Cleaning assembly, self-moving equipment and cleaning system

Abstract

The utility model discloses a cleaning assembly, self-moving equipment and a cleaning system. The cleaning assembly is used for the self-moving equipment, the self-moving equipment comprises a mechanical arm, the cleaning assembly comprises a connecting base and a cleaning element, the connecting base is provided with a connecting part and a clamping part, the cleaning element is connected with the connecting base through the connecting part, and the mechanical arm is configured to be capable of clamping or releasing the clamping part. Therefore, the cleaning assembly can be clamped through the mechanical arm, so that the cleaning assembly can synchronously move along with the self-moving equipment, the side and / or top area of the self-moving equipment can be cleaned through the cleaning element of the cleaning assembly, the cleaning range of the self-moving equipment is enlarged, and the cleaning experience of a user is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of smart home, especially to a cleaning assembly, a self-moving device and a cleaning system. BACKGROUND

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, self-moving devices, such as self-moving cleaning devices, such as intelligent sweeping robots, mopping robots, etc., have continuously entered our daily life. The current self-moving cleaning device can usually only realize cleaning operation on the ground, and has a single function. SUMMARY

[0003] A series of simplified concepts are introduced in the summary part of the utility model, which will be further described in detail in the specific embodiment part. This part of the utility model does not mean to try to define the key features and necessary technical features of the claimed technical solution, and even less means to determine the protection scope of the claimed technical solution.

[0004] The embodiment of the utility model provides a cleaning assembly for a self-moving device, the self-moving device includes a mechanical hand, and the cleaning assembly includes a connecting seat and a cleaning element, the connecting seat is provided with a connecting part and a clamping part, the cleaning element is connected with the connecting seat through the connecting part, and the mechanical hand is configured to clamp or release the clamping part.

[0005] Further, the self-moving device includes a device main body and a mechanical arm connecting the device main body and the mechanical hand, the mechanical arm is configured to adjust the relative position of the mechanical hand and the device main body, and the cleaning element is configured to be located on the circumferential side of the device main body through the mechanical arm and the mechanical hand.

[0006] Further, the cleaning assembly further includes a connecting structure, the cleaning element is movably connected to the connecting seat through the connecting structure; and the self-moving device further includes a buffer plate floatingly arranged on the device main body and a collision sensor cooperating with the buffer plate, when the cleaning element encounters an obstacle, the cleaning element contacts the buffer plate to trigger the collision sensor.

[0007] Further, the connecting structure includes a connecting piece and a reset piece, the connecting seat and the cleaning element are rotationally connected through the connecting piece, and the reset piece is connected with at least the connecting piece, the reset piece is configured to relatively and statically keep the cleaning element and the connecting seat in the initial position.

[0008] Further, the connecting piece includes a connecting plate and a rotating shaft, the connecting plate is rotationally connected with the connecting seat and / or the cleaning element through the rotating shaft, the reset piece is a torsional spring, the torsional spring is sleeved on the rotating shaft, a first torsional arm of the torsional spring is connected with the connecting plate, and a second torsional arm of the torsional spring is connected with the connecting seat and / or the cleaning element.

[0009] Further, the rotating shaft comprises a first rotating shaft and a second rotating shaft, the first rotating shaft is arranged through the first end of the connecting plate and fixed on the connecting seat, and the second rotating shaft is arranged through the second end of the connecting plate and fixed on the cleaning element; the reset member comprises a first torsion spring arranged on the first rotating shaft and a second torsion spring arranged on the second rotating shaft, the second torsion arm of the first torsion spring is connected with the connecting seat, and the second torsion arm of the second torsion spring is connected with the cleaning element.

[0010] Further, the cleaning element comprises a brush body and a plurality of brush hairs, the brush body is connected with the connecting seat, and the brush hairs are fixedly connected or movably connected to the brush body.

[0011] Further, the brush body is provided with a first mounting hole for mounting the brush hairs.

[0012] Further, the brush body is provided with a sliding groove, and the cleaning element further comprises a sliding seat located in the sliding groove and movable relative to the sliding groove, the sliding seat is provided with a second mounting hole for mounting the brush hairs.

[0013] Further, the brush hairs are arranged on a plane of the brush body, the brush hairs are arranged in at least two rows along the height direction of the brush body, at least one row of the brush hairs is arranged perpendicularly to the plane of the brush body, and at least one row of the brush hairs is arranged at an angle relative to the plane of the brush body, and the included angle between the brush hairs and the plane of the brush body is 50° to 70°.

[0014] Further, the brush hairs are arranged on a curved surface structure of the brush body, the brush hairs are arranged radially on the curved surface structure, and the brush hairs are arranged in at least two rows, and at least two rows of the brush hairs are arranged oppositely or staggeredly.

[0015] Further, the shape of the clamping portion matches the shape of the mechanical hand, and the clamping portion comprises guide grooves located on opposite sides of the connecting seat, and the shape of the guide grooves matches the shape of the clamping jaw of the mechanical hand.

[0016] Further, one end of the guide groove is provided with a avoiding opening for avoiding the clamping jaw, and the opening size of the avoiding opening gradually increases from the inside to the outside of the guide groove.

[0017] Further, the groove wall of the guide groove is provided with a guide surface connected with the groove opening of the guide groove, and the guide surface is arranged obliquely from the groove opening to the middle part of the guide groove.

[0018] Further, the cleaning assembly further comprises a base connected to the bottom of the connecting seat, the cleaning assembly is configured to be placed on the bearing seat, and the shape of the base matches the shape of the bearing groove on the bearing seat.

[0019] Further, the outer side wall of the base is tapered, and the large-diameter end of the taper is connected with the connecting seat.

[0020] Further, the cleaning assembly further comprises a counterweight, the base and the connecting seat jointly form a containing cavity, and the counterweight is located in the containing cavity.

[0021] Furthermore, the connecting base includes a base plate and a base body, the cleaning element is connected to the base body, the clamping part is located on the base body, the base plate has a through hole, the base body has a connecting post, the cleaning assembly also includes a locking member, the locking member passes through the through hole and is connected to the connecting post.

[0022] Furthermore, the counterweight is provided with a notch structure to avoid the connecting column. The connecting column and the notch structure work together to limit the movement of the counterweight relative to the base.

[0023] Furthermore, one of the base and the support is provided with an adsorption element, and the other is provided with an adsorbed element. The adsorption element and the adsorbed element attract each other so that the base is positioned in a suitable position on the support.

[0024] Furthermore, the counterweight is set as the adsorbed component, and the adsorbed component is set on the support base.

[0025] Furthermore, the bristle length is 30mm to 50mm, and the bristle diameter is 0.1mm to 0.3mm.

[0026] Furthermore, the width of the cleaning element is 6mm to 15mm; and / or

[0027] The length of the cleaning element is greater than the height of the main body of the device.

[0028] A second aspect of this utility model provides a self-moving device, which includes a robotic arm and a cleaning component according to any one of the first aspects.

[0029] A third aspect of this utility model provides a cleaning system, including a base station and a self-moving device according to the second aspect, the self-moving device being adapted to dock on the base station.

[0030] Furthermore, the base station includes a base station housing, and a support for carrying cleaning components is detachably connected to the base station housing; or, the base station housing forms the support.

[0031] The present invention provides a cleaning component, a self-moving device, and a cleaning system. The self-moving device includes a main body and a robotic arm, which is movably connected to the main body. The cleaning component includes a connecting seat and a cleaning element, which is connected to the connecting seat. The connecting seat has a clamping part that conforms to the shape of the robotic arm. The robotic arm on the self-moving device can clamp the connecting seat through the clamping part, thereby indirectly fixing the connecting seat to the main body. This allows the self-moving device to move, driving the cleaning element connected to the connecting seat to move as well, enabling cleaning operations using the cleaning element. Therefore, the cleaning element can be used to clean areas that the self-moving device could not previously clean, such as the sides and / or top of the self-moving device, increasing the cleaning range of the self-moving device and improving the user's cleaning experience.

[0032] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. Wherein:

[0034] Figure 1 An exploded view of the cleaning assembly provided in an embodiment of the present invention is shown;

[0035] Figure 2 This is a schematic diagram of the structure of the robotic arm gripping cleaning assembly provided in an embodiment of the present invention, taken from one perspective.

[0036] Figure 3 This diagram shows a structural schematic of the cleaning assembly provided in an embodiment of the present invention from one perspective.

[0037] Figure 4 This diagram shows a structural schematic of the cleaning element from a first perspective of the first embodiment provided by this utility model.

[0038] Figure 5 A second-view structural schematic diagram of the cleaning element of the first embodiment provided by this utility model is shown;

[0039] Figure 6 This diagram shows a structural schematic of the cleaning element from one perspective of the second embodiment provided by this utility model.

[0040] Figure 7 This shows a structural schematic diagram of the connector provided in an embodiment of the present invention from a first perspective;

[0041] Figure 8 A second-view structural schematic diagram of the connector provided in an embodiment of the present invention is shown;

[0042] Figure 9 This diagram illustrates the structure of the connector provided in an embodiment of the present invention from a third perspective.

[0043] Figure 10 This diagram shows a partial structural schematic of the self-moving device provided in an embodiment of the present invention from one perspective;

[0044] Figure 11 This diagram shows a structural schematic of the cleaning assembly and support provided in an embodiment of the present invention from one perspective.

[0045] Explanation of reference numerals in the attached figures

[0046] 100 Cleaning component, 110 Connecting seat, 111 Clamping part, 1111 Guide groove, 1112 Clearance opening, 1113 Guide surface, 112 Base plate, 1121 Through hole, 113 Seat body, 120 Cleaning element, 121 Brush body, 1211 First mounting hole, 1212 Slide groove, 122 Brush bristles, 1221 First row of brush bristles, 1222 Second row of brush bristles, 123 Slide, 1231 Second mounting hole, 1232 Curved surface Structure, 130 connecting structure, 131 connector, 1311 connecting plate, 1312 first rotating shaft, 1313 second rotating shaft, 132 reset component, 1321 first torsion spring, 1322 second torsion spring, 140 base, 141 connecting column, 150 counterweight, 151 notch structure, 160 connector, 200 self-moving device, 210 robot arm, 220 device body, 230 buffer plate, 300 bearing seat, 310 bearing groove. Detailed Implementation

[0047] The following description provides numerous specific details to offer a more thorough understanding of the technical solutions provided by this invention. However, it will be apparent to those skilled in the art that the technical solutions provided by this invention can be implemented without one or more of these details.

[0048] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0049] Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0050] like Figures 1 to 11As shown, an embodiment of this utility model provides a cleaning component, a self-moving device 200, and a cleaning system. The cleaning component 100 is applied to the self-moving device 200, which can be a self-moving cleaning device. A self-moving cleaning device can be understood as a device capable of moving independently and performing cleaning tasks, such as a robotic vacuum cleaner, a combined sweeping and mopping robot, or a mopping robot. It is understood that the self-moving device 200 can also be an automatic food delivery robot, a package sorting robot, etc. Specifically, for ease of description, this embodiment uses the self-moving device 200 as an example of a self-moving cleaning device to describe the technical solution of this disclosure.

[0051] Specifically, self-moving cleaning equipment includes, but is not limited to, the equipment body, a cleaning system, and a drive system. These systems coordinate with each other to enable the self-moving cleaning equipment to move autonomously and perform its cleaning function. The functional components constituting these systems are integrated within the equipment body. The cleaning system can be a dry cleaning system, such as a roller brush or side brush; or it can be a wet cleaning system, such as a mop or mop tray; or it may include both dry and wet cleaning systems.

[0052] like Figure 2 , Figure 10 and Figure 11 As shown, the self-moving device 200 provided by this utility model includes a robotic arm 210, which can be connected to the device body 220. The robotic arm 210 can grasp or move obstacles, items, and garbage near the self-moving device 200 to better achieve the autonomous cleaning function. Furthermore, the self-moving device 200 may also include a robotic arm connecting the robotic arm 210 and the device body 220. The robotic arm can adjust the relative position of the robotic arm 210 and the device body 220, enabling the robotic arm 210 to grasp or move obstacles, items, and garbage near the self-moving device 200 more accurately, flexibly, and conveniently. Simultaneously, the robotic arm increases the range of motion of the robotic arm 210 relative to the device body 220, thereby improving the cleaning range of the self-moving device 200 and expanding the product's application scope. Specifically, the robotic arm can adjust the height of the robotic arm 210 relative to the device body in the X, Y, and Z directions, where the Z direction can be vertical and the XY plane can be horizontal.

[0053] like Figure 1 , Figure 2 and Figure 10As shown, an embodiment of the first aspect of the present invention provides a cleaning assembly 100, including: a connecting seat 110 and a cleaning element 120. The connecting seat 110 is provided with a connecting part and a clamping part 111. The cleaning element 120 is connected to the connecting seat 110 through the connecting part. The robotic arm 210 is configured to clamp or release the clamping part 111.

[0054] In this embodiment, the robotic arm 210 on the self-moving device 200 can clamp the connecting seat 110 through the clamping part 111, thereby indirectly fixing the connecting seat 110 to the device body 220. This allows the self-moving device 200 to move, driving the cleaning element 120 connected to the connecting seat 110 to move synchronously with the self-moving device 200, so that the cleaning element 120 can perform cleaning operations. It can be understood that at this time, the cleaning element 120 can perform cleaning operations on areas that the self-moving device 200 could not clean before. Normally, the cleaning system of the self-moving device 200 is usually arranged at the bottom of the device body 220, that is, the self-moving device 200 can usually perform cleaning operations on the bottom area of ​​the self-moving device 200 using the original cleaning system. However, in this embodiment, the cleaning element 120 is clamped by the robotic arm 210, which can perform cleaning operations on the side and / or top areas of the self-moving device 200. This increases the cleaning range of the self-moving device 200 and improves the user's cleaning experience.

[0055] Understandably, when cleaning element 120 is not needed for cleaning operations, robot arm 210 releases clamping part 111, which can separate robot arm 210 from connecting seat 110, thereby separating cleaning component 100 from robot arm 210. At this time, self-moving device 200 is still an independent device, and its own structure and volume have not changed, and it can still achieve its original functions.

[0056] In other words, the cleaning component 100 provided in this embodiment is connected to the cleaning element 120 via the connecting seat 110. At the same time, a clamping part 111 that conforms to the shape of the robot arm 210 is provided on the connecting seat 110, so that the robot arm 210 can smoothly clamp or release the connecting seat 110 via the clamping part 111. Therefore, depending on whether the self-moving device 200 needs to clean the side and / or top areas of the device body 220, the robot arm 210 can selectively clamp or release the connecting seat 110 to achieve indirect connection or release between the device body 220 and the cleaning element 120. Thus, the needs of different cleaning ranges of the self-moving device 200 can be met, the cleaning range of the self-moving device 200 can be expanded, and the user's cleaning experience can be improved.

[0057] The clamping part 111 is arranged with a contour-following robot arm 210, meaning that the shape of the clamping part 111 matches the shape of the robot arm 210. This improves the accuracy, convenience, and stability of the robot arm 210 clamping the connecting seat 110 through the clamping part 111, thereby enabling the cleaning element 120 to be stably, reliably, indirectly, and fixed on the main body 220 of the equipment through the connecting seat 110 and the robot arm 210, ensuring that the cleaning element 120 has a good cleaning effect.

[0058] The connector 110 is provided with a connecting part, and the cleaning element 120 is connected to the connector 110 through the connecting part. The connecting part can be a hole structure, a groove structure, a protrusion structure, or other structures.

[0059] Furthermore, current self-moving devices 200, such as self-moving cleaning devices, can only clean the floor at the bottom of the device body 220, and cannot clean the baseboards on the walls, thus reducing the user's cleaning experience. In this embodiment, by using a robotic arm 210 to hold the connecting seat 110, the self-moving device 200 can use the cleaning element 120 to clean the areas on the sides of the device body 220 during movement, such as cleaning the baseboards on the walls, and / or, the cleaning element 120 can use the cleaning element 120 to clean the areas on top of the device body 220, such as cleaning the underside of a bed spaced apart from the floor. This increases the cleaning range of the self-moving device 200 and improves the user experience.

[0060] like Figure 10 As shown, in some possible embodiments provided by this utility model, the self-moving device 200 connects the device body 220 and the robotic arm 210 via a robotic arm. The robotic arm is configured to adjust the relative position of the robotic arm 210 and the device body 220, such as adjusting the height and / or rotation angle of the robotic arm 210 relative to the device body 220 to increase the range of motion of the robotic arm 210. The cleaning element 120 is configured to be located on the circumferential side of the device body 220 via the robotic arm and robotic arm 210. Therefore, during movement, the self-moving device 200 can use the cleaning element 120 to clean the area on the circumferential side of the device body 220, such as cleaning the baseboards on the wall. This solves the problem in related technologies where self-moving devices cannot clean baseboards, increases the cleaning range of the self-moving device 200, and improves the user experience and satisfaction.

[0061] like Figure 1 and Figure 3As shown, in some possible embodiments provided by this utility model, the cleaning component 100 further includes: a connecting structure 130, the cleaning element 120 is movably connected to the connecting seat 110 through the connecting structure 130, and the movement path includes an initial position and a later position. When the cleaning element 120 is located on the circumferential side of the device body 220, that is, during the cleaning operation of the baseboard using the cleaning element 120, at least when the cleaning element 120 is in the initial position, the cleaning element 120 is separated from the device body 220.

[0062] The cleaning element 120 can be connected to the connecting part of the connecting seat 110 through the connecting structure 130, thereby installing the cleaning element 120 at the location of the connecting part of the connecting seat 110 through the connecting structure 130.

[0063] The initial position of the cleaning element 120 relative to the connecting seat 110 can be understood as the initial position of the cleaning element 120 relative to the connecting seat 110, that is, under the action of the connecting structure 130, the cleaning element 120 can remain relatively stationary relative to the connecting seat 110 in its initial position. When the cleaning element 120 is subjected to an external force, the cleaning element 120 can move relative to the connecting seat 110, so that the cleaning element 120 can be in the moved position relative to the connecting seat 110. In other words, when the robot arm 210 clamps the connecting seat 110 and positions the cleaning element 120 on the circumferential side of the equipment body 220, the cleaning element 120 is in its initial position, that is, the initial position of the cleaning element 120 relative to the equipment body 220. After the equipment body 220 moves, the cleaning element 120 can be used to clean the objects to be cleaned on the circumferential side of the equipment body 220. When the cleaning element 120 collides with an obstacle, such as a corner of a wall or a table leg, the cleaning element 120 moves relative to the connecting seat 110 to the moved position.

[0064] When the cleaning element 120 cleans objects in the circumferential area of ​​the equipment body 220, such as baseboards, the cleaning element 120 needs to contact and interfere with the object to be cleaned to ensure a good cleaning effect. As a result, the force exerted by the object on the cleaning element 120 will be transmitted to the connecting seat 110. If the connecting seat 110 contacts the equipment body 220, or if the cleaning element 120 contacts the equipment body 220, the cleaning element 120 will cause friction between the connecting seat 110 and the equipment body 220 during the cleaning operation, resulting in wear and tear on both the equipment body 220 and the connecting seat 110. This will affect the reliability and aesthetic appearance of the equipment body 220, the connecting seat 110, and the cleaning element 120. Therefore, in this embodiment, at least when the cleaning element 120 is in its initial position, the cleaning element 120 is separated from the device body 220. This ensures that the cleaning element 120 remains separated from the device body 220 during the cleaning operation, preventing contact and friction between the cleaning element 120 and the device body 220. This improves the reliability and aesthetics of both the cleaning element 120 and the device body 220. It is understood that when the cleaning element 120 is in its initial position, the connecting seat 110 is also separated from the device body 220, preventing contact and friction, which further improves the reliability and aesthetics of both the connecting seat 110 and the device body 220.

[0065] It is understandable that when the cleaning element 120 is located on the circumferential side of the equipment body 220, and when the cleaning element 120 is hit by an obstacle, that is, when the cleaning element 120 is in the moved position, the cleaning element 120 and the equipment body 220 can also be separated. This can further reduce the possibility of contact friction between the cleaning element 120 and the equipment body 220, and greatly improve the reliability and aesthetics of the connector 110 and the equipment body 220.

[0066] In some possible embodiments provided by this utility model, the self-moving device 200 further includes a buffer plate 230 floatingly disposed on the device body 220, and a collision sensor cooperating with the buffer plate 230. It is understood that after an obstacle collides with the buffer plate 230, the buffer plate 230 can contact the collision sensor to trigger it. The self-moving device 200 can then determine the location of an obstacle based on the signal from the collision sensor, allowing it to plan its movement path according to the obstacle's position and information, thus achieving obstacle avoidance operations. It is also understood that when the buffer plate 230 detaches from the obstacle, it can float relative to the device body 220 back to its initial position.

[0067] In this embodiment, the cleaning element 120 is located on the circumferential side of the device body 220. When the cleaning element encounters an obstacle, such as when the cleaning element 120 is in a moved position due to the force of the obstacle, the cleaning element 120 contacts the buffer plate 230 to trigger the collision sensor, or the connecting seat 110 contacts the buffer plate 230 to trigger the collision sensor. This allows the self-moving device 200 to know that there is an obstacle at the location of the cleaning element 120 based on the signal from the collision sensor. This allows the self-moving device 200 to plan its walking path based on the location and information of the obstacle, thereby achieving obstacle avoidance and reducing the problem of damage to the cleaning element 120 caused by the continued movement of the device body 220. This is beneficial to improving the service life of the cleaning element 120.

[0068] like Figure 1 and Figure 3 As shown, in some possible embodiments provided by this utility model, the connection structure 130 includes a connector 131 and a reset member 132. The connecting seat 110 and the cleaning element 120 are rotatably connected through the connector 131. The reset member 132 is at least connected to the connector 131. The reset member 132 is configured to keep the cleaning element 120 and the connecting seat 110 relatively stationary in the initial position. That is, under the action of the reset member 132, the cleaning element 120 and the connecting seat 110 in the initial position are relatively stationary. Thus, when the robot arm 210 clamps the connecting seat 110, the cleaning element 120 in the initial position can be reliably and stably fixed on the equipment body 220, so that the movement of the equipment body 220 can drive the movement of the cleaning element 120, and the cleaning operation can be performed using the cleaning element 120 in the initial position.

[0069] Meanwhile, during the process of the cleaning element 120 moving from contact with the obstacle to separation from the obstacle, that is, after the cleaning element is unlocked from the moved position, the reset member 132 can drive the cleaning element 120 to move from the moved position to the initial position, thereby enabling the cleaning element 120 and the connecting seat 110 to remain relatively stationary in the initial position.

[0070] The reset component 132 is at least connected to the connector 131. This connection can be as follows: the reset component 132 is connected to the connector 131; the reset component 132 is connected to the connector 131 and the cleaning element 120; the reset component 132 is connected to the connector 131 and the connecting seat 110; or the reset component 132 is connected to the connector 131, the connecting seat 110, and the cleaning element 120. This is to meet the requirements of different structures for the reset component 132. Specifically, the reset component 132 can be an elastic element, such as a spring, tension spring, torsion spring, or other reset structure.

[0071] The connecting base 110 and the cleaning element 120 are rotatably connected via the connecting member 131. The connection can be either fixedly connected (connecting base 110 and connecting member 131, rotatably connected (connecting member 131 and cleaning element 120), or rotatably connected (connecting base 110 and connecting member 131, rotatably connected (connecting member 131 and cleaning element 120), or rotatably connected (connecting base 110 and connecting member 131, rotatably connected (connecting member 131 and cleaning element 120), to meet the different structural requirements of the connecting member 131.

[0072] like Figure 1 As shown, in some possible embodiments provided by this utility model, the connector 131 includes a connecting plate 1311 and a rotating shaft. The connecting plate 1311 is rotatably connected to the connecting seat 110 and / or the cleaning element 120 through the rotating shaft. The reset member 132 is a torsion spring, which is sleeved on the rotating shaft. The first torsion arm of the torsion spring is connected to the connecting plate 1311, and the second torsion arm of the torsion spring is connected to the connecting seat 110 and / or the cleaning element 120.

[0073] In this embodiment, the connecting plate 1311 can be connected to the connecting seat 110 via a rotating shaft, allowing the connecting plate 1311 to rotate relative to the connecting seat 110. At this time, the cleaning element 120 can be fixedly connected to the connecting plate 1311. The torsion spring is sleeved on the rotating shaft, with the first torsion arm of the torsion spring connected to the connecting plate 1311 and the second torsion arm of the torsion spring connected to the connecting seat 110. This allows the connecting seat 110 and the cleaning element 120 to remain relatively stationary in their initial positions. When the cleaning element 120 is unlocked from its moved position, the torsion spring can drive the cleaning element 120 to move from its moved position back to its initial position.

[0074] Alternatively, the connecting plate 1311 can be connected to the cleaning element 120 via a rotating shaft, allowing the connecting plate 1311 to rotate relative to the cleaning element 120. In this case, the connecting seat 110 can be fixedly connected to the connecting plate 1311, and a torsion spring is sleeved on the rotating shaft. The first torsion arm of the torsion spring is connected to the connecting plate 1311, and the second torsion arm of the torsion spring is connected to the cleaning element 120, so that the connecting seat 110 and the cleaning element 120 can remain relatively stationary in the initial position. When the cleaning element 120 is unlocked from the moved position, the torsion spring can drive the cleaning element 120 to move from the moved position back to the initial position.

[0075] Alternatively, the two ends of the connecting plate 1311 can be connected to the cleaning element 120 and the connecting seat 110 respectively via rotating shafts. Two torsion springs are respectively sleeved on the two rotating shafts and connected to the connecting plate 1311 and the cleaning element 120, and the connecting plate 1311 and the connecting seat 110 respectively, so that the connecting seat 110 and the cleaning element 120 can be relatively stationary in the initial position, and when the cleaning element 120 is unlocked from the moved position, the torsion springs can drive the cleaning element 120 to move from the moved position to the initial position.

[0076] like Figure 1 and Figure 3 As shown, in some possible embodiments provided by this utility model, the rotating shaft includes a first rotating shaft 1312 and a second rotating shaft 1313. The first rotating shaft 1312 passes through the first end of the connecting plate 1311 and is fixed on the connecting seat 110. The second rotating shaft 1313 passes through the second end of the connecting plate 1311 and is fixed on the cleaning element 120, such that both ends of the connecting plate 1311 are rotatably connected to the connecting seat 110 via the first rotating shaft 1312 and rotatably connected to the cleaning element 120 via the second rotating shaft 1313. The reset member 132 includes a first torsion spring 1321 sleeved on the first rotating shaft 1312 and a second torsion spring 1322 sleeved on the second rotating shaft 1313. The first torsion arm of the first torsion spring 1321 and the first torsion arm of the second torsion spring 1322 are connected to the connecting plate 1311, the second torsion arm of the first torsion spring 1321 is connected to the connecting seat 110, and the second torsion arm of the second torsion spring 1322 is connected to the cleaning element 120. Thus, through the cooperation of the first torsion spring 1321 and the second torsion spring 1322, the connecting seat 110 and the cleaning element 120 can be relatively stationary in the initial position, and when the cleaning element 120 is unlocked from the moved position, the torsion spring can drive the cleaning element 120 to move from the moved position to the initial position.

[0077] It is understood that the torsion arm of the torsion spring is connected to the connecting plate 1311, the connecting seat 110, and the cleaning element 120, which can be at least one of fixed connection, plug-in, snap-fit, and abutment. This utility model does not make specific limitations on the specific connection method.

[0078] like Figure 4 , Figure 5 and Figure 6 As shown, in some possible embodiments provided by this utility model, the cleaning element 120 includes a brush body 121 and brush bristles 122. The brush body 121 is connected to the connecting seat 110, and the brush bristles 122 are connected to the brush body 121. Thus, after the robot arm 210 clamps the connecting seat 110 through the clamping part 111, since the brush body 121 is connected to the connecting seat 110, it can drive the brush bristles 122 connected to the brush body 121 to move synchronously, so as to use the brush bristles 122 to perform cleaning operations on the object to be cleaned.

[0079] Among them, such as Figure 3 and Figure 4As shown, the bristles 122 can be fixedly connected to the brush body 121. For example, the brush body 121 is provided with a first mounting hole 1211 for mounting the bristles 122. The bristles 122 are mounted on the brush body 121 through the first mounting hole 1211 to ensure the reliability and stability of the connection between the bristles 122 and the brush body 121. Specifically, the bristles 122 are installed in a bundle within the first mounting hole 1211. For example, a bundle of bristles 122 can be installed within the first mounting hole 1211 using adhesive, insertion structure, snap-fit ​​structure, tenon and mortise structure, etc. The brush body 121 is provided with multiple first mounting holes 1211.

[0080] Among them, such as Figure 6 As shown, the bristles 122 can be movably connected to the brush body 121, so that the position and height of the bristles 122 relative to the brush body 121 can be reasonably adjusted according to the specific position of the object to be cleaned, such as its height, to meet the cleaning needs of objects at different positions and heights, ensuring good cleaning for beginners and improving the cleaning experience.

[0081] like Figure 6 As shown, in some possible embodiments provided by this utility model, the brush body 121 is provided with a slide groove 1212, and the cleaning element 120 further includes a slide seat 123 located in the slide groove 1212 and movable relative to the slide groove 1212. The slide seat 123 is provided with a second mounting hole 1231 for mounting the brush bristles 122.

[0082] In this embodiment, by mounting the bristles 122 onto the slide block 123 through the second mounting hole 1231, and by sliding the slide block 123 up and down relative to the brush body 121 through the groove 1212, the height of the bristles 122 relative to the brush body 121 can be adjusted. This allows the bristles 122 to meet the cleaning needs of objects at different heights, such as baseboards at different heights. This enables the cleaning component 100 to have a good cleaning effect on baseboards at different heights, increasing the cleaning range of the cleaning component 100 and improving the cleaning experience.

[0083] Specifically, the bristles 122 are installed in the second mounting hole 1231 in a bundle. For example, a bundle of bristles 122 is installed in the second mounting hole 1231 by means of adhesive, plug-in structure, snap-fit ​​structure, tenon and mortise structure, etc. The slide 123 is provided with multiple second mounting holes 1231.

[0084] Furthermore, the slide block 123 can be driven to move within the slide groove 1212 by a drive mechanism, or the user can manually drive the slide block 123 to move within the slide groove 1212 to adjust the position of the bristles 122 on the brush body 121, that is, to adjust the position of the bristles 122 in the vertical direction.

[0085] like Figure 4 andFigure 5 As shown, in some possible embodiments provided by this utility model, the bristles 122 are arranged on the plane of the brush body 121. It can be understood that the plane can be a plane on the brush body 121 or a plane on the slide 123. The brush bristles 122 are arranged in at least two rows along the height of the brush body 121. At least one row of bristles 122 is arranged perpendicular to the plane of the brush body 121, and at least one row of bristles 122 is arranged at an angle relative to the plane of the brush body 121. This means that the at least one row of bristles 122 can be arranged at an angle relative to the plane of the brush body 121, either tilted downwards or tilted upwards. Therefore, the bristles 122 arranged perpendicular to the plane can clean the circumferential side of the object to be cleaned, such as the circumferential side of the baseboard. The bristles 122 arranged at an angle can clean the top of the object to be cleaned, such as the top of the baseboard. Thus, by using bristles 122 at different angles, the circumferential side and top of the baseboard can be cleaned, improving the comprehensiveness and thoroughness of the cleaning element 120 in cleaning the baseboard and ensuring a good cleaning effect. The height of the brush body 121 can be as follows: Figure 10 As shown in H, the height direction of the brush body 121 is parallel to the line segment where H is located.

[0086] Furthermore, the angle between the bristles 122, which are arranged at an angle to the plane of the brush body 121, and the plane of the brush body 121 can be as follows: Figure 5 As shown in α, that is, α is 50° to 70°. By reasonably setting the range of the angle between the bristles 122 and the plane of the brush body 121, it can be ensured that the row of bristles 122 has a good cleaning effect on the top of the baseboard.

[0087] Specifically, the angle between the bristles 122, which are arranged at an angle relative to the plane of the brush body 121, and the plane of the brush body 121 can be any angle of 50°, 55°, 60°, 65°, 70°, or 50° to 70°.

[0088] Among them, the bristles 122 arranged perpendicular to the plane of the brush body 121 can be one, two, three, or other numbers of rows; the bristles 122 arranged inclined downward relative to the plane of the brush body 121 can be one, two, three, or other numbers of rows, and the inclination angle of different rows can be the same or different.

[0089] Specifically, such as Figure 3 and Figure 4As shown, the cleaning element 120 includes three rows of bristles 122, specifically including a first row of bristles 1221 and two second rows of bristles 1222. The first row of bristles 1221 is arranged perpendicular to the plane of the brush body 121, and the second row of bristles 1222 is arranged obliquely downward relative to the plane of the brush body 121.

[0090] like Figure 6 As shown, in some possible embodiments provided by this utility model, the bristles 122 are arranged on the curved surface structure 1232 of the brush body 121. It can be understood that the curved surface structure 1232 can be a curved surface structure 1232 on the brush body 121 or a curved surface structure 1232 on the slide 123. The bristles 122 are arranged radially on the curved surface structure 1232. Therefore, by utilizing the radially arranged bristles 122 on the curved surface structure 1232, the bristles 122 can clean the object to be cleaned from different angles, thereby improving the comprehensiveness and thoroughness of the cleaning element 120 in cleaning the baseboard and ensuring a good cleaning effect.

[0091] Furthermore, the bristles 122 arranged on the curved surface structure 1232 are arranged in at least two rows, with the at least two rows of bristles 122 aligned or staggered. Among them, the staggered arrangement of the bristles 122 can further increase the cleaning angle and cleaning area, which is conducive to further improving the comprehensiveness and thoroughness of the bristles 122 in cleaning the baseboard and ensuring good cleaning effect.

[0092] Specifically, the bristles 122 arranged on the curved surface structure 1232 can be in two, three, four, or other numbers of columns. Some columns of bristles 122 can be arranged in alignment, while others can be arranged in staggered arrangement, or all columns of bristles 122 can be arranged in alignment or staggered arrangement.

[0093] In some possible embodiments provided by this utility model, the bristle 122 has a length of 30mm to 50mm and a wire diameter of 0.1mm to 0.3mm. By reasonably setting the length and wire diameter of the bristle 122, it is possible to ensure that the bristle 122 has a good cleaning effect and a long service life, thereby improving the cleaning effect and reliability of the cleaning component 100.

[0094] Specifically, the length of the bristles 122 can be as follows: Figure 5 As shown by L, the length of the bristles 122 can be any size of 30mm, 35mm, 40mm, 45mm, 50mm, or between 30mm and 50mm.

[0095] Specifically, the bristle diameter of the brush 122 can be any size from 0.1mm, 0.15mm, 0.2mm, 0.25mm, 0.3mm, or 0.1mm to 0.3mm.

[0096] like Figure 3 As shown, in some possible embodiments provided by this utility model, the width of the cleaning element 120 is 6mm to 15mm, wherein the width of the cleaning element 120 can be as follows: Figure 3 As shown in W, by reasonably setting the width of the cleaning element 120, the buffer plate 230 can be prevented from getting stuck on the wall when the self-moving device 200 turns, thus ensuring that the self-moving device 200 can turn smoothly. Specifically, the width of the cleaning element 120 can be any size from 6mm, 8mm, 10mm, 12mm, 13mm, 15mm, or 6mm to 15mm.

[0097] In some possible embodiments provided by this utility model, the length of the cleaning element 120 is greater than the height of the device body 220, wherein the length of the cleaning element 120 is as follows: Figure 10 As shown by H in the figure, the height of the device body 220 can be understood as the vertical dimension of the device body 220. Since the length of the cleaning element 120 is greater than the height of the device body 220, the cleaning range of the cleaning element 120 is larger, enabling it to clean objects that are higher than the device body 220, and also to clean objects located on the circumferential side of the device body 220.

[0098] like Figure 1 , Figure 7 , Figure 8 and Figure 9 As shown, in some possible embodiments provided by this utility model, the clamping part 111 includes guide grooves 1111 located on opposite sides of the connecting seat 110, and the shape of the guide grooves 1111 matches the shape of the gripper of the robot arm 210. Thus, by matching the gripper with the two guide grooves 1111 on opposite sides of the connecting seat 110, the guide grooves 1111 provide a certain limiting effect on the gripper, reducing slippage between the gripper and the connecting seat 110, and enabling the gripper to reliably and stably clamp the connecting seat 110.

[0099] Specifically, the robotic arm 210 includes two grippers, the free ends of which can move closer or further apart. The shapes of the two guide grooves 1111 on opposite sides of the connecting seat 110 are respectively matched with the two grippers, so that one guide groove 1111 limits one gripper, reducing the phenomenon of slippage between the gripper and the connecting seat 110, and ensuring that the robotic arm 210 can reliably and stably hold the connecting seat 110.

[0100] like Figure 7 , Figure 8 and Figure 9As shown, in some possible embodiments provided by this utility model, one end of the guide groove 1111 is provided with a relief opening 1112 for avoiding the claw, so that the claw can smoothly contact the bottom of the guide groove 1111. In this way, the claw and the guide groove 1111 cooperate to play a good limiting role, so as to ensure that the robot arm 210 can reliably and stably clamp the connecting seat 110.

[0101] The opening size of the clearance opening 1112 gradually increases from the inside to the outside of the guide groove 1111. In other words, the size of the clearance opening 1112 near the outside of the guide groove 1111 is larger than the size near the inside of the guide groove 1111. The wall of the clearance opening 1112 is set outwards towards the outside of the guide groove 1111. The larger size of the clearance opening 1112 near the outside of the guide groove 1111 facilitates the smooth and accurate entry and exit of the gripper from the guide groove 1111, ensuring gripping accuracy even when the robot arm 210 lacks sufficient precision. The smaller size of the clearance opening 1112 near the inside of the guide groove 1111 provides good limiting for the gripper, reducing the possibility of slippage or wobbling within the guide groove 1111, and ensuring a stable and secure limiting effect between the gripper and the guide groove 1111.

[0102] like Figure 7 , Figure 8 and Figure 9 As shown, in some possible embodiments provided by this utility model, the groove wall of the guide groove 1111 is provided with a guide surface 1113 connected to the opening of the guide groove 1111. The guide surface 1113 is inclined towards the middle of the guide groove 1111 from the opening to the bottom. That is, the guide surface 1113 makes the opening size of the guide groove 1111 larger than the bottom size. The larger opening size of the guide groove 1111 facilitates the smooth and accurate entry and exit of the gripper into or from the guide groove 1111, ensuring that the manipulator 210 can still maintain clamping accuracy even when the precision is insufficient. The smaller bottom size of the guide groove 1111 provides good limiting for the gripper, reducing the possibility of slippage or wobbling of the gripper in the guide groove 1111, and ensuring a stable and firm limiting effect between the gripper and the guide groove 1111.

[0103] Specifically, the guide surface 1113 is located on the entire circumferential groove wall of the guide groove 1111, so that the claw of the robot 210 has a large C-angle guide design in the X, Y and Z directions, ensuring sufficient guidance when the claw of the robot 210 pushes into the clamping part 111 and clamps the connecting seat 110. Even if the precision of the robot 210 is insufficient, it can still ensure the clamping accuracy.

[0104] likeFigure 1 , Figure 2 , Figure 11 As shown, in some possible embodiments provided by this utility model, the cleaning assembly 100 further includes a base 140, which is connected to the bottom of the connecting seat 110, so that the base 140 provides good support for the connecting seat 110. The cleaning assembly 100 is configured to be placed on the support seat 300, and the shape of the base 140 matches the support groove 310 on the support seat 300.

[0105] It is understandable that, such as Figure 11 As shown, when the cleaning component 100 is not needed for cleaning operations, the robotic arm 210 can place the cleaning component 100 on the support 300 for storage. Since visual positioning alone has poor accuracy (with a tolerance of ±15mm), there is a possibility that the cleaning component 100 may not be accurately placed within the support groove 310 of the support 300. Therefore, in this embodiment, the shape matching between the base 140 and the support 300 is utilized, allowing the base 140 to play a guiding role, facilitating its quick and accurate placement within the support groove 310 of the support 300. This ensures that the entire cleaning component 100 can be quickly and accurately placed on the support 300 and in the appropriate position within the support 300.

[0106] like Figure 1 , Figure 2 and Figure 11 As shown, in some possible embodiments provided by this utility model, the outer wall of the base 140 is tapered, and the larger diameter end of the tapered shape is connected to the connecting seat 110. That is, the smaller diameter end of the tapered shape is located at the bottom of the entire cleaning assembly 100. Thus, when the entire cleaning assembly 100 is placed in the support groove 310 of the support seat 300, the smaller diameter end of the tapered shape first extends into the support groove 310 of the support seat 300, and then the larger diameter end of the tapered shape gradually falls into the support groove 310. It can be understood that the support groove 310 is also tapered. Thus, by matching the tapered base 140 and the tapered support groove 310, a good guiding and limiting effect is achieved, so that the entire cleaning assembly 100 can be placed quickly and accurately on the support seat 300, and it can be ensured that the cleaning assembly 100 can be placed quickly and accurately in the appropriate position on the support seat 300.

[0107] like Figure 1 As shown, in some possible embodiments provided by this utility model, the cleaning component 100 further includes: a counterweight 150, a base 140 and a connecting seat 110 forming a receiving cavity, with the counterweight 150 located inside the receiving cavity.

[0108] Because the cleaning element 120 is connected to the connecting seat 110 and located above the base 140, it is prone to being top-heavy, which can cause the cleaning assembly 100 to tilt or tip over when placed in the support groove 310 of the support seat 300. In this embodiment, a counterweight 150 is provided in the receiving cavity formed by the base 140 and the connecting seat 110. The counterweight 150 increases the weight of the bottom of the cleaning assembly 100, so that after the robot arm 210 releases the connecting seat 110, the entire cleaning assembly 100 can fall smoothly into the support groove 310 of the support seat 300 under the action of gravity, avoiding the top-heavy situation of the cleaning assembly 100 tilting or tipping over when placed in the support groove 310, and ensuring that the cleaning assembly 100 is accurately held in the appropriate position.

[0109] like Figure 1 , Figure 7 , Figure 8 and Figure 9 As shown, in some possible embodiments provided by this utility model, the connecting seat 110 includes a base plate 112 and a seat body 113. The cleaning element 120 is connected to the seat body 113, and the clamping part 111 is located on the seat body 113. The base plate 112 has a through hole 1121, and the base 140 has a connecting post 141 inside. The cleaning assembly 100 also includes a locking member 160, which passes through the through hole 1121 and connects to the connecting post 141. This allows for a detachable connection between the connecting seat 110 and the base 140, facilitating easy assembly and disassembly, and making it convenient to assemble and disassemble the counterweight 150. Simultaneously, this arrangement ensures that the locking member 160 is located inside the base 140 and is not exposed on the sides or bottom of the base 140, thus not affecting the appearance of the base 140. This allows the base 140 to cooperate well with the support seat 300 for good guidance and improves the aesthetics of the base 140, thereby enhancing the aesthetics of the cleaning assembly 100.

[0110] Specifically, the locking element 160 can be a connecting bolt, and the connecting post 141 is provided with a threaded hole. The connecting bolt passes through the through hole 1121 on the base plate 112 and connects with the threaded hole of the connecting post 141, thereby realizing the connection between the connecting seat 110 and the base 140. The operation is simple.

[0111] like Figure 1As shown, in some possible embodiments provided by this utility model, the counterweight 150 is provided with a notch structure 151 to avoid the connecting post 141. The connecting post 141 and the notch structure 151 cooperate to limit the movement of the counterweight 150 relative to the base 140. This multi-functionalizes the connecting post 141, allowing it to connect with the locking member 160. Simultaneously, the cooperation between the connecting post 141 and the notch structure 151 on the counterweight 150 limits the movement of the counterweight 150 relative to the base 140, ensuring that the counterweight 150 can be reliably and stably fixed to the base 140. This reduces the possibility of the entire cleaning assembly 100 shaking due to the counterweight 150 wobbling relative to the base 140, and allows the cleaning assembly 100 to be reliably and stably accommodated in the receiving groove of the support 300, further reducing the possibility of the cleaning assembly 100 shaking within the receiving groove. At the same time, this configuration simplifies the structure of the fixed counterweight 150, which helps to reduce manufacturing costs and meets the design requirements of the cleaning component 100 for a compact structure and small size.

[0112] Furthermore, such as Figure 1 As shown, the notch structures 151 are located on opposite sides of the counterweight 150. There are two connecting posts 141, which are inserted into the two notch structures 151, thus limiting the counterweight 150 from both sides. Essentially, the counterweight 150 is clamped between the two connecting posts 141. This arrangement ensures that the counterweight 150 is reliably and stably confined between the two connecting posts 141. Furthermore, the notch structures 151 are located on the sides of the counterweight 150, which is easier to process compared to notch structures located in the center.

[0113] In some possible embodiments provided by this utility model, one of the base 140 and the support 300 is provided with an adsorption member, and the other is provided with an adsorbed member. The adsorption member and the adsorbed member attract each other, so that the base 140 is located in a suitable position on the support 300. That is, by utilizing the cooperation of the adsorption member and the adsorbed member, the position of the base 140 located in the support groove 310 can be corrected, so that the base 140 can be located in a suitable position on the support 300, so that the cleaning component 100 is supported on the support 300 in a suitable posture. For example, the guide groove 1111 of the clamping part 111 can be in a horizontal position, which facilitates the robot arm 210 to quickly and accurately cooperate with the clamping part 111 to clamp the cleaning component 100 and remove it from the support 300.

[0114] The adsorbing component and the adsorbed component can be magnetic structures, such as one of them being a magnetic component and the other a magnetic attracting component. The magnetic component can be a magnet, and the magnetic attracting component can be a metal component, alloy component, etc.

[0115] In some possible embodiments provided by this utility model, the counterweight 150 is configured as the adsorbed component, and the adsorbed component is disposed on the support 300. For example, if a magnet is mounted on the support 300, and the counterweight 150 is configured as a metal or alloy component with magnetic properties, the configuration of the adsorbed component can be simplified, the design requirements of the cleaning component 100 for a compact structure can be met, and the manufacturing cost of the cleaning component 100 can be reduced.

[0116] Specifically, the counterweight 150 can be made of cast iron. Cast iron has the advantages of high density, high strength and corrosion resistance, which makes it heavy in a small volume. This can improve the stability of the entire cleaning component 100 placed on the support 300 and meet the design requirements of the small size of the cleaning component 100. At the same time, cast iron has magnetic properties, which allows the cast iron to cooperate with the magnet on the support 300 to correct the position of the base 140 located in the support groove 310, so that the base 140 can be located in the appropriate position of the support 300.

[0117] This utility model also provides a cleaning system, which includes a base station and the aforementioned self-moving device 200. The self-moving device 200 is used in conjunction with the base station. For example, the self-moving device 200 is suitable for docking at the base station to perform charging, and / or water replenishment, and / or cleaning of the cleaning system. When the self-moving device 200 is docked at the base station, the base station can be used to charge the self-moving device 200, or to replenish the water in the wet cleaning system of the self-moving device 200, or to clean the trays, rollers, etc., of the self-moving device 200.

[0118] In some possible embodiments provided by this utility model, the base station includes a base station housing, and a support 300 for supporting the cleaning component 100 is detachably connected to the base station housing. That is, the support 300 can be detachably installed on the base station housing, such as using bolts, snap-fit ​​connections, plug-in connections, tenon and mortise joints, magnetic connections, adhesives, etc. This configuration does not require altering the original structure of the base station; the support 300 can be fixed to a suitable position on the base station housing through a detachable connection, making operation simple and convenient.

[0119] In some other possible embodiments provided by this utility model, the base station housing forms a support 300, that is, a support groove 310 is formed on the top of the base station housing. This arrangement allows the support 300 to be integrated on the base station housing, which simplifies the structure of the support 300 and helps to reduce the manufacturing cost of the support 300. It is understood that this arrangement requires changes to the structure of the base station housing because the support groove 310 is added to the top of the base station housing.

[0120] like Figure 11As shown, it can be understood that when cleaning is not required using the cleaning component 100, the self-moving device 200 can move to the vicinity of the base station and use the robotic arm 210 to place the cleaning component 100 into the support groove 310 of the support seat 300 mounted on the base station housing, or use the robotic arm 210 to place the cleaning component 100 into the support groove 310 formed on the top of the base station housing. The operation is simple.

[0121] It is understandable that the carrier 300 can also be arranged separately from the base station. For example, the carrier 300 can be placed in other locations and not connected to the base station, such as in a corner or under a desk.

[0122] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the utility model to the described embodiments. Furthermore, those skilled in the art will understand that this utility model is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this utility model, all of which fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A cleaning assembly (100) for a self-moving device (200), characterized in that, The self-moving device (200) includes a robotic arm (210), and the cleaning assembly (100) includes: The connecting seat (110) and the cleaning element (120) are provided with a connecting part and a clamping part (111). The cleaning element (120) is connected to the connecting seat (110) through the connecting part. The robot (210) is configured to clamp or release the clamping part (111).

2. The cleaning component (100) according to claim 1, characterized in that, The self-moving device (200) includes a device body (220) and a robotic arm connecting the device body (220) and the robotic arm (210). The robotic arm is configured to adjust the relative position of the robotic arm (210) and the device body (220). The cleaning element (120) is configured to be located on the circumferential side of the device body (220) via the robotic arm and the robotic arm (210).

3. The cleaning component (100) according to claim 2, characterized in that, Also includes: The cleaning element (120) is movably connected to the connector (110) via the connection structure (130); The self-moving device (200) also includes a buffer plate (230) floating on the device body (220) and a collision sensor that cooperates with the buffer plate (230). When the cleaning element (120) encounters an obstacle, the cleaning element (120) contacts the buffer plate (230) to trigger the collision sensor.

4. The cleaning component (100) according to claim 3, characterized in that, The connection structure (130) includes a connector (131) and a reset member (132), the connecting seat (110) and the cleaning element (120) are rotatably connected by the connector (131), the reset member (132) is connected to at least the connector (131), and the reset member (132) is configured to keep the cleaning element (120) and the connecting seat (110) relatively stationary in their initial positions.

5. The cleaning component (100) according to claim 4, characterized in that, The connector (131) includes a connecting plate (1311) and a rotating shaft. The connecting plate (1311) is rotatably connected to the connecting seat (110) and / or the cleaning element (120) via the rotating shaft. The reset member (132) is a torsion spring. The torsion spring is sleeved on the rotating shaft. The first torsion arm of the torsion spring is connected to the connecting plate (1311), and the second torsion arm of the torsion spring is connected to the connecting seat (110) and / or the cleaning element (120).

6. The cleaning assembly (100) according to claim 5, characterized in that, The rotating shaft includes a first rotating shaft (1312) and a second rotating shaft (1313). The first rotating shaft (1312) passes through the first end of the connecting plate (1311) and is fixed on the connecting seat (110). The second rotating shaft (1313) passes through the second end of the connecting plate (1311) and is fixed on the cleaning element (120). The reset component (132) includes a first torsion spring (1321) sleeved on the first rotating shaft (1312) and a second torsion spring (1322) sleeved on the second rotating shaft (1313). The second torsion arm of the first torsion spring (1321) is connected to the connecting seat (110), and the second torsion arm of the second torsion spring (1322) is connected to the cleaning element (120).

7. The cleaning assembly (100) according to claim 1, characterized in that, The cleaning element (120) includes a brush body (121) and brush bristles (122). The brush body (121) is connected to the connecting seat (110), and the brush bristles (122) are fixedly or movably connected to the brush body (121).

8. The cleaning assembly (100) according to claim 7, characterized in that, The brush body (121) is provided with a first mounting hole (1211) for mounting the brush bristles (122).

9. The cleaning assembly (100) according to claim 7, characterized in that, The brush body (121) is provided with a groove (1212), and the cleaning element (120) further includes a slide (123) located in the groove (1212) and movable relative to the groove (1212), and the slide (123) is provided with a second mounting hole (1231) for mounting the brush bristles (122).

10. The cleaning assembly (100) according to claim 8 or 9, characterized in that, The bristles (122) are arranged on the plane of the brush body (121), and the bristles (122) are arranged in at least two rows along the height direction of the brush body (121), and at least one row of the bristles (122) is arranged perpendicular to the plane of the brush body (121). At least one column of the bristles (122) is arranged at an angle relative to the plane of the brush body (121), and the angle between the bristles (122) and the plane of the brush body (121) is 50° to 70°.

11. The cleaning assembly (100) according to claim 8 or 9, characterized in that, The bristles (122) are arranged on the curved surface structure (1232) of the brush body (121), the bristles (122) are arranged radially on the curved surface structure (1232), the bristles (122) are arranged in at least two rows, and the at least two rows of bristles (122) are arranged opposite to each other or staggered.

12. The cleaning assembly (100) according to claim 1, characterized in that, The shape of the clamping part (111) matches the shape of the manipulator (210). The clamping part (111) includes guide grooves (1111) located on opposite sides of the connecting seat (110). The shape of the guide grooves (1111) matches the shape of the claws of the manipulator (210).

13. The cleaning assembly (100) according to claim 12, characterized in that, One end of the guide groove (1111) is provided with a clearance opening (1112) for avoiding the claw. The opening size of the clearance opening (1112) gradually increases from the inside to the outside of the guide groove (1111).

14. The cleaning assembly (100) according to claim 13, characterized in that, The guide groove (1111) has a guide surface (1113) on its groove wall that is connected to the groove opening of the guide groove (1111). The guide surface (1113) is inclined towards the middle of the guide groove (1111) from the groove opening to the bottom of the groove.

15. The cleaning assembly (100) according to claim 1, characterized in that, Also includes: A base (140) is attached to the bottom of the connector (110), and the cleaning component (100) is configured to be placed on a support (300). The shape of the base (140) matches the support groove (310) on the support (300).

16. The cleaning assembly (100) according to claim 15, characterized in that, The outer wall of the base (140) is tapered, and the large-diameter end of the tapered shape is connected to the connecting seat (110).

17. The cleaning assembly (100) according to claim 15, characterized in that, Also includes: The counterweight (150), the base (140) and the connecting seat (110) together form a receiving cavity, and the counterweight (150) is located inside the receiving cavity.

18. The cleaning assembly (100) according to claim 17, characterized in that, The connecting seat (110) includes a base plate (112) and a seat body (113). The cleaning element (120) is connected to the seat body (113). The clamping part (111) is located on the seat body (113). The base plate (112) has a through hole (1121). The base (140) has a connecting post (141) inside. The cleaning assembly (100) also includes a locking member (160). The locking member (160) passes through the through hole (1121) and is connected to the connecting post (141).

19. The cleaning assembly (100) according to claim 18, characterized in that, The counterweight (150) is provided with a notch structure (151) to avoid the connecting column (141). The connecting column (141) and the notch structure (151) cooperate to limit the movement of the counterweight (150) relative to the base (140).

20. The cleaning assembly (100) according to claim 17, characterized in that, One of the base (140) and the support (300) is provided with an adsorption element, and the other is provided with an adsorbed element. The adsorption element and the adsorbed element attract each other so that the base (140) is located in a suitable position on the support (300).

21. The cleaning assembly (100) according to claim 20, characterized in that, The counterweight (150) is configured as the adsorbed component, and the adsorbed component is configured on the support (300).

22. The cleaning assembly (100) according to claim 7, characterized in that, The bristles (122) are 30 mm to 50 mm in length and have a wire diameter of 0.1 mm to 0.3 mm.

23. The cleaning component (100) according to claim 2, characterized in that, The cleaning element (120) has a width of 6 mm to 15 mm; and / or The length of the cleaning element (120) is greater than the height of the device body (220).

24. A self-moving device (200), characterized in that, The self-moving device (200) includes a robotic arm (210) and a cleaning component (100) as claimed in any one of claims 1 to 23.

25. A cleaning system, characterized in that, Includes a base station and a self-moving device (200) as described in claim 24, the self-moving device (200) being adapted to dock on the base station.

26. The cleaning system according to claim 25, characterized in that, The base station includes a base station housing, and a support (300) for carrying the cleaning component (100) is detachably connected to the base station housing; or, the base station housing forms the support (300).

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