Bearing equipment and cleaning system

Abstract

The utility model provides bearing equipment, a cleaning device and a cleaning system, and relates to the technical field of smart home. The bearing equipment comprises a main body part and a fixing assembly, the main body part comprises a bearing space, and a tray is arranged at the bottom of the bearing space and used for bearing cleaning equipment; the fixing assembly is installed on the main body part and can move between a first position and a second position so as to fix the cleaning equipment or loosen the cleaning equipment. The bearing equipment can meet the stair climbing requirement, is stable and reliable in the stair climbing process and is not prone to sliding off.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of smart home, in particular, to a carrying device, a cleaning device and a cleaning system. BACKGROUND

[0002] With the popularity of smart home, the sweeping robot has become an important tool for household cleaning. However, the traditional sweeping robot is limited by its moving ability and is difficult to cope with the cleaning problem in the multi-story environment such as duplex house and villa. In addition, in daily life, scenes such as carrying heavy objects and crossing obstacles also put forward higher requirements for the moving ability of automatic equipment. In the related art, although some devices can realize simple supporting and climbing functions, there are generally problems such as complex structure and poor adaptability, which are difficult to meet the actual application requirements.

[0003] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE UTILITY MODEL

[0004] The present disclosure provides a carrying device, a cleaning device and a cleaning system.

[0005] According to one aspect of the present disclosure, a carrying device is provided, comprising:

[0006] a main body part, the main body part comprising a carrying space, the bottom of the carrying space being provided with a tray for carrying a cleaning device;

[0007] a fixing assembly mounted on the main body part, the fixing assembly being movable between a first position and a second position to fix or release the cleaning device.

[0008] In one exemplary embodiment disclosed, the fixing assembly is located at an opening position of the carrying space on the main body part.

[0009] In one exemplary embodiment disclosed, the fixing assembly comprises a driving assembly and a pressing piece, the driving assembly being configured to drive the pressing piece to switch between the first position and the second position; the pressing piece being able to limit the cleaning device in the carrying space when in the first position, and the cleaning device being able to enter or exit the carrying space when the pressing piece is in the second position.

[0010] In one exemplary embodiment disclosed, the fixing assembly comprises two pressing pieces, and the driving assembly drives the two pressing pieces to move towards each other to clamp the cleaning device in the first position or to move away from each other to release the cleaning device in the second position.

[0011] In an exemplary embodiment disclosed, the lower pressing members are provided with clamping structures capable of being clamped on the top surface and side surface of the cleaning device.

[0012] In an exemplary embodiment disclosed, the driving assembly comprises a driver and a transmission assembly, the driver driving the two lower pressing members to move towards or away from each other through the transmission assembly.

[0013] In an exemplary embodiment disclosed, the fixing assembly further comprises a first position detector and a second position detector, the first position detector being triggered when the lower pressing members are in the raised position, and the second position detector being triggered when the lower pressing members are in the first position.

[0014] In an exemplary embodiment disclosed, the first position detector and / or the second position detector is a trigger type detector.

[0015] In an exemplary embodiment disclosed, the fixing assembly further comprises a cam and a transmission member, the cam being capable of driving the lower pressing members to switch between the first position and the second position through the transmission member.

[0016] In an exemplary embodiment disclosed, the fixing assembly further comprises a guide rod and an elastic member, one end of the guide rod being connected to the main body, the transmission member being in sliding connection with the guide rod, and the elastic member being sleeved on the guide rod, the cam being capable of driving the lower pressing members to be in the first position by compressing the elastic member through the transmission member.

[0017] In an exemplary embodiment disclosed, the fixing assembly comprises two sets of the guide rod, the elastic member and the lower pressing member.

[0018] In an exemplary embodiment disclosed, the transmission member is provided with a boss, the cam driving the transmission member to move through the boss.

[0019] According to another aspect of the present disclosure, there is provided a cleaning system, comprising:

[0020] a cleaning device;

[0021] the bearing device described above, the bearing device being used to interface with the cleaning device.

[0022] In an exemplary embodiment disclosed, the cleaning device comprises a device body and a driving wheel assembly, the driving wheel assembly comprising a gear box and a driving wheel connected to the gear box, the gear box being in rotational connection with the device body.

[0023] When the cleaning device enters the carrying space and is located on the tray, the gear box can be turned to the side of the device body by the tray.

[0024] In one exemplary embodiment disclosed, one of the cleaning device and the main body is provided with a position detection part, and the other is provided with a position sensor; when the cleaning device moves into the carrying space, the position detection part triggers the position sensor.

[0025] The carrying device provided by the present disclosure can fix the cleaning device when the cleaning device enters the carrying space, thereby improving the stability of the cleaning device in the carrying space and reducing the shaking of the cleaning device during the process of the climbing machine carrying the cleaning device to climb the stairs.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings herein are incorporated into the specification and form part of the specification, which show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure. It is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 The schematic diagram of the cleaning device provided by one embodiment of the present disclosure.

[0029] Figure 2 The schematic diagram of the cleaning device provided by one embodiment of the present disclosure.

[0030] Figure 3 The schematic diagram of the cleaning system provided by one embodiment of the present disclosure.

[0031] Figures 4 to 7 The schematic diagram of the process of the carrying device driving the cleaning device to climb the steps provided by one embodiment of the present disclosure.

[0032] Figure 8 The partial open diagram of the carrying device provided by one embodiment of the present disclosure.

[0033] Figure 9 The schematic diagram of the fixing assembly in the rising state provided by one embodiment of the present disclosure.

[0034] Figure 10 The schematic diagram of the lower pressing part in the rising position provided by one embodiment of the present disclosure.

[0035] Figure 11 A schematic view of a fixing assembly provided by an embodiment of the present disclosure in a first position.

[0036] Figure 12 A schematic view of a pressing-down piece provided by an embodiment of the present disclosure in a first position.

[0037] Figure 13 A schematic view of a fixing assembly provided by another embodiment of the present disclosure in a rising state.

[0038] Figure 14 A schematic view of a fixing assembly provided by another embodiment of the present disclosure in a first position.

[0039] Figure 15 A schematic view of a transmission piece provided with a boss provided by an embodiment of the present disclosure.

[0040] Figure 16 A schematic view of a tray lifting gear box provided by an embodiment of the present disclosure.

[0041] 10, bearing device; 20, cleaning device; 210, device body; 30, base station;

[0042] 110, body part; 111, bearing space; 112, opening; 113, housing; 114, main frame; 115, tray;

[0043] 120, support;

[0044] 130, driving assembly; 131, driver; 132, connecting rod;

[0045] 140, walking wheel assembly;

[0046] 150, fixing assembly; 151, driver; 152, pressing-down piece; 1520, clamping structure; 153, transmission assembly; 154, mounting box; 1551, first position detector; 1552, second position detector; 1561, cam; 1562, transmission piece; 15620, boss; 1563, elastic piece; 1564, guide rod;

[0047] 210, driving wheel; 220, gear box. DETAILED DESCRIPTION

[0048] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings; however, the example embodiments can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus a detailed description of the same will be omitted.

[0049] Although relative terms are used in this specification, such as "upper", "lower", to describe one component's relative position to another component of the icon, these terms are used in this specification for convenience only, for example, according to the orientation of the examples shown in the drawings. It will be understood that if the device of the icon is turned upside down, the component described as being "upper" will then become the component that is "lower". When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure, or that the structure is "directly" on the other structure, or that the structure is "indirectly" on the other structure through another structure.

[0050] The terms "one", "a", "an", "the", and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "including" and "having" are used to indicate the inclusion of one or more elements / components / etc. in the described steps, elements and / or components; the terms "first", "second", and "third" and the like are merely used to identify corresponding elements / components / etc. in a given example, and are not necessarily used to describe a number of elements / components / etc.

[0051] The embodiments of the present disclosure provide a cleaning system, as shown in the drawings, which comprises a cleaning device and a carrying device 10. The cleaning device comprises a cleaning equipment 20. The cleaning equipment 20 may, for example, be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc.; the cleaning equipment 20 can include an equipment body 210, a driving module, a sensing module, a control module, a cleaning module, an energy module, a human-computer interaction module, etc. In addition, as shown in the drawings, the cleaning system can further comprise a base station 30, wherein the base station 30 is used to dock the cleaning equipment 20, i.e. the cleaning equipment 20 can be parked, and the cleaning equipment 20 can perform functions such as charging, self-cleaning, parking, sewage discharge, water replenishment, dust collection, etc. on the base station 30. Figures 1 to 2 The cleaning equipment 20 may, for example, be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc.; the cleaning equipment 20 can include an equipment body 210, a driving module, a sensing module, a control module, a cleaning module, an energy module, a human-computer interaction module, etc. In addition, as shown in the drawings, the cleaning system can further comprise a base station 30, wherein the base station 30 is used to dock the cleaning equipment 20, i.e. the cleaning equipment 20 can be parked, and the cleaning equipment 20 can perform functions such as charging, self-cleaning, parking, sewage discharge, water replenishment, dust collection, etc. on the base station 30. Figure 3 The cleaning equipment 20 may, for example, be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc.; the cleaning equipment 20 can include an equipment body 210, a driving module, a sensing module, a control module, a cleaning module, an energy module, a human-computer interaction module, etc. In addition, as shown in the drawings, the cleaning system can further comprise a base station 30, wherein the base station 30 is used to dock the cleaning equipment 20, i.e. the cleaning equipment 20 can be parked, and the cleaning equipment 20 can perform functions such as charging, self-cleaning, parking, sewage discharge, water replenishment, dust collection, etc. on the base station 30.

[0052] In an embodiment, the equipment body 210 is configured to move automatically along a target direction on a running surface, which can be a surface to be cleaned by the cleaning equipment 20. The cleaning equipment 20 can be a sweeping and mopping integrated robot, and the cleaning equipment 20 works on the ground.

[0053] In an embodiment, the driving module includes a driving wheel assembly, and the driving module can control the left wheel and the right wheel simultaneously. In order to control the movement of the robot more accurately, the driving module preferably includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically arranged along a transverse axis defined by the equipment body 210.

[0054] In an embodiment, in order to enable the automatic cleaning device 20 to move more stably on the ground or have stronger movement ability, the automatic cleaning device 20 can include one or more steering wheels; wherein the steering wheels can be driven wheels or driving wheels, and the structural forms thereof include but are not limited to universal wheels, and the steering wheels can be located in front of the driving wheel assembly. The driving motor provides power for the driving wheel assembly and / or the steering wheels.

[0055] In an embodiment, the perception module includes a position determining device located above the device body 210, a bumper located at the front part of the device body 210, a cliff sensor and an ultrasonic sensor located at the bottom of the device body 210, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and the like, which provide various position information and motion state information of the device body 210 to the control module. For example, the front part of the device body 210 is provided with a bumper, and when the driving wheel assembly propels the cleaning device 20 to walk on the ground during the cleaning process, the bumper detects one or more objects in the travel path of the cleaning device 20 through the sensor module, such as a collision sensor, and the cleaning device 20 can control the driving structure to respond to the objects, such as climbing stairs, climbing obstacles, walls, and the like.

[0056] In an embodiment, the control module can comprehensively judge the current working state of the cleaning robot, such as climbing stairs, passing through a threshold, being on a carpet, being at a cliff, being stuck above or below, being full of dust, being picked up, and the like, in combination with the distance information, speed information, and the like fed back by the bumper, the cliff sensor and the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and the like, and can give specific next action strategies for different situations, so that the work of the cleaning device 20 is more in line with the requirements of the user and has better user experience. Further, the control module can plan the most efficient and reasonable cleaning path and cleaning mode based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 20.

[0057] In an embodiment, the energy module includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. Wherein, the host is connected with the charging pile for charging through the charging electrode arranged on the side or the lower side of the machine body.

[0058] In one embodiment, the human-machine interaction module includes buttons on the main unit panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available function options to the user; and it may also include a mobile client application. For path navigation type cleaning equipment 20, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0059] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head, a water tank, etc.

[0060] In one embodiment, the supporting device 10 has a supporting space 111, and the cleaning device 20 can be disposed in the supporting space 111. The supporting device 10 can, for example, drive the cleaning device 20 up stairs via the supporting space 111. The following will be combined with... Figures 4 to 8 Taking the example of the carrier device 10 driving the cleaning device 20 to climb from the third surface c to the second surface b, the carrier device 10 driving the cleaning device 20 to climb the stairs through the carrier space 111 is illustrated.

[0061] like Figure 4 As shown, when the cleaning device 20 enters the carrying space 111 of the carrying device 10, after the carrying device 10 receives the climbing command, the walking wheel assembly 140 guides the carrying device 10 to move towards the stairs. When the collision component set in front of the main body 110 contacts the side of the step and begins to climb the stairs, the driver 131 of the drive assembly 130 rotates forward to drive the transmission component to move. The transmission component drives the connecting rod 132 to move. The connecting rod 132 rotates with the connection point with the main body 110 as the rotation point, driving the support member 120 to move forward and downward, so that the support member 120 contacts the third surface a. The driver 131 continues to rotate forward. Since the support member 120 has already contacted the third surface a, the support member 120 cannot continue to move. Under the reaction force of the third surface a, the connecting rod 132 rotates with the connection point with the support member 120 as the rotation point. The main body 110 is lifted by the connecting rod 132, so that the main body 110 moves forward and upward, moving to the second surface b.

[0062] Next, as Figure 5 As shown, after the main body 110 moves to the second surface b, the wheel assembly 140 moves down and rests on the third surface a. Then, as... Figure 6 As shown, the forward rotation of the driver 131 and the connecting rod 132 drive the support member 120 to move upward and forward, causing the support member 120 to move to the second surface b. Then, as... Figure 7 As shown, the walking wheel assembly 140 is retracted to the main body 110, completing the climbing action from the third surface a to the second surface b.

[0063] It can be understood that the specific process of moving from the second surface b to the first surface c is the same as moving from the third surface a to the second surface b.

[0064] As shown in Figure 6 , when the main body 110 moves to the second surface b, the walking wheel assembly 140 is lowered to support on the third surface a, the driver 131 rotates the connecting rod 132 to drive the support 120 to move upward and forward, so that the support 120 moves to the second surface b, and the walking wheel assembly 140 drives the main body 110 to move left and right on the second surface b by rotating, which can drive the support 120 to move left and right on the second surface b. Therefore, the support 120 can be used to scrape the second surface b, and after scraping is completed, the walking wheel assembly 140 is turned to reset.

[0065] Since the opening 112 is used for the cleaning device 20 to enter and exit the carrying space 111, the opening 112 is relatively large, and during the process of climbing the stairs, the carrying device 10 will have a composite motion in multiple directions such as upward and forward or downward and backward, so that the cleaning device 20 can shake in the carrying space 111, or even separate from the carrying space 111 through the opening 112. Therefore, it is necessary to ensure that the cleaning device 20 is stably located in the carrying space 111.

[0066] As shown in Figures 8 to 12 , the carrying device 10 comprises a fixing assembly 150, which is installed on the main body 110. The fixing assembly 150 can move between a first position and a second position. When the fixing assembly 150 is in the first position, the cleaning device 20 can be positioned in the carrying space 111, and when the fixing assembly 150 is in the second position, the cleaning device 20 can enter and exit the carrying space 111.

[0067] When the cleaning device 20 enters the carrying space 111, the fixing assembly 150 is used to fix the cleaning device 20, which improves the stability of the cleaning device 20 in the carrying space 111 and reduces the shaking of the cleaning device 20 during the process of the stair climbing machine carrying the cleaning device 20 to climb the stairs.

[0068] In an embodiment, as shown in Figures 8 to 12 , the fixing assembly 150 is arranged close to the opening 112 of the carrying space 111. Arranging the fixing assembly 150 close to the opening 112 can fix the cleaning device 20 from the front of the cleaning device 20, which can reduce the possibility of the cleaning device 20 sliding out of the opening 112 and improve the stability of the cleaning device 20 in the carrying space 111.

[0069] In an embodiment, as shown in Figure 10 and Figure 12As shown, the fixing assembly 150 includes a driving assembly and a pressing piece 152, the driving assembly is configured to drive the pressing piece 152 to switch between a first position and a second position; the pressing piece 152 is in the first position to limit the cleaning device 20 in the carrying space 111, and the cleaning device 20 can enter and exit the carrying space 111 when the pressing piece 152 is in the second position, that is, the cleaning device 20 can be limited in the carrying space 111 by the pressing piece 152 to avoid sliding out of the carrying space 111.

[0070] In an embodiment, as shown in Figures 9 to 12 The fixing assembly 150 includes two pressing pieces 152, and the driving assembly drives the two pressing pieces 152 to move towards each other to fix the cleaning device 20 in the first position or move away from each other to release the cleaning device 20 in the second position.

[0071] By driving the two pressing pieces 152 to move towards or away from each other by the driving assembly, the cleaning device 20 can be fixed or released. If the cleaning device 20 moves to the carrying space 111, the driving assembly is started, and the two pressing pieces 152 are driven to move towards each other, so that the distance between the two pressing pieces 152 gradually decreases, and the cleaning device 20 is fixed. If the cleaning device 20 needs to move out of the carrying space 111 after completing the climbing or descending, the driving assembly is reversed, and the two pressing pieces 152 are driven to move away from each other by the driving assembly, so that the distance between the two pressing pieces 152 gradually increases, thereby releasing the cleaning device 20, so that the cleaning device 20 can move out of the carrying space 111.

[0072] In an embodiment, as shown in Figure 10 and Figure 12 The pressing piece 152 is provided with a clamping structure 1520, which can be fixed on the top surface and side surface of the cleaning device 20 when clamping the cleaning device 20. By providing the clamping structure 1520 on the part of the pressing piece 152 that contacts the cleaning device 20, the pressing piece 152 can exert multiple directional abutting forces on the cleaning device 20, thereby improving the stability of the cleaning device 20. For example, when the pressing piece 152 clamps the cleaning device 20, the top surface and side surface of the cleaning device 20 are in contact at the same time, thereby forming a stable fixing force on the cleaning device 20.

[0073] In an embodiment, as shown in Figure 10 and Figure 12As shown, the driving assembly includes a driver 151 and a transmission assembly 153, the driver 151 drives the two pressing members 152 to move towards or away from each other through the transmission assembly 153. The driving assembly can be fixed on the main body 110 by a fixed support, the driver 151 can be a driving motor, the transmission assembly 153 can be a transmission gear set, and the pressing members 152 are connected with the transmission gear set to rotate under the driving of the driving motor in the forward direction or in the reverse direction to be in the first position and the second position.

[0074] The transmission gear set can include two driving gears meshing together, and the driven gears connected with the pressing members 152 can be in an integral structure with the pressing members 152. The two driven gears mesh with the two driving gears respectively, the driving motor drives one of the driving gears to drive the other driving gear to rotate, so that the two pressing members 152 move towards or away from each other under the driving of the driving motor to fix or release the cleaning device 20.

[0075] In an embodiment, the fixing assembly 150 further includes a mounting box 154, the driving assembly is arranged in the mounting box 154, and at least part of the pressing members 152 extends out of the mounting box 154. Protection is formed for part of the driving assembly, avoiding sewage, dust and the like from entering the driving assembly, for example, into the gear set or bearing to affect the use performance and service life of the driving assembly.

[0076] In an embodiment, as shown in Figure 10 and Figure 12 The fixing assembly 150 further includes a first position detector 1551 and a second position detector 1552, the first position detector 1551 is triggered when the pressing members 152 are in the second position, and the second position detector 1552 is triggered when the pressing members 152 are in the first position. The first position detector 1551 is used to detect the state that the pressing members 152 release the cleaning device 20, and the second position detector 1552 is used to detect the state that the pressing members 152 fix the cleaning device 20, so as to realize the in-place judgment of the pressing members 152.

[0077] The first position detector 1551 and the second position detector 1552 can be arranged on the two sides of the same pressing member 152, or can be arranged on the two sides of the two pressing members 152 respectively, or the first position detector 1551 and the second position detector 1552 are arranged on the upper and lower sides of the two pressing members 152.

[0078] The first position detector 1551 and / or the second position detector 1552 are trigger type detectors, for example, micro switches, or switches with elastic switch keys, and can also be photoelectric position detectors, which are not limited in the present disclosure.

[0079] In an embodiment, the bearing device 10 further comprises a controller connected with the first position detector 1551 and the second position detector 1552; the controller outputs a first position signal when the first position detector 1551 triggers or a second position signal when the second position detector 1552 triggers, and controls the driver 151 to stop driving according to the first position signal or the second position signal, so as to realize position auxiliary judgment of the movement of the driving lower presser 152.

[0080] In an embodiment, the cleaning device 20 is provided with a position detection part on one of the main body 110 and a position sensor on the other; when the cleaning device 20 moves into the bearing space 111, the position detection part triggers the position sensor. After the cleaning device 20 enters the bearing space 111, the position detection part triggers the position sensor, indicating that the cleaning device 20 has moved to the position, and the driving assembly of the lower presser 152 starts to drive both lower pressers 152 to move in the direction of approaching each other, so that the distance between the two lower pressers 152 gradually decreases until the lower presser 152 triggers the second position detector 1552, and the driving assembly stops driving. After the climbing is completed, when the cleaning device 20 needs to move out of the bearing space 111, the driving assembly drives both lower pressers 152 to move in the direction of moving away from each other, so that the distance between the two lower pressers 152 gradually increases until the lower presser 152 triggers the first position detector 1551, and the driving assembly stops driving, and the cleaning device 20 moves out of the bearing space 111 through the opening 112. Wherein, the position detection part can be a structure provided on the cleaning device 20 or the main body 110 to trigger the position sensor, or can be an original structure of the cleaning device 20 or the main body 110 itself, that is, the cleaning device 20 or the main body 110 itself can trigger the position sensor.

[0081] In an embodiment, as shown in Figure 13 and Figure 14 The fixed assembly 150 further comprises a cam 1561 and a transmission member 1562, and the cam 1561 can drive the lower presser 152 to switch between the first position and the second position through the transmission member 1562. Specifically, the driver 151 of the driving assembly can drive the cam 1561 to rotate to a first rotation position and a second rotation position, when the cam 1561 is located at the first rotation position, the transmission member 1562 is driven to the third position, and the transmission member 1562 drives the lower presser 152 to the second position; when the cam 1561 is located at the second rotation position, the transmission member 1562 is driven to the fourth position, and the transmission member 1562 drives the lower presser 152 to the first position. Through the cooperation of the cam 1561 and the driver 151, the driving of the transmission member 1562 is realized, and then the driving of the lower presser 152 is realized, and the structure has high reliability.

[0082] In an embodiment, as shown in Figure 13 and Figure 14As shown, the fixing assembly 150 also includes a guide rod 1564 and an elastic element 1563. One end of the guide rod 1564 is connected to the main body 110. The transmission element 1562 is slidably connected to the guide rod 1564, and the elastic element 1563 is sleeved on the guide rod 1564. The cam 1561 and the transmission element 1562 are driven by abutment. When the cam 1561 is in the first rotational position, the elastic element 1563 is configured to enable the transmission element 1562 to be in the third position through an initial elastic force. The transmission element 1562 drives the pressing element 152 to be in the second position. When the cam 1561 rotates toward the second rotational position to compress the transmission element 1562 to move toward the fourth position, the transmission element 1562 compresses the elastic element 1563, and the transmission element 1562 drives the pressing element 152 to be in the first position. The elastic element 1563 can be a spring, which is sleeved on the guide rod 1564.

[0083] Among them, such as Figure 13 and Figure 14 As shown, the fixing assembly 150 includes two sets of guide rods 1564, elastic members 1563, and pressing members 152, forming a limit from both sides of the cleaning device 20. Of course, more sets can be provided as needed, and this disclosure does not limit this.

[0084] In one embodiment, such as Figure 15 As shown, the transmission component 1562 is provided with a boss 15620, and the cam 1561 drives the transmission component 1562 to move through the boss 15620. The driver 151 drives the cam 1561 to contact the boss 15620 and squeeze the boss 15620, thereby driving the transmission component 1562 to move towards the fourth position. The transmission component 1562 compresses the elastic element 1563, driving the pressing element 152 to the first position. The driver 151 drives the cam 1561 to rotate in the opposite direction, and the cam 1561 removes the downward squeezing force on the boss 15620. Under the action of the elastic element 1563, the transmission component 1562 moves upward to the third position, and the transmission component 1562 drives the pressing element 152 to the second position. In this way, by driving the cam 1561 to rotate, the limiting and releasing of the cleaning device 20 are achieved.

[0085] In one embodiment, such as Figure 16As shown, the cleaning device 20 comprises a device body 210 and a driving wheel assembly, the driving wheel assembly comprises a gear box 220 and a driving wheel 210 connected with the gear box, the gear box 220 is rotationally connected with the device body 210; the bottom of the bearing space 111 is provided with a tray 115, when the cleaning device 20 enters the bearing space 111 and is located on the tray 115, the tray 115 abuts against the gear box 220 to enable the driving wheel 210 to be suspended. Since the gear box 220 is elastically rotationally connected with the device body 210, the tray 115 can drive the gear box 220 to rotate a preset angle towards one side of the device body 210, that is, the driving wheel assembly of the cleaning device 20 is lifted by the tray 115, so that the driving wheel assembly can maintain a sufficient distance from the ground when located in the bearing space 111, thereby ensuring that the driving wheel 210 is less likely to interfere with the stairs during the climbing process and is more easily accessible to the stairs.

[0086] In an exemplary embodiment of the present disclosure, the bearing device 10 can further comprise a distance sensor, the distance sensor is arranged at the bottom of the bearing space 111 and located at the side of the chassis of the cleaning device 20 close to the ground, the distance sensor can be used to detect the distance between the chassis of the cleaning device 20 and the ground. For example, the sensor can be a cliff sensor, which can monitor the distance between the chassis of the cleaning device 20 and the ground.

[0087] In an exemplary embodiment of the present disclosure, the bearing device 10 can further comprise a controller, the controller is connected with the cliff sensor. When the cliff sensor detects that the distance between the chassis of the cleaning device 20 and the ground is less than or equal to a preset distance, the cliff sensor can send an electrical signal to the controller, and the controller can control the driver 151 to stop according to the electrical signal. For example, the cliff sensor can monitor the distance between the chassis of the cleaning device 20 and the ground in real time, and when the distance between the chassis of the cleaning device 20 and the ground is reduced to less than or equal to a preset preset distance (i.e. a safety distance threshold), the cliff sensor will immediately respond, convert the signal detected by it into an electrical signal, and transmit the electrical signal to the controller.

[0088] After receiving the electrical signal, the controller will immediately start its built-in logical judgment program. Then according to the preset algorithm and parameters, the received electrical signal is analyzed and processed. If the judgment result shows that the distance between the chassis and the ground has reached or is lower than the safety threshold, it is determined that the cleaning device 20 has been fixed, and the controller will quickly issue an instruction to control the second motor to stop running, thereby protecting the motor.

[0089] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A load bearing device, characterized by, include: The main body includes a support space, and a tray is provided at the bottom of the support space for supporting cleaning equipment. A fixing component is mounted on the main body and is movable between a first position and a second position to fix or loosen the cleaning device.

2. The load bearing device of claim 1, wherein, The fixing component is located on the main body near the opening of the bearing space.

3. The load bearing device of claim 1, wherein, The fixing component includes a driving component and a pressing member. The driving component is configured to drive the pressing member to switch between a first position and a second position. When the pressing member is in the first position, it can limit the cleaning device in the bearing space. When the pressing member is in the second position, the cleaning device can enter and exit the bearing space.

4. The load bearing device of claim 3, wherein, The fixing component includes two pressing members, and the driving component drives the two pressing members to move toward each other to clamp the cleaning device in the first position or to move away from each other to release the cleaning device in the second position.

5. The load bearing device of claim 4, wherein, The pressing component is provided with a clamping structure, which can clamp the top and side surfaces of the cleaning equipment.

6. The load bearing device of claim 4, wherein, The drive assembly includes a driver and a transmission assembly, wherein the driver drives the two pressing members to move toward or away from each other through the transmission assembly.

7. The load bearing device of claim 6, wherein, The fixing component further includes a first position detector and a second position detector. When the pressing member is in the second position, it triggers the first position detector, and when the pressing member is in the first position, it triggers the second position detector.

8. The load bearing device of claim 7, wherein, The first position detector and / or the second position detector are trigger-type detectors.

9. The load bearing device of claim 3, wherein, The fixing component also includes a cam and a transmission component, wherein the cam can drive the pressing component to switch between the first position and the second position via the transmission component.

10. The load bearing device of claim 9, wherein, The fixing assembly also includes a guide rod and an elastic element. One end of the guide rod is connected to the main body. The transmission element is slidably connected to the guide rod. The elastic element is sleeved on the guide rod. The cam compresses the elastic element through the transmission element, which can drive the pressing element to the first position.

11. The load bearing device of claim 10, wherein, The fixing assembly includes two sets of guide rods, the elastic element, and the pressing element.

12. The load bearing device of claim 10, wherein, The transmission component is provided with a boss, and the cam drives the transmission component to move through the boss.

13. A cleaning system characterized by, include: Cleaning equipment; The carrier device according to any one of claims 1 to 12, wherein the carrier device is used for docking with the cleaning device.

14. The cleaning system of claim 13, wherein, The cleaning device includes a device body and a drive wheel assembly. The drive wheel assembly includes a gearbox and a drive wheel connected to the gearbox. The gearbox is rotatably connected to the device body. When the cleaning equipment enters the carrying space and is positioned on the tray, the tray abuts against the gearbox, allowing the drive wheel to be suspended in the air.

15. The cleaning system of claim 14, wherein, The cleaning device and the main body are provided with a positioning detection unit on one of them and a positioning sensor on the other; when the cleaning device moves into the carrying space, the positioning detection unit triggers the positioning sensor.

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