against the base body 110 first. As Figure 13 shown, the first arm 137 of the second swing rod 134 will abut against the base body 110 first to realize the mechanical limit phenomenon. Thus, the movement of the door body 120 is well limited, the movement of the first swing rod 133 is restricted, and the door body 120 can be held at the position of opening the hatch 1111. Specifically, Figure 14 the direction indicated by the arrow O shown in

[0109] is the counterclockwise direction. Figure 13 As Figure 13 shown, in some possible embodiments provided by the present utility model, the first arm 137 of the first swing rod 133 is inclined away from the third arm 139 from the end connected to the second arm 138 to the end close to the first connecting portion 135. Thus, the included angle between the first arm 137 of the first swing rod 133 and the reference line is less than 90°, which provides sufficient movement space for the first swing rod 133 to rotate counterclockwise around the center of the first connecting portion 135 as shown in

[0110] As Figure 6 and Figure 14As shown, in some possible embodiments provided by the present utility model, the straight line segment 1391 of the first arm 137 and the third arm 139 of the second swing rod 134 are arranged in parallel. When the door body 120 is in the limit position of opening the hatch 1111, the first arm 137 of the second swing rod 134 abuts against the housing assembly 100. Thus, the angle between the first arm 137 of the second swing rod 134 and the reference line is close to or equal to 90°, providing sufficient movement space for the second swing rod 134 to rotate counterclockwise around the center of the first connecting portion 135 along the Figure 14 shown direction O. Moreover, the movement space of the second swing rod 134 in the counterclockwise direction is smaller than that of the first swing rod 133 in the counterclockwise direction. Furthermore, the first arm 137 of the second swing rod 134 will abut against the base body 110, so that the door body 120 is in the limit position of opening the hatch 1111.

[0111] That is to say, by reasonably setting the shape of the bending structure of the second swing rod 134, the movement space of the second swing rod 134 is made smaller than that of the first swing rod 133. Using the second swing rod 134 and the base body 110 to form a mechanical limit, the door body 120 can be reliably and stably maintained in the limit position of opening the hatch 1111.

[0112] Specifically, the swing rod assembly 132 provided in this embodiment drives the door body 120 to translate and rotate out or translate and rotate back relative to the base body 110 along the Figure 16 movement trajectory of the shown embodiment to open or close the hatch 1111.

[0113] In some possible embodiments provided by the present utility model, the driving part 131 is provided with an overcurrent protection device.

[0114] Among them, the overcurrent protection device refers to a protection method that causes the driving part 131 to act when the current of the driving part 131 exceeds a predetermined maximum value. Specifically, when the current flowing through the driving part 131 exceeds a certain pre-set value, the protection device is activated to stop the driving part 131 from working. In this embodiment, when the first arm 137 of a part of the swing arm abuts against the base body 110 to form a mechanical limit, such as the first arm 137 of the second swing rod 134 abuts against the base body 110 to form a mechanical limit, restricting the movement of the first swing rod 133, the overcurrent protection device of the driving part 131 will work to stop the driving part 131 from working, so that the door body 120 can be reliably and stably maintained in the limit position of opening the hatch 1111. Thus, the damage to the driving part 131 can be reduced, which is beneficial to extending the service life of the driving part 131 and improving the reliability of the driving part 131.

[0115] It can be understood that when the door body 120 closes the bin opening 1111, a part of the door body 120 abuts against the base body 110 on the circumferential side of the bin opening 1111, so that the door body 120 and the base body 110 near the bin opening 1111 form an ultimate limit, restricting the movement of the first swing rod 133. At this time, the overcurrent protection device of the driving part 131 will work, causing the driving part 131 to stop working, so that the door body 120 can reliably and stably close the bin opening 1111, reducing the entry of dust, liquid, sundries, etc. in the external environment into the installation bin 111 and damaging the robotic arm, and improving the service life of the robotic arm.

[0116] In some possible embodiments provided by the present utility model, the housing assembly 100 further includes: a buffer member, which is disposed on the third arm 139 and / or the base body 110, and the buffer member is located between the third arm 139 and the base body 110 when the door body 120 is at the extreme position of opening the bin opening 1111.

[0117] The setting of the buffer member plays a good buffering role in the abutment or collision between the third arm 139 of the swing rod and the base body 110, and can reduce the problems of damage and wear of the third arm 139 or the base body 110 caused by the frequent abutment or collision between the third arm 139 and the base body 110, greatly improving the service life of the swing rod and the base body 110, and improving the overall reliability of the cleaning device.

[0118] Specifically, the buffer member can be elastic silica gel, a spring piece, elastic glue, etc.

[0119] Specifically, the buffer member can be installed on the base body 110 through at least one of a clamping structure, a plugging structure, a threaded structure, a mortise and tenon structure, and an adhesive. Or, the buffer member can be installed on the third arm 139 through at least one of a clamping structure, a plugging structure, a threaded structure, a mortise and tenon structure, and an adhesive. Or, the buffer member can be installed on both the base body 110 and the third arm 139 through at least one of a clamping structure, a plugging structure, a threaded structure, a mortise and tenon structure, and an adhesive.

[0120] It can be understood that when the buffer member is disposed on the third arm 139 of the swing rod, the buffer member can be disposed on all the third arms 139 that abut against the base body 110; or, the buffer member can be disposed on at least one of the multiple third arms 139 that abut against the base body 110.

[0121] Such as Figure 12 As shown, in some possible embodiments provided by the present utility model, at least a part of the third arm 139 of the swing rod further includes a transition section 1393 connecting the straight line segment 1391 and the inclined line segment 1392, and the transition section 1393 is set as at least one of a straight line, an inclined line, a curve, and a bent line.

[0122] In this embodiment, the provision of the transition section 1393 can meet the requirements of different distances and positions between the first connecting portion 135 and the second connecting portion 136 at both ends of the swing rod, enabling the layout position of the swing rod to be diversified and flexible, making the structure of the swing rod assembly 132 diverse and easy to implement, and reducing the design difficulty.

[0123] Specifically, as Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 shown, although the shapes of the first swing rod 133, the second swing rod 134, and the third swing rod are generally the same, all are provided with a bent structure and all include a first arm 137, a second arm 138, and a third arm 139. However, as Figure 9 shown, the shapes of the two pairs of second swing rods 134 located on the left and right sides of the first swing rod 133 along the first direction are different. Among them, for the pair of second swing rods 134 located on the left side of the first swing rod 133, as Figure 13 shown, its third arm 139 includes a transition section 1393, and for the pair of second swing rods 134 located on the right side of the first swing rod 133, as Figure 12 shown, its third arm 139 does not include a transition section 1393.

[0124] It can be understood that in some examples, both the first swing rod 133 and the second swing rod 134 may include a transition section 1393.

[0125] In some possible embodiments provided by the present utility model, the transmission device 130 is located inside the base body 110, the driving portion 131 is located outside the installation bin 111, and the bin wall of the installation bin 111 and the nearby base body 110 are provided with mutually communicating avoidance openings 112 for avoiding the swing rod assembly 132.

[0126] As Figure 5 and Figure 8 shown, in this embodiment, the provision of the avoidance opening 112 can ensure the smooth connection of the swing rod assembly 132 with the driving portion 131, the base body 110, and the door body 120, and will not interfere with the movement of the swing rod assembly 132, enabling the driving portion 131 to drive the swing rod assembly 132 to move, so that the door body 120 is translated and rotated out under the action of the swing rod assembly 132 to open the bin door, and is translated and rotated back to close the bin door.

[0127] Specifically, the avoidance opening 112 can be reasonably set according to the movement trajectory of the swing rod assembly 132, so that the avoidance opening 112 can avoid the swing rod assembly 132 and ensure that the swing rod assembly 132 has sufficient movement space.

[0128] In the description of the present utility model, the term "a plurality of" refers to two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model; terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0129] For those skilled in the art, various modifications and variations can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A housing assembly (100) applied to a cleaning device, characterized in that, Comprising: A base body (110), an installation bin (111) is provided on the base body (110), the robotic arm of the cleaning device can be foldably stored in the installation bin (111), a bin opening (1111) is provided on the installation bin (111), and an installation groove for installing the drive wheel assembly of the cleaning device is further provided on the base body (110); A door body (120), the door body (120) is movable relative to the base body (110) to open or close the bin opening (1111).

2. The housing assembly (100) according to claim 1, characterized in that, Further comprising: A transmission device (130), the transmission device (130) connects the base body (110) and the door body (120), and the transmission device (130) is used to drive the door body (120) to translate and / or flip relative to the base body (110) to open or close the bin opening (1111).

3. The housing assembly (100) according to claim 2, wherein The transmission device (130) includes a driving part (131) and a swing rod assembly (132), the swing rod assembly (132) is at least connected to the driving part (131) and is hinged to the door body (120), and the driving part (131) drives the door body (120) to translate at least through the swing rod assembly (132) to open or close the bin opening (1111).

4. The housing assembly (100) according to claim 3, wherein The swing rod assembly (132) includes a plurality of swing rods, the plurality of swing rods include a first swing rod (133) and a second swing rod (134), the first swing rod (133) is connected between the driving part (131) and the door body (120), the second swing rod (134) is hinged between the base body (110) and the door body (120), the driving part (131) is used to drive the first swing rod (133) to rotate, and drives the second swing rod (134) to rotate through the door body (120), so that the door body (120) moves relative to the base body (110); Wherein, the door body (120) at the limit position of opening the bin opening (1111) is parallel to the door body (120) closing the bin opening (1111).

5. The housing assembly (100) according to claim 4, wherein Both ends of the swing rod are respectively provided with a first connection part (135) and a second connection part (136), the first swing rod (133) is connected to the driving part (131) through the first connection part (135), the first swing rod (133) is hinged to the door body (120) through the second connection part (136), the second swing rod (134) is hinged to the base body (110) through the first connection part (135), and the second swing rod (134) is hinged to the door body (120) through the second connection part (136).

6. The housing assembly (100) according to claim 5, wherein The door body (120) is provided with a first hinge part (121) hinged to the first swing rod (133) and a second hinge part (122) hinged to the second swing rod (134). The number of the first hinge parts (121) is one, and a plurality of second hinge parts (122) are distributed on at least part of the circumferential side of the first hinge part (121).

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

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

9. The housing assembly (100) according to claim 5, wherein the swing rod is arranged in a bent structure, and the first connecting part (135) and the second connecting part (136) are located at both ends of the bent structure.

10. The housing assembly (100) according to claim 9, wherein the swing rod includes a first arm (137), a second arm (138) and a third arm (139) which are bent in sequence. The first arm (137) and the third arm (139) are arranged oppositely. The first connecting part (135) is located on the first arm (137), and the second connecting part (136) is located on the third arm (139). The length of the first arm (137) is less than the length of the third arm (139).

11. The housing assembly (100) according to claim 10, wherein the third arm (139) includes a straight line segment (1391) and an inclined line segment (1392). The straight line segment (1391) is connected to the second arm (138) and is arranged opposite to the first arm (137). The inclined line segment (1392) is inclined towards the direction close to the first arm (137) relative to the straight line segment (1391). The second connecting part (136) is located at the end of the inclined line segment (1392) far from the straight line segment (1391).

12. The housing assembly (100) according to claim 11, wherein taking the straight line passing through the center of the first connecting part (135) and perpendicular to the straight line segment (1391) of the third arm (139) as a reference line, the included angle between the first arm (137) and the reference line is 45° to 90°.

13. The housing assembly (100) according to claim 12, wherein at least part of the first arm (137) of the swing rod abuts against the base body (110) so that the door body (120) is in the limit position of opening the hatch (1111).

14. The housing assembly (100) according to claim 13, wherein the included angle between the first arm (137) of the second swing rod (134) and the reference line is greater than the included angle between the first arm (137) of the first swing rod (133) and the reference line, so that when the door body (120) is at the limit position of the hatch (1111), the first arm (137) of the second swing rod (134) abuts against the base body (110).

15. The housing assembly (100) according to claim 14, wherein the first arm (137) of the first swing rod (133) is arranged obliquely away from the third arm (139) from the end connected to the second arm (138) to the end close to the first connecting portion (135).

16. The housing assembly (100) according to claim 14, wherein the first arm (137) of the second swing rod (134) is arranged in parallel with the straight line segment (1391) of the third arm (139). When the door body (120) is at the limit position of opening the hatch (1111), the first arm (137) of the second swing rod (134) abuts against the base body (110).

17. The housing assembly (100) according to claim 3, wherein the driving portion (131) is provided with an overcurrent protection device.

18. The housing assembly (100) according to claim 13, characterized in that, Further comprising: a buffer member, the buffer member is arranged on the first arm (137) and / or the base body (110), and the buffer member is located between the first arm (137) and the base body (110) when the door body (120) is at the limit position of opening the hatch (1111).

19. The housing assembly (100) according to claim 11, wherein at least part of the third arm (139) of the swing rod further includes a transition section (1393) connecting the straight line segment (1391) and the inclined line segment (1392), and the transition section (1393) is set as at least one of a straight line, an inclined line, a curve, and a bent line.

20. The housing assembly (100) according to claim 3, wherein the transmission device (130) is located inside the base body (110), the driving portion (131) is located outside the installation bin (111), and the bin wall of the installation bin (111) and the nearby base body (110) are provided with mutually communicating avoidance openings (112) for avoiding the swing rod assembly (132).

21. The housing assembly (100) according to claim 2, wherein the transmission device (130) further includes a driving portion (131) and a flipping mechanism, the flipping mechanism connects the driving portion (131) and the door body (120), and the driving portion (131) rotates through the flipping mechanism to drive the door body (120) to flip so as to open or close the hatch (1111).

22. The housing assembly (100) according to claim 2, wherein The transmission device (130) further includes a driving part (131) and a translation mechanism. The translation mechanism connects the driving part (131) and the door body (120). The driving part (131) translates through the translation mechanism to drive the door body (120) to translate in the horizontal direction to open or close the hatch (1111).

23. A cleaning device, characterized in that, Comprising: A robotic arm, and a housing assembly (100) according to any one of claims 1 to 22.

Images