Connecting device, stair climbing machine and cleaning system

Abstract

The utility model is suitable for the technical field of household appliances, and provides a connecting device, a stair climbing machine and a cleaning system, and the connecting device is installed on the stair climbing machine and used for being detachably connected with a cleaning main machine. The connecting device comprises a fixing frame, a connecting main body and a locking clamping hook, the fixing frame is connected with the stair climbing machine, and a positioning sleeve is arranged on the fixing frame; the connecting main body penetrates through the positioning sleeve; the locking clamping hook is installed on the connecting main body, the cleaning main machine is provided with a positioning clamping hook matched with the locking clamping hook, the locking clamping hook is configured to swing between a locking position and a releasing position relative to the connecting main body, and at the locking position, the locking clamping hook can be connected with the positioning clamping hook in a clamping mode so that the connecting main body can be connected with the cleaning main machine; and at the release position, the locking hook can be separated from the positioning hook to release the cleaning main machine. The connecting device and the stair climbing machine can be used for assisting the cleaning main machine to climb a height difference structure, and the adaptability of the cleaning equipment to the ground environment with the height difference is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of household electrical appliances, and more particularly relates to a connecting device, a stair climbing machine and a cleaning system. BACKGROUND

[0002] In modern family life, keeping the ground clean has become an important daily task, and ground cleaning devices such as sweeping robots, mopping robots and sweeping and mopping robots have emerged to provide great convenience for people. However, the existing ground cleaning devices have obvious use defects when facing ground environments with certain height differences, such as indoor steps.

[0003] In the related art, a stair climbing device capable of overcoming the structure of the presence of steps is provided. The ground cleaning device can be connected with the stair climbing device to meet the user's expectation of automatic cleaning of the ground cleaning device and improve the user experience.

[0004] However, simply placing the ground cleaning device on the stair climbing device will have the problem of insecure connection of the cleaning device with the stair climbing device. During the operation of the stair climbing device, especially during the stair climbing process, the ground cleaning device has the risk of falling off the stair climbing device.

[0005] 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. SUMMARY

[0006] The present application aims to solve or improve the technical problem of insecure connection of the cleaning device with the stair climbing device in the prior art.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present application is:

[0008] In a first aspect, the present application provides a connecting device installed on a stair climbing machine for detachable connection with a cleaning host. The connecting device comprises a fixing frame, a connecting body and a locking hook. The fixing frame is connected with the stair climbing machine, and a positioning sleeve is formed on the fixing frame. The connecting body is arranged in the positioning sleeve. The locking hook is installed on the connecting body. The cleaning host is provided with a positioning hook matched with the locking hook. The locking hook is configured to swing between a locking position and a release position relative to the connecting body. In the locking position, the locking hook can be clamped with the positioning hook to connect the connecting body with the cleaning host. In the release position, the locking hook can be separated from the positioning hook to release the cleaning host.

[0009] In an embodiment, the connecting body comprises a first mounting body, and an action assembly is arranged on the first mounting body and in contact with the locking hook, for pushing the locking hook to move from the locking position to the releasing position, or pushing the locking hook to move from the releasing position to the locking position.

[0010] In an embodiment, the action assembly comprises a matched guide and an action arm, the guide is arranged on the first mounting body and used to guide the action arm to extend or retract relative to the first mounting body, and one end of the action arm in the moving direction is in contact with the locking hook.

[0011] In an embodiment, when the action assembly pushes the locking hook to move from the locking position to the releasing position, the surface of the locking hook away from the middle part of the connecting body is separated from the positioning hook;

[0012] When the action assembly pushes the locking hook to move from the releasing position to the locking position, the surface of the locking hook towards the middle part of the connecting body is in contact with the positioning hook.

[0013] In an embodiment, the locking hook comprises a first end and a second end, the action assembly is in contact with the surface of the locking hook adjacent to the first end to push the first end to swing away from the middle part of the first mounting body, and the surface adjacent to the second end is recessed inward to form a first locking hook matched with the positioning hook.

[0014] In an embodiment, the number of the locking hooks is at least two and regularly arranged on the connecting body, and the number of the action assemblies is the same as the number of the locking hooks and arranged one by one.

[0015] In an embodiment, the connecting device further comprises a driving mechanism, which is used to drive the action arm to swing to drive the locking hook to swing.

[0016] In an embodiment, the driving mechanism comprises a first driving motor and a driving arm in transmission connection, the first driving motor is fixedly installed on the fixed frame, one end of the driving arm in the axial direction is in transmission connection with the output shaft of the first driving motor, and the other end has a pushing part, the number of the pushing parts is the same as the number of the action assemblies and arranged one by one.

[0017] Under the driving of the first driving motor, the driving arm acts and drives the pushing part to rotate around the axis to push the action arm to extend relative to the first mounting body.

[0018] In an implementation, the pushing part is a smooth curved surface away from one side of the driving arm pivot, and the pushing part contacts the action arm through the curved surface.

[0019] In an implementation, the pushing part is provided with a rotating bearing, and the pushing part contacts the action arm through the rotating bearing.

[0020] In an implementation, the connecting body further comprises a second mounting body, the second mounting body is fixedly connected with the first mounting body, and a through slot is formed in the second mounting body, and the locking hook passes through the through slot and is swingably connected with the second mounting body.

[0021] In an implementation, the first mounting body is a ring-shaped mounting side plate protruding from one side surface of the second mounting body, the mounting side plate and the second mounting body form an accommodating cavity, and at least part of the driving arm is located in the accommodating cavity.

[0022] The guide is a guide hole formed in the mounting side plate, and the pushing part is located at one end of the driving arm extending into the accommodating cavity and points to the inner side wall of the accommodating cavity.

[0023] In an implementation, the guide hole comprises a first hole and a second hole arranged at intervals, the action arm comprises a first pushing arm, a second pushing arm and a connecting part, the first pushing arm and the second pushing arm are arranged side by side and respectively pass through the first hole and the second hole, and the connecting part is located in the accommodating cavity and connects the first pushing arm and the second pushing arm.

[0024] In an implementation, the through slot is located outside the accommodating cavity and is independent of the accommodating cavity, or the through slot is communicated with the accommodating cavity.

[0025] In an implementation, the connecting body further comprises a cover, the cover covers one side of the mounting side plate away from the second mounting body and is fixedly connected with the mounting side plate, and the driving arm extends into the accommodating cavity through the cover.

[0026] In an implementation, the connecting device further comprises an elastic member, the elastic member acts on the locking hook, and the locking hook swings and pushes the action arm to reset under the action of the elastic member.

[0027] In an implementation, the elastic member is a torsion spring, and two ends of the torsion spring respectively abut against surfaces of the locking hook and the through slot.

[0028] In an embodiment, the connecting device further comprises a rotating mechanism configured to drive the connecting body to rotate around an axis relative to the positioning sleeve, so as to drive the cleaning main machine to rotate.

[0029] In an embodiment, the rotating mechanism comprises a second driving motor fixedly installed on the fixed frame and an engaging assembly connected between the second driving motor and the connecting body.

[0030] Under the driving of the second driving motor, the connecting body rotates around an axis and drives the locking clasp to rotate synchronously.

[0031] In a second aspect, the application provides a stair climbing machine comprising a connecting device and a height adjusting device, the connecting device being any of the connecting devices described above, and the height adjusting device comprising a device body, a scissor lifting assembly and a lifting driving assembly, the device body comprising a fixed base and a load platform, the load platform being located above the fixed base, and the connecting device being arranged on the load platform through the fixed frame; the scissor lifting assembly being located between the fixed base and the load platform, one end of the scissor lifting assembly being connected to the fixed base, and the other end being connected to the load platform; the lifting driving assembly being in transmission connection with the scissor lifting assembly and configured to drive the scissor lifting assembly to move, so as to drive the load platform and the connecting device to move towards or away from the fixed base.

[0032] In an embodiment, the number of the scissor lifting assemblies is at least two and they are arranged along a first direction, the scissor lifting assembly hinged to one end of the fixed base and the load platform in a second direction being a first lifting assembly, and the number of the first lifting assemblies being at least two.

[0033] The first direction and the second direction are orthogonal.

[0034] In an embodiment, the scissor lifting assembly hinged to the other end of the fixed base and the load platform in the second direction being a second lifting assembly, and the number of the second lifting assemblies being at least one.

[0035] The first lifting assemblies and the second lifting assemblies are arranged along the first direction.

[0036] In an embodiment, the number of the fixed bases is at least two and they are arranged along a first direction, and the number of the scissor lifting assemblies is the same as that of the fixed bases and they are arranged one by one.

[0037] In an embodiment, any one of the scissor lifting assemblies comprises:

[0038] a first sliding guide arranged on the fixed base;

[0039] a second sliding guide arranged on the load platform;

[0040] a pair of scissor arms comprising a first scissor arm and a second scissor arm hingedly connected to each other;

[0041] one end of the first scissor arm is hingedly connected to the fixed base, and the other end is slidingly connected to the second sliding guide through a second sliding member, the second sliding member slidingly engages with the second sliding guide;

[0042] one end of the second scissor arm is hingedly connected to the load platform, and the other end is slidingly connected to the fixed base through a first sliding member, the first sliding member slidingly engages with the first sliding guide.

[0043] In an embodiment, the stair climbing machine further comprises a sliding translation device, the sliding translation device comprises a translation driving motor and a rack and pinion engagement mechanism in transmission connection, the translation driving motor is fixedly arranged on the fixed frame, the rack and pinion engagement mechanism comprises a driving gear and a guide rack, the driving gear is sleeved on the output shaft of the translation driving motor, and the guide rack is fixedly arranged on the load platform.

[0044] In an embodiment, the sliding translation device further comprises a guide limiting component, the guide limiting component comprises a first guide and a second guide in cooperation with each other, the first guide is arranged on the connecting device, and the second guide is arranged on the load platform and parallel to the guide rack.

[0045] In a third aspect, the application further provides a cleaning system, comprising the stair climbing machine of any one of the above, and further comprising a cleaning base station.

[0046] Compared with the prior art, the application has at least the following beneficial effects:

[0047] The connecting device provided in this application includes a fixing frame and a connecting body mounted on the fixing frame. The connecting body can be locked and unlocked by a locking hook and a positioning hook provided on the cleaning host, thereby locking and releasing the cleaning host. When the cleaning host is fixedly connected to the connecting device mounted on the stair climber by the locking hook, the connection between the cleaning host and the stair climber can be effectively strengthened, preventing the cleaning host from falling off the stair climber during operation. With the assistance of the stair climber, the cleaning host can better adapt to ground environments with certain height differences, which can improve the automation and convenience of the cleaning process to a certain extent and improve the user experience. The stair climber and cleaning system provided in this application include the above-mentioned connecting device, and therefore have at least the beneficial effects of any one or more of the above-mentioned connecting devices, which will not be elaborated here. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the overall structure of the connecting device provided in the embodiments of this application;

[0050] Figure 2 This is a partial structural cross-sectional view of the connection device and the cleaning host in the locked state provided in the embodiments of this application;

[0051] Figure 3 A partial structural cross-sectional view of the connecting device and cleaning host provided in the embodiments of this application in the released state;

[0052] Figure 4 An exploded view of the connecting device provided in the embodiments of this application;

[0053] Figure 5 A schematic diagram of the assembly of the connecting body, the action component and the locking hook in the locked state in the connecting device provided in the embodiments of this application;

[0054] Figure 6 for Figure 5 A schematic diagram of the cross-sectional structure;

[0055] Figure 7 A schematic diagram of the assembly of the connecting body, the action component and the locking hook in the released state in the connecting device provided in the embodiments of this application;

[0056] Figure 8 for Figure 7 A schematic diagram of the cross-sectional structure;

[0057] Figure 9 The assembly schematic view of the driving mechanism, the rotating mechanism and the connecting body in the connecting device provided by the embodiment of the present application;

[0058] Figure 10 The partial cross-sectional structure schematic view of Figure 9

[0059] Figure 11 The structure schematic view of the stair climbing machine in the folding state provided by the embodiment of the present application;

[0060] Figure 12 The structure schematic view of the stair climbing machine in the lifting state provided by the embodiment of the present application;

[0061] Figure 13 The structure schematic view of the sliding and translating device in the stair climbing machine provided by the embodiment of the present application;

[0062] Figure 14A-Figure 14E The climbing process schematic view of the stair climbing machine provided by the embodiment of the present application;

[0063] Figure 15 The structure schematic view of the stair climbing machine provided by another embodiment of the present application.

[0064] In the drawings, various reference signs represent:

[0065] 10, connecting device; 1, fixing frame; 11, positioning sleeve; 2, connecting body; 201, accommodating cavity; 21, first mounting body; 22, second mounting body; 221, through slot; 23, cover body; 3, locking clasp; 301, first end; 302, second end; 31, first locking hook; 4, action assembly; 41, guide piece; 411, first through hole; 412, second through hole; 42, action arm; 421, first pushing arm; 422, second pushing arm; 423, connecting portion; 5, driving mechanism; 51, first driving motor; 52, driving arm; 521, pushing portion; 53, rotating bearing; 6, elastic piece; 7, rotating mechanism; 71, second driving motor; 72, meshing assembly;

[0066] 100, stair climbing machine; 110, device body; 111, fixing base; 112, load platform; 120, scissor lifting assembly; 121, first sliding guide piece; 122, second sliding guide piece; 123, scissor arm pair; 1231, first scissor arm; 1232, second scissor arm; 130, lifting driving assembly; 140, sliding and translating device; 141, translating driving motor; 142, gear and rack meshing mechanism; 1421, driving gear; 1422, guide rack; 143, guide limiting assembly; 1431, first guide piece; 1432, second guide piece; ​

[0067] 200, cleaning main machine; 210, positioning hook;

[0068] S1, first horizontal plane; S2, second horizontal plane; S3, vertical plane; X, first direction; Y, second direction. DETAILED DESCRIPTION

[0069] In order to make the technical problems solved by the present application, the technical solutions and the beneficial effects clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0070] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0071] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0072] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0073] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0074] In this application, unless otherwise explicitly specified and limited, a first feature is "on", "over", or "above" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "over", "above", and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature "under", "below", and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0075] In this application, the terms "one embodiment", "some embodiments", "an example", "specific examples", or "some examples" mean that a particular feature, structure, material, or characteristic is included in at least one embodiment or example of the present application. Exemplary expressions of the above terms in the specification do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. In addition, different embodiments or examples described in the specification can be combined and combined with features of different embodiments or examples, without contradiction, by those skilled in the art.

[0076] Embodiments of the present application provide a connecting device 10, a stair climbing machine 100 and a cleaning system, wherein the cleaning system can be a floor cleaning device having a cleaning base station and a cleaning host 200, wherein the cleaning host 200 can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc. The cleaning host 200 has sweeping and / or mopping functions, and it can be understood that the cleaning host 200 is a device for automatically performing cleaning operations in a corresponding to-be-cleaned area in a ground environment. When the cleaning host 200 starts to work, the cleaning host 200 can start from the cleaning base station and perform a corresponding cleaning task; when the cleaning host 200 completes the cleaning task or other conditions that need to suspend the cleaning task, the cleaning host 200 can return to the cleaning base station to perform at least one or more of charging, water replenishment, cleaning, dust collection, etc.

[0077] The height difference structure refers to a structure with a certain height difference formed between different cleaning planes in a home environment. The height difference structure can be generated due to the needs of architectural design and functional partitioning, and is used to separate, transition or connect different areas in space. For example, the steps as a height difference structure can be used to connect indoor spaces with a significant height change, such as the indoor stairs of a duplex house; the door sill as a height difference structure can be used as a transition and separation part between different rooms or spaces (such as a living room and a balcony), and the height of the door sill is usually lower; the floor-to-ceiling window sill as a height difference structure belongs to the height difference part between the bottom of the window and the indoor floor.

[0078] With the assistance of the stair climbing machine 100, the cleaning host 200 can overcome the restrictions of the height difference ground environment on the cleaning host 200, and realize the climbing and cleaning of the ground with the height difference structure. The connecting device 10 installed on the stair climbing machine 100 can realize the firm connection between the cleaning host 200 and the stair climbing machine 100.

[0079] Figure 1 The overall structure diagram of the connecting device 10 provided by the embodiment of the present application is shown in Figure 2 The partial structure cross-sectional view of the connecting device 10 and the cleaning host 200 in the locked state provided by the embodiment of the present application is shown in Figure 3 The partial structure cross-sectional view of the connecting device 10 and the cleaning host 200 in the released state provided by the embodiment of the present application is shown in Figure 4 The exploded view of the connecting device 10 provided by the embodiment of the present application is shown in

[0080] Please refer to Figure 1 The connecting device 10 provided by the embodiment of the present application can be installed on the stair climbing machine 100. The connecting device 10 can be detachably connected with the cleaning host 200 having the positioning hook 210, so as to realize the detachable connection between the cleaning host 200 and the stair climbing machine 100, and improve the combination firmness of the cleaning host 200 and the stair climbing machine 100.

[0081] Specifically, the connecting device 10 mainly includes a fixing frame 1, a connecting body 2 and a locking hook 3. The fixing frame 1 can be connected with the stair climbing machine 100, and is used to support the connecting body 2 and the locking hook 3 and hoist them to a suitable position relative to the stair climbing machine 100, so as to ensure that the position and height of the locking hook 3 can better cooperate with the positioning hook 210 arranged on the top of the cleaning host 200 and realize the detachable connection.

[0082] Please refer to Figures 1-4The fixed frame 1 is in the shape of a cantilever beam, one end of which is fixedly connected to the lifting device of the stair climbing machine 100 (not shown in the figure), and the other end is provided with a positioning sleeve 11 for mounting the connecting body 2, and the connecting body 2 is arranged in the positioning sleeve 11. The connecting body 2 comprises a first mounting body 21, a second mounting body 22 and a cover 23, wherein the cover 23 is arranged on the side of the first mounting body 21 away from the second mounting body 22, and the three parts form a hollow chamber for mounting the locking hook 3.

[0083] The locking hook 3 is mounted on the first mounting body 21 of the connecting body 2 and can cooperate with the positioning hook 210 on the cleaning main machine 200. The fixed frame 1 is also provided with a driving mechanism 5 and a rotating mechanism 7, wherein the driving mechanism 5 comprises a first driving motor 51 and a driving arm 52, the driving motor is fixedly mounted on the fixed frame 1, one end of the driving arm 52 is connected to the output shaft of the first driving motor 51, and the other end extends into the accommodating cavity 201 of the connecting body 2 through the cover 23, please refer to Figure 4 The locking hook 3 and the connecting body 2 are also provided with an elastic member 6, which acts on the locking hook 3 and is used to push the locking hook 3 to swing from the release position to the locking position. The driving mechanism 5 and the elastic member 6 cooperate with each other to control the swinging direction of the locking hook 3, so as to realize the locking and releasing of the locking hook 3 and the positioning hook 210, and the specific structure and working principle will be described below.

[0084] The rotating mechanism 7 comprises a second driving motor 71 and an engagement assembly 72, the second driving motor 71 is fixedly mounted on the fixed frame 1, and the engagement assembly 72 is used to connect the output shaft of the second driving motor 71 and the cover 23 of the connecting body 2. Under the driving of the second driving motor 71, the cover 23 drives the first mounting body 21 and the second mounting body 22 fixedly connected thereto to rotate synchronously, so as to drive the rotation of the connecting body 2 and the locking hook 3. In the case that the locking hook 3 and the positioning hook 210 are kept in clamping and locking state, the rotation of the connecting body 2 and the locking hook 3 relative to the fixed frame 1 can drive the cleaning main machine 200 to rotate relative to the fixed frame 1. In the case that the cleaning main machine 200 is connected to the fixed frame 1 and can rotate relative to the fixed frame 1, it is helpful to improve the position limitation of the locking hook 3 on the cleaning main machine 200, so that the cleaning main machine 200 in the hanging state can realize the cleaning of the ground in the rotating mode, and the preset advancing direction can be changed in the rotating mode.

[0085] Please refer to Figure 2 and Figure 3The elastic member 6 is arranged between the locking hook 3 and the connecting body 2. The locking hook 3 is configured to swing relative to the connecting body 2 between a locking position and a release position under the external force provided by the driving mechanism 5 and the elastic member 6. When the locking hook 3 is located at the locking position, the locking hook 3 can be clamped with the positioning hook 210 of the cleaning host 200 to achieve the locking of the cleaning host 200; when the locking hook 3 is located at the release position, the locking hook 3 can be separated from the positioning hook 210 of the cleaning host 200, and at this time, the cleaning host 200 is unlocked and released relative to the fixed frame 1.

[0086] It should be noted that the above-mentioned positioning hook 210 can be integrally formed with the body of the cleaning host 200, or can be fixedly installed on the body of the cleaning host 200 by pasting or the like.

[0087] In the embodiment of the present application, the connecting device 10 is in a hoisting structure as a whole, and can be connected with the positioning hook 210 located at the top of the cleaning host 200. The positioning sleeve 11 formed at one end of the fixed frame 1 can be a hollow annular structure. Correspondingly, at least part of the structure (the first mounting body 21) of the connecting body 2 is a columnar structure matched with the inner wall of the positioning sleeve 11. The size of the part of the connecting body 2 (the cover body 23) located above the positioning sleeve 11 is greater than the inner wall of the positioning sleeve 11, so as to ensure that the connecting body 2 can be firmly connected with the positioning sleeve 11. The locking hook 3 movably mounted on the connecting body 2 is located below the positioning sleeve 11, so as to avoid that the positioning sleeve 11 affects the locking of the positioning hook 210 and the locking hook 3.

[0088] The number and distribution position of the above-mentioned locking hook 3 and the positioning hook 210 can be adaptively adjusted according to actual connection needs. Taking the locking hook 3 as an example, the number thereof can be one or more. In some cases, one locking hook 3 can be arranged to be connected with one positioning hook 210 one by one, or one locking hook 3 can be arranged to be connected with two or even more positioning hooks 210. Alternatively, a plurality of locking hooks 3 can be arranged to be connected with one positioning hook 210. The embodiment does not limit the number and the connection mode of the above-mentioned locking hook 3 and the positioning hook 210.

[0089] Specifically, the second mounting body 22 is provided with a through slot 221, and the locking hook 3 is movably mounted on the second mounting body 22 through the through slot 221. In the embodiment of the present application, the position of the through slot 221 can be adjusted as needed, so that the through slot 221 is located outside the accommodating cavity 201 surrounded by the first mounting body 21, the second mounting body 22 and the cover body 23, or the through slot 221 provided on the second mounting body 22 can be communicated with the accommodating cavity 201.

[0090] Please refer to Figure 4In this embodiment, the through groove 221 is located outside the receiving cavity 201 and is spatially independent of the receiving cavity 201.

[0091] Please see Figure 2 and Figure 3 Taking a case where there are two locking hooks 3 arranged at intervals on both sides of the connecting body 2 circumferentially, there are also two positioning hooks 210 formed on the cleaning host 200. The two positioning hooks 210 are arranged in a one-to-one correspondence with the two locking hooks 3.

[0092] In the locked state, the surface portion of the locking hook 3 facing away from the middle of the connecting body 2 (i.e., the outward-facing surface portion of the locking hook 3) is connected to the positioning hook 210. At this time, the locking hook 3 can be considered to be located outside the positioning hook 210. In other similar embodiments, the locking hook 3 can be adjusted to be located inside the positioning hook 210, with the surface portion of the locking hook 3 facing the middle of the connecting body 2 (i.e., the inward-facing surface portion of the locking hook 3) connected to the positioning hook 210.

[0093] Of course, in other similar embodiments, the number of locking hooks 3 can be three or even more. The multiple locking hooks 3 can be arranged in a ring at intervals, or they can be centrally symmetrical with respect to the center point of the connecting body 2, or they can be symmetrical with respect to the straight line passing through the center point of the connecting body 2, or they can be arranged sequentially relative to each other along the directions of two parallel lines, etc. The number of locking hooks 3 is at least two and they can be regularly arranged on the connecting body 2. There are various ways to arrange them, and this embodiment does not limit them.

[0094] The connecting device 10 also includes an action component 4, which is used to apply the driving force provided by the drive mechanism 5 to the locking hook 3 so as to switch the locking hook 3 from the locked position to the released position; correspondingly, when the driving force provided by the drive mechanism 5 is removed, the elastic member 6 can push the locking hook 3 and the action component 4 back to their original positions, at which time the locking hook 3 can switch from the released position to the locked position.

[0095] Figure 5 This is a schematic diagram showing the assembly of the connecting body 2, the actuating component 4, and the locking hook 3 in the locked state of the connecting device 10 provided in the embodiments of this application. Figure 6 for Figure 5 A schematic diagram of the cross-sectional structure. Figure 7 This is a schematic diagram showing the assembly of the connecting body 2, the actuating component 4, and the locking hook 3 in the released state of the connecting device 10 provided in the embodiments of this application. Figure 8 for Figure 7 A schematic diagram of the cross-sectional structure.

[0096] The connecting body 2 comprises a first mounting body 21 and a second mounting body 22 fixedly connected, which can be integrally formed or fixedly connected by ultrasonic welding.

[0097] Specifically, the first mounting body 21 is provided with an action assembly 4 capable of pushing the locking clasp 3 to swing, and the action assembly 4 is in contact with the locking clasp 3. The action assembly 4 is connected with the driving mechanism 5 and can act under the driving of the driving mechanism 5 to push the locking clasp 3 to swing. The second mounting body 22 is provided with a through slot 221, and the locking clasp 3 is movably installed on the second mounting body 22 through the through slot 221. The number of the action assembly 4 is the same as that of the locking clasp 3 and is arranged one by one to push all the locking clasps 3 to swing relative to the connecting body 2.

[0098] According to the relative positions of the action assembly 4, the locking clasp 3 and the positioning clasp 210, the action assembly 4 can push the locking clasp 3 to move from the locking position to the release position, or the action assembly 4 can push the locking clasp 3 to move from the release position to the locking position.

[0099] For example, please refer to Figure 2 , Figure 3 and Figure 5 , when the action assembly 4 and the positioning clasp 210 are located on the two sides of the locking clasp 3, at this time the action assembly 4 can push the locking clasp 3 to move from the locking position to the release position, in this process, the elastic member 6 is deformed and stores energy, which can provide a force opposite in direction to the locking clasp 3 when the external force at the action assembly 4 is removed, so as to push the locking clasp 3 to swing from the release position to the locking position and push the action assembly 4 to return to the initial position; when the action assembly 4 and the positioning clasp 210 are located on the same side of the locking clasp 3, at this time the action assembly 4 can push the locking clasp 3 to move from the release position to the locking position, in this process, the elastic member 6 is deformed and stores energy, which can provide a force opposite in direction to the locking clasp 3 when the external force at the action assembly 4 is removed, so as to push the locking clasp 3 to swing from the locking position to the release position and push the action assembly 4 to return to the initial position.

[0100] The relative position relationship among the action assembly 4, the positioning clasp 210 and the locking clasp 3 is not limited in the embodiments of the present application.

[0101] Please refer to Figures 5-Figure 8 , the action assembly 4 in the figure can push the locking clasp 3 to swing from the locking position to the release position.

[0102] In some possible embodiments, the action assembly 4 comprises a guide 41 and an action arm 42 that cooperate with each other, wherein the guide 41 is arranged on the first mounting body 21 to guide the action arm 42 to extend or retract relative to the first mounting body 21. One end of the action arm 42 in the moving direction extends relative to the first mounting body 21 and contacts the locking hook 3. Therefore, during the extension of the action arm 42 relative to the first mounting body 21, the locking hook 3 can be pushed to swing and swing from the locking position to the release position, at which time the portion of the locking hook 3 away from the surface of the middle side of the connecting body 2 is separated from the positioning hook 210.

[0103] Referring to Figure 5 and Figure 6 , the action arm 42 is an arm structure with a certain length, one end of which in the length direction can contact the locking hook 3, and the other end of which in the length direction extends into the first mounting body 21 through the guide 41.

[0104] The second mounting body 22 is a plate structure with a certain thickness, and the first mounting body 21 is a ring-shaped mounting side plate. The ring-shaped mounting side plate protrudes from the upper surface of the middle part of the second mounting body 22, and the second mounting body 22 on the two sides opposite to the outside of the ring-shaped mounting side plate is provided with a through slot 221 for mounting the locking hook 3. The guide 41 is a guide through hole arranged on the ring-shaped mounting side plate, the number of the guide through hole is the same as that of the through slot 221 and is arranged correspondingly, and the action arm 42 is movably connected with the first mounting body 21 through the guide through hole.

[0105] In order to further improve the guiding effect of the guide through hole, the size and shape of the through hole can be optimized. For example, the outer side wall of the mounting side plate is provided with a protrusion in the radial direction to form a protrusion, and the guide through hole penetrates the protrusion to extend the length thereof. Alternatively, a guide sleeve or the like can also be considered to be installed in the guide through hole to reduce the sliding friction and friction loss between the guide through hole and the action arm 42.

[0106] In some possible embodiments, the guide through hole can be provided with a first through hole 411 and a second through hole 412 arranged at intervals.

[0107] Referring to Figure 5 and Figure 6The first through hole 411 and the second through hole 412 are located at the same axial height of the annular mounting side plate and are arranged along the circumferential direction of the mounting side plate. Correspondingly, the action arm 42 for being arranged in the above-mentioned guide through hole is similar to a U-shaped structure or a U-shaped structure, including a first pushing arm 421, a second pushing arm 422 and a connecting portion 423. The first pushing arm 421 and the second pushing arm 422 are arranged side by side and are arranged in the first through hole 411 and the second through hole 412 respectively. The connecting portion 423 is located in the accommodating cavity 201 and connects the first pushing arm 421 and the second pushing arm 422.

[0108] One end of any one of the first pushing arm 421 and the second pushing arm 422 away from the connecting portion 423 is located outside the accommodating cavity 201 and can be in contact or abutment with the surface of the locking hook 3, so as to push the locking hook 3 to swing or be driven by the locking hook 3 to extend or retract relative to the guide through hole.

[0109] Please refer to Figure 5 and Figure 6 The locking hook 3 includes a first end 301 and a second end 302. The first end 301 is located on one side of the through slot 221, the second end 302 is located on the other side of the through slot 221, and the middle part of the locking hook 3 is hinged with the through slot 221. One end of the action arm 42 in the action assembly 4 extending relative to the first mounting body 21 can be in contact with the surface of the part of the locking hook 3 adjacent to the first end 301. When the action arm 42 is extended outward relative to the first mounting body 21 under the action of external force, please refer to Figure 7 At this time, the first end 301 of the locking hook 3 can swing towards the direction away from the middle part of the first mounting body 21 (i.e. the position of the axis of the first mounting body 21), and correspondingly, the second end 302 of the locking hook 3 can swing towards the direction close to the middle part of the first mounting body 21, so as to make the locking hook 3 and the positioning hook 210 be unlocked, and the cleaning main machine 200 can be released from the locking hook 3.

[0110] When locking the cleaning main machine 200 in the set position and the connecting device 10, the elastic member 6 is required to drive the locking hook 3 to swing from the release position to the locking position.

[0111] Please refer to Figure 6 and Figure 8 The elastic member 6 is located on the side of the locking hook 3 away from the action arm 42.

[0112] Specifically, the above-mentioned elastic member 6 is a torsion spring, and the two ends of the torsion spring are respectively in abutment with the surface of the locking hook 3 and the surface of the through slot 221.

[0113] The locking hook 3 can be installed on the second mounting body 22 through a rotating shaft at the through slot 221. A first through hole 411 is formed in the middle of the locking hook 3, and a second through hole 412 is formed at the corresponding position of the through slot 221. The locking hook 3 is installed on the second mounting body 22 through the rotating shaft inserted into the first through hole 411 and the second through hole 412. In addition, the side surface of the locking hook 3 opposite to the action arm 42 is recessed inward to form an assembly groove for accommodating the elastic member 6, and the assembly groove is in communication with the first through hole 411. The torsion spring at the assembly groove can be connected to the locking hook 3 through a rotating shaft, and at this time, the two ends of the torsion spring are respectively in contact with the surface of the assembly groove and the surface of the through slot 221.

[0114] When the locking hook 3 is in the locking position, the torsion spring not subjected to the extrusion of external force is in a natural state, the two end arms are in a relatively static position, no torsion occurs, and the elastic potential energy stored in the torsion spring is zero. When the locking hook 3 swings from the locking position to the release position, the torsion spring is subjected to external force with the swinging of the locking hook 3, and the two end arms are relatively twisted. At this time, the torsion spring begins to elastically deform and store elastic potential energy. After the external force pushing the locking hook 3 to the release position is reduced or removed, the torsion spring releases the stored elastic potential energy and gradually returns to the original state. In this process, the restoring force of the torsion spring is opposite to the direction of the previous external force, so as to push the locking hook 3 and the action arm 42 to return to the initial position. After the torsion spring completes the recovery to the initial state, the elastic potential energy is completely released.

[0115] The locking hook 3 has a first locking hook 31 for matching with the positioning hook 210. The first locking hook 31 is formed on the surface of the part of the locking hook 3 opposite to the middle of the first mounting body 21.

[0116] Specifically, the surface of the part of the locking hook 3 adjacent to the second end 302 is recessed inward to form the first locking hook 31.

[0117] The positioning hook 210 has a second locking hook matched with the first locking hook 31. The locking hook 3 and the positioning hook 210 can be locked and unlocked through the first locking hook 31 and the second locking hook matched in shape. The second locking hook is located at the free end of the positioning hook 210. The surface of the free end of the positioning hook 210 is protruded to form the second locking hook matched with the shape of the first locking hook 31.

[0118] Please refer to Figure 7 and Figure 8, the number of locking hooks 3 is two and oppositely arranged, and the number of action arms 42 is two and respectively arranged at two sides of the first mounting body 21. When the action arms 42 are driven to extend relative to the first mounting body 21 by external force, the action arms 42 can push the locking hooks 3 at the locking position to swing to the release position, at this time, the first locking hook 31 formed on the locking hook 3 moves towards the direction close to the middle part of the first mounting body 21 and is unlocked with the positioning hook 210, and the cleaning main machine 200 with the positioning hook 210 is in the release state relative to the connection module.

[0119] In the embodiment of the present application, the driving mechanism 5 is used to control the action of the action arm 42 to push the locking hook 3 to switch from the locking position to the release position.

[0120] Figure 9 The assembly schematic view of the driving mechanism 5, the rotating mechanism 7 and the connection body 2 in the connection device 10 provided by the embodiment of the present application is shown in Figure 10 The partial cross-sectional structure schematic view of Figure 9 .

[0121] In some feasible embodiments, the driving mechanism 5 is fixedly installed on the fixed frame 1. In other similar embodiments, the driving mechanism 5 can also be arranged to be installed in the accommodating cavity 201 of the connection body 2.

[0122] Please refer to Figure 9 and Figure 10 , the driving arm 52 in the driving mechanism 5 is in contact with the action arm 42 to drive the action arm 42 to extend relative to the first mounting body 21 and drive the locking hook 3 to swing to the release position.

[0123] Specifically, one end of the action arm 42 in the first mounting body 21 (i.e. one end extending into the accommodating cavity 201) can be in contact with one end of the driving arm 52 extending into the accommodating cavity 201.

[0124] The one end of the driving arm 52 extending into the accommodating cavity 201 has a pushing part 521. The pushing part 521 is formed on the outer circumferential side of the driving arm 52 and points to the inner side wall of the accommodating cavity 201. When the driving arm 52 rotates around the shaft, the pushing part 521 can rotate synchronously. The action arm 42 located on the rotating path of the pushing part 521 can be pushed by the pushing part 521 to extend outward relative to the first mounting body 21 and drive the locking hook 3 to swing in the process.

[0125] Specifically, the number of the above-mentioned pushing parts 521 is the same as the number of the action arms 42 and is arranged one by one to ensure that all the pushing parts 521 can be in contact with the corresponding action arms 42 and push the action arms 42 to move.

[0126] Please refer to Figure 9 and Figure 10The number of the locking hooks 3 is two and arranged oppositely, and the number of the action arms 42 is also two and arranged on the two sides of the first mounting body 21 respectively. The number of the pushing parts 521 for pushing the action arms 42 is also two and arranged on the two sides of the driving arm 52 circumferentially.

[0127] When the driving arm 52 rotates around the shaft, the pushing part 521 rotates and contacts the action arm 42. When the pushing part 521 contacts the action arm 42, the action arm 42 is pushed by the pushing part 521 to move a certain distance along the length direction of the guide hole, and in this process, the locking hook 3 in contact with the action arm 42 is swung from the locking position to the releasing position.

[0128] It should be noted that when the driving arm 52 rotates to the position that the pushing part 521 is separated from the action arm 42, the locking hook 3 can be switched from the releasing position to the locking position under the elastic force of the elastic member 6, and at this time, the action arm 42 can be returned to the initial position under the pushing of the locking hook 3.

[0129] In some possible embodiments, the end of the driving arm 52 extending into the accommodating cavity 201 can be connected to the second mounting body 22 through a bearing, so as to ensure that the driving arm 52 can keep a high-precision rotation axis during the rotation around the shaft and reduce the vibration during the rotation.

[0130] In order to facilitate the pushing part 521 to contact the action arm 42 more smoothly and push the action arm 42 to move, in some possible embodiments, the side of the pushing part 521 for contacting the action arm 42 (i.e. the side of the pushing part 521 away from the rotation shaft of the driving arm 52) can be a bevel. The bevel can make the pushing part 521 contact the action arm 42 more smoothly.

[0131] In other similar embodiments, the side of the pushing part 521 for contacting the action arm 42 can also be a smooth curved surface structure, for example, an arc surface. The pushing part 521 can contact the action arm 42 through the curved surface structure.

[0132] Alternatively, in other similar embodiments, the side of the pushing part 521 away from the rotation shaft of the driving arm 52 can be provided with a rotating bearing 53, and the pushing part 521 can contact the action arm 42 through the rotating bearing 53. The rotating bearing 53 can not only make the contact and pushing process of the pushing part 521 and the action arm 42 more smooth, but also convert the sliding friction between the pushing part 521 and the action arm 42 into rolling friction, so as to reduce the friction and make the rotation of the pushing part 521 more smooth and smooth, and help to reduce the abrasion of the surface of the action arm 42 caused by the rotation of the pushing part 521.

[0133] The rotating mechanism 7 fixedly installed on the fixing frame 1 can be used to drive the connecting body 2 to rotate around the axis relative to the positioning sleeve 11, so as to drive the cleaning main machine 200 to rotate.

[0134] Please refer to Figure 9 and Figure 10 The rotating mechanism 7 includes a second driving motor 71 and an engaging assembly 72, wherein the engaging assembly 72 includes a first engaging member and a second engaging member which are engaged with each other, the first engaging member is connected with the output shaft of the second driving motor 71, and the second engaging member is integrally formed with the cover 23 (which can be fixedly connected by means of sticking or the like). When the second driving motor 71 is started, the first engaging member drives the second engaging member to rotate synchronously and drives the cover 23 to rotate. Since the cover 23, the first mounting body 21 and the second mounting body 22 are fixedly connected, the connecting body 2 and the locking clasp 3 connected with the connecting body 2 can be driven by the second driving motor 71 to rotate synchronously.

[0135] In order to avoid the locking clasp 3 from swinging due to the change of the matching relationship with the action arm 42 during the rotation of the connecting body 2, the first driving motor 51 in the driving mechanism 5 can be started synchronously according to the need, so as to ensure that the relative matching relationship between the action assembly 4 and the locking clasp 3 remains unchanged.

[0136] In some possible embodiments, the first engaging member can be a gear, and correspondingly, the second engaging member can be a gear ring, a gear or a continuous tooth structure formed on the outer side edge of the cover 23.

[0137] Specifically, the gear can be a complete gear or an incomplete gear such as a sector gear.

[0138] The cover 23 can be fixedly connected with the first mounting body 21 by means of ultrasonic welding.

[0139] Alternatively, in order to further ensure that the cover 23 and the first mounting body 21 always rotate synchronously, the connecting body 2 can further include a synchronous assembly. The synchronous assembly is used to realize the circumferential synchronous rotation of the cover 23 and the first mounting body 21.

[0140] Specifically, the synchronous assembly is located in the accommodating cavity 201 and includes a protrusion and a clamping plate used to clamp the protrusion. The clamping plate has a space in the middle for accommodating the protrusion. The protrusion is formed on one of the cover 23 and the first mounting body 21, and the clamping plate is formed on the other one of the cover 23 and the first mounting body 21. When the cover 23 is covered on the first mounting body 21, the clamping plate matches with the protrusion.

[0141] It can be understood that the connecting device 10 provided by the embodiments of the present application can be locked and unlocked with the cleaning main machine 200 having the positioning clasp 210 through the locking clasp 3, so as to realize the locking and releasing of the cleaning main machine 200. The stair climbing machine 100 having the connecting device 10 can be more firmly combined with the cleaning main machine 200 and assist the cleaning main machine 200 to realize the stair climbing, so as to improve the automation degree and convenience of the cleaning main machine 200 and improve the use experience.

[0142] In the second aspect, the embodiments of the present application also provide a stair climbing machine 100, which can be used to cross the ground having a certain height difference structure.

[0143] Figure 11 FIG. 1 is a structural schematic diagram of the stair climbing machine 100 in the folded state provided by the embodiments of the present application, Figure 12 FIG. 2 is a structural schematic diagram of the stair climbing machine 100 in the lifting state provided by the embodiments of the present application, Figure 13 FIG. 3 is a structural schematic diagram of the sliding and translating device 140 in the stair climbing machine 100 provided by the embodiments of the present application, Figure 14A-Figure 14E FIG. 4 is a schematic diagram of the climbing process of the stair climbing machine 100 provided by the embodiments of the present application.

[0144] Please refer to Figure 11 and Figure 12 The stair climbing machine 100 provided by the embodiments of the present application includes the connecting device 10 and the height adjusting device, wherein the connecting device 10 is the connecting device 10 described above, and the height adjusting device can realize the height adjustment. When the cleaning main machine 200 is connected with the height adjusting device through the connecting device 10, the cleaning main machine 200 can move up and down between two planes having different heights of the height difference structure to realize the smooth crossing of the height difference structure and meet the cleaning demand of the two different planes. Similarly, when the height difference structure to be crossed is a stair structure having continuous step planes, the stair climbing machine 100 can assist the cleaning main machine 200 to climb the stair structure: under the action of the stair climbing machine 100, the cleaning main machine 200 can realize the continuous climbing and crossing of the multiple step planes to meet the cleaning demand of the two different areas connected by the stair.

[0145] Specifically, the height adjusting device includes three parts of a device main body 110, a scissor type lifting assembly 120 and a lifting driving assembly 130, wherein the device main body 110 includes a fixed base 111 and a load platform 112, the load platform 112 is located above the fixed base 111, and the connecting device 10 is installed on the load platform 112 through the fixed frame 1. Correspondingly, when the cleaning main machine 200 is locked with the cleaning device through the locking clasp 3, the cleaning main machine 200 is also located on the load platform 112.

[0146] The scissor lifting assembly 120 is located between the fixed base 111 and the load platform 112, and one end of the scissor lifting assembly 120 is connected with the fixed base 111, and the other end is connected with the load platform 112; the lifting driving assembly 130 is in transmission connection with the scissor lifting assembly 120, and is used for driving the scissor lifting assembly 120 to act, so as to drive the load platform 112 to move towards the direction of approaching or moving away from the fixed base 111.

[0147] When the load platform 112 moves towards the direction of approaching the fixed base 111, the height of the height adjusting device as a whole is reduced; when the load platform 112 moves towards the direction of moving away from the fixed base 111, the height of the height adjusting device as a whole is increased.

[0148] The height adjusting device can overcome the defect that the autonomous crossing ability of the cleaning main machine 200 over the height difference structure is weak, and it is difficult to meet the user's automatic cleaning demand for the ground environment with the height difference structure. When the cleaning main machine 200 is connected with the connecting device 10, the height adjusting device can drive the cleaning main machine 200 to act, so as to realize the rapid lifting and transfer of the cleaning main machine 200 on the ground with the height difference structure.

[0149] When the distance between the load platform 112 and the fixed base 111 is the smallest, please refer to Figure 1 , at this time, the overall height of the height adjusting device is the lowest; when the distance between the load platform 112 and the fixed base 111 is the largest, please refer to Figure 2 , at this time, the overall height of the height adjusting device is the highest. The part of the scissor lifting assembly 120 located between the fixed base 111 and the load platform 112 is integrally constructed like an "X" shape, and the upper and lower ends thereof are respectively used for connecting the fixed base 111 and the load platform 112.

[0150] In a feasible implementation, the number of the scissor lifting assemblies 120 is at least two and is arranged in the first direction X, please refer to Figure 12 . The scissor lifting assembly 120 hinged with one end of the fixed base 111 and the load platform 112 in the second direction Y is a first lifting assembly, and the number of the first lifting assembly is at least two; the first direction X and the second direction Y are orthogonal.

[0151] In an embodiment, any one of the scissors lifting assemblies 120 comprises a first sliding guide 121, a second sliding guide 122, and a scissors pair 123. The first sliding guide 121 is arranged on the fixed base 111, the second sliding guide 122 is arranged on the load platform 112, and the scissors pair 123 comprises a first scissors arm 1231 and a second scissors arm 1232 hingedly connected to each other. One end of the first scissors arm 1231 is hingedly connected to the fixed base 111, and the other end is slidingly connected to the second sliding guide 122 via a second sliding member which is slidingly fitted with the second sliding guide 122. One end of the second scissors arm 1232 is hingedly connected to the load platform 112, and the other end is slidingly connected to the fixed base 111 via a first sliding member which is slidingly fitted with the first sliding guide 121.

[0152] Specifically, the scissors pair 123 has an X-like structure. Under the action of an external force, when any one of the first scissors arm 1231 and the second scissors arm 1232 slidingly moves relative to the fixed base 111 or the load platform 112, the other scissors arm hingedly connected thereto will rotate and slidingly move, and the transverse span and vertical height of the scissors pair 123 will be changed.

[0153] For example, the first scissors arm 1231 and the second scissors arm 1232 have the same size, and the hinge points of the first scissors arm 1231 and the second scissors arm 1232 are arranged at the midpoints of the two arms. The first scissors arm 1231 and the second scissors arm 1232 can rotate relative to each other via the hinge points.

[0154] Please refer to Figure 11 When the load platform 112 is in the lowest position, the scissors pair 123 is in a contracted state as a whole. Under the action of an external driving force, taking the first scissors arm 1231 as an example, one end of the first scissors arm 1231 slidingly moves relative to the load platform 112 under the action of the external driving force, and in this process, the hinge point is lifted, which is manifested as the rotation of the first scissors arm 1231 around the hinge point. The second scissors arm 1232 hingedly connected thereto is driven to rotate around the hinge member accordingly. Since the fixed base 111 remains fixed, the end of the first scissors arm 1231 connected to the load platform 112 will lift the load platform 112 relative to the fixed base 111 upward along with the relative movement of the first scissors arm 1231 and the load platform 112. Similarly, the second scissors arm 1232 will also lift the load platform 112 upward. When the first scissors arm 1231 and the second scissors arm 1232 are in the maximum extended state, the load platform 112 moves to the highest position, please refer to Figure 12 .

[0155] It should be noted that the first shear arm 1231 and the second shear arm 1232 can be the same or different. In the shear arm pair 123 provided in the embodiments of the present application, it is only required that the arm length of the first shear arm 1231 and the second shear arm 1232 be consistent and that the first shear arm 1231 and the second shear arm 1232 are connected through the hinge point.

[0156] The first shear arm 1231 and the second shear arm 1232 hingedly connected to each other can form a triangular stable structure with any one of the fixed base 111 and the load platform 112, so as to realize uniform distribution of the load through the hinge point while achieving lifting movement of the load platform 112 driven by the height adjusting device, and to improve the load bearing capacity of the height adjusting device to a certain extent.

[0157] In a feasible implementation, the first sliding guide 121 is formed on the fixed base 111 and arranged along the preset movement path of the second shear arm 1232, and the second sliding guide 122 is formed on the load platform 112 and arranged along the preset movement path of the first shear arm 1231.

[0158] In a feasible implementation, the first sliding guide 121 can be a sliding rail fixedly arranged on the fixed base 111 or a sliding groove formed on the fixed base 111, and the first sliding member is a sliding block matched with the first sliding guide 121, and the sliding block is hingedly connected to one end of the second shear arm 1232. The second sliding guide 122 can be a sliding rail fixedly arranged on the load platform 112 or a sliding groove formed on the load platform 112, and the second sliding member is a sliding block matched with the second sliding guide 122, and the sliding block is hingedly connected to one end of the first shear arm 1231.

[0159] The first sliding guide 121 and the second sliding guide 122 can be the same or different. The structure of the sliding cooperation can be disclosed in the related art, and will not be described here.

[0160] In some feasible implementations, the lifting driving assembly 130 for driving the scissor lifting assembly 120 to lift can include a driving motor and a lead screw member, wherein the lead screw member is connected to the lifting driving motor and the shear arm pair 123. Under the driving of the driving motor, the lead screw member can convert the rotating force output by the driving motor into linear force and drive one of the first shear arm 1231 and the second shear arm 1232 to slide.

[0161] The lead screw member can be arranged one-to-one corresponding to the scissor lifting assembly 120, or one lead screw member can be arranged to drive at least two scissor lifting assemblies 120 simultaneously.

[0162] When the cleaning host 200 needs to cross a single step structure, the step structure has a first horizontal plane S1 and a second horizontal plane S2 with different heights, wherein the height of the first horizontal plane S1 is higher than the height of the second horizontal plane S2, and the first horizontal plane S1 and the second horizontal plane S2 are connected by a vertical plane S3. The stair climber 100 is located at the second horizontal plane S2 and is attached to the vertical plane S3. When the cleaning host 200 needs to be transferred from the first horizontal plane S1 to the second horizontal plane S2, the height of the stair climber 100 can be controlled to adapt the upper surface of the load platform 112 to the first horizontal plane S1 (at this time, the upper surface of the load platform 112 can be controlled to be parallel to the first horizontal plane S1), and then the cleaning host 200 located on the first horizontal plane S1 can be moved to the load platform 112 by driving the self-action of the cleaning host 200, the connecting device 10 is controlled to act to lock the cleaning host 200 and the connecting device 10; then, the height of the stair climber 100 is controlled to lower the load platform 112 to the lowest position, the connecting device 10 is controlled to directly unlock or unlock after rotating a certain angle with the cleaning host 200, and the cleaning host 200 located on the load platform 112 can act by itself and move away from the upper surface of the load platform 112 and enter the second horizontal plane S2 by translation and / or rotation, so as to realize the transfer of the cleaning host 200 from the higher first horizontal plane S1 to the relatively lower second horizontal plane S2. When the cleaning host 200 needs to be transferred from the second horizontal plane S2 to the first horizontal plane S1, the load platform 112 can be lowered to the lowest point first, the cleaning host 200 is driven to move to the load platform 112 by itself, the connecting device 10 is controlled to act to lock the cleaning host 200 and the connecting device 10; then, the height of the stair climber 100 is controlled to raise the load platform 112 to the height adapted to the first horizontal plane S1, the connecting device 10 is controlled to unlock or unlock after rotating a certain angle with the cleaning host 200, and the cleaning host 200 located on the load platform 112 can act by itself to move away from the upper surface of the load platform 112 and enter the first horizontal plane S1.

[0163] At this time, the stair climber 100 can conveniently assist the cleaning host 200 to enter different areas with a certain height difference in the room (for example, a duplex house with a height difference of 10-50 cm on the indoor floor), and clean the above-mentioned areas.

[0164] In some possible embodiments, the stair climber 100 further comprises a sliding translation device 140, and the connecting device 10 and the load platform 112 are slidingly connected through the sliding translation device 140, please refer to Figure 13 .

[0165] The sliding translation device 140 includes a transmission-connected translation drive motor 141 and a translation drive assembly. The translation drive assembly is used to connect the load platform 112 and the connecting device 10. When the translation drive motor 141 is started, the translation drive assembly acts and drives the connecting device 10 to translate relative to the load platform 112.

[0166] In some embodiments, the translation drive assembly is a rack and pinion mechanism 142. The translation drive motor 141 is fixedly arranged on the connecting device 10, and the rack and pinion mechanism 142 includes a driving gear 1421 and a guide rack 1422 that are engaged with each other. The driving gear 1421 is sleeved on the output shaft of the translation drive motor 141, and the guide rack 1422 is fixedly arranged on the load platform 112.

[0167] After the translation drive motor 141 is started, the driving gear 1421 can rotate to move along the length direction of the guide rack 1422 under the driving of the output shaft, and the driving gear 1421 drives the translation drive motor 141 to move synchronously. Since the translation drive motor 141 is fixedly arranged on the connecting device 10, the connecting device 10 moves synchronously with the translation drive motor 141 to achieve translation.

[0168] In order to further improve the stability during the translation, in some embodiments, the number of the translation drive assemblies is two and arranged side by side. The number of the rack and pinion mechanisms 142 is two, and the two guide racks 1422 are arranged on the two sides of the translation drive motor 141. The translation drive motor 141 is provided with output shafts at both ends in the axial direction, and the two driving gears 1421 are connected to the two output shafts and engaged with different guide racks 1422.

[0169] In some embodiments, part of the surface of the first end 301 of the connecting piece is provided with mounting plates, and the number of the mounting plates is two. An installation slot is formed in any one of the mounting plates, and the two mounting plates are symmetrically arranged. The translation drive motor 141 is mounted between the two mounting plates, and the two output shafts formed on the translation drive motor 141 pass through the installation slots formed in the different mounting plates to be in transmission connection with the driving gears 1421. The axes of the two output shafts of the translation drive motor 141 coincide.

[0170] In some embodiments, the sliding translation device 140 further includes a guide limiting assembly 143. The guide limiting assembly 143 includes a first guide 1431 and a second guide 1432 that are slidingly fitted. The first guide 1431 is arranged on the connecting device 10 and located on the side of the connecting piece away from the hanging piece, and the second guide 1432 is arranged on the load platform 112 and parallel to the guide rack 1422.

[0171] When the connecting device 10 is translated relative to the load platform 112, the first guide 1431 formed on the connecting device 10 can slide along the length direction of the second guide 1432.

[0172] In a possible implementation, the number of the guide limiting components 143 is the same as the number of the gear-rack engaging mechanisms 142. When the number of the guide limiting components 143 is two, the two first guides 1431 are located on both sides in the width direction of the connecting device 10, so as to ensure that the connecting device 10 can slide smoothly relative to the load platform 112.

[0173] The number of the guide limiting components 143 is two and the two guide limiting components 143 are arranged side by side on both sides of the sliding translation device 140.

[0174] Specifically, the first guide 1431 is a guide sliding sleeve and the second guide 1432 is a guide rod, and the guide sliding sleeve is sleeved on the outer circumferential side of the guide rod. In other embodiments, the first guide 1431 can also be a sliding block and the second guide 1432 is a sliding rail in sliding cooperation with the sliding block.

[0175] It is considered that the stair climbing machine 100 needs to be moved to the front of the stairs from the placement position before performing the stair climbing operation. In order to solve the problem of how the stair climbing machine 100 moves to the front of the stairs, in a possible implementation, the stair climbing machine 100 further comprises a walking device for driving the height adjusting device to travel on the ground to be cleaned, and the walking device is arranged on the fixed base 111.

[0176] The walking device comprises a walking motor and a driving wheel, and at least two universal wheels are further arranged on the fixed base 111. When the walking motor is started, the moving direction of the stair climbing machine 100 can be controlled by controlling the rotating speed and moving direction of the driving wheel, so that the stair climbing machine 100 can move back and forth between the arrangement position and the stairs.

[0177] The stair climbing machine 100 provided in the embodiments of the present application can carry the cleaning main machine 200 up and down the stairs by adjusting the height of the stair climbing machine 100 and driving the cleaning main machine 200 to translate, so as to realize the climbing.

[0178] Figure 14A-Figure 14E The stair climbing process of the stair climbing machine 100 provided in the embodiments of the present application is shown in the following figure.

[0179] The stairs comprise a plurality of step structures, please refer to Figure 14A . In order to Figure 14AThe lowest step in the middle of the stairs is taken as an example. The step has a first horizontal surface S1 and a second horizontal surface S2 with different heights, wherein the height of the first horizontal surface S1 is higher than that of the second horizontal surface S2, and the first horizontal surface S1 and the second horizontal surface S2 are connected by a vertical surface S3. Before climbing the step structure, the cleaning robot 100 is controlled to move to the front of the stairs, at which time the fixed base 111 of the cleaning robot 100 is located on the second horizontal surface S2 and in contact with the vertical surface S3 of the step, the load platform 112 in the cleaning robot 100 is lowered to the lowest value, the cleaning main machine 200 is fixed above the load platform 112 by the connecting device 10, the overall center of gravity of the cleaning robot 100 is stable and in a suitable position; then, the height adjusting device is controlled to adapt the upper surface of the load platform 112 to the first horizontal surface S1 (at this time, the upper surface of the load platform 112 can be controlled to be higher than the first horizontal surface S1), please refer to Figure 14B . This height helps the cleaning main machine 200 and the connecting device 10 on the load platform 112 to move in translation relative to the height adjusting device; finally, the sliding translation device 140 is controlled to start, driving the cleaning main machine 200 and the connecting device 10 to move towards the first horizontal surface S1, so as to control the center of gravity of the cleaning robot 100 to shift towards the area where the first horizontal surface S1 is located in the process, please refer to Figure 14C ; after the connecting device 10 moves to the path key, the height adjusting device is controlled to retract, and the fixed base 111 is moved towards the position where the load platform 112 is located under the pulling of the scissor lifting assembly 120 until the height of the height adjusting device is at the minimum value (at this time, the height of the bottom surface of the fixed base 111 needs to be controlled to be not lower than the first horizontal surface S1), please refer to Figure 14D ; finally, the sliding translation device 140 is controlled to start and drive the connecting device 10 and the cleaning main machine 200 to move reversely. Since the height adjusting device is in a suspended state at this time, the cleaning main machine 200 and the connecting device 10 can be in contact with the first horizontal surface S1 under the action of friction, so the sliding translation device 140 can control the height adjusting device to move relative to the connecting device 10 and contact the first horizontal surface S1, please refer to Figure 14E . At this time, the relative position relationship between the height adjusting device and the connecting device 10 returns to the initial state, and the climbing process of the first step is completed. The above operations are repeated, and the cleaning robot 100 gradually rises and approaches the top of the stairs until the climbing of all steps of the stairs is completed, so as to complete the climbing work. When the cleaning robot 100 is controlled to descend along the steps, the above process is reversely repeated.

[0180] The cleaning robot 100 can conveniently assist the cleaning main machine 200 to pass through different areas with a certain height difference (for example, the upper and lower ground surfaces connected by the stairs) in the room and clean the above areas. In addition, in combination with the rotating mechanism 7 provided on the connecting device 10 and the walking device provided on the fixed base 111, when the cleaning robot 100 is in Figure 14CIn the state shown, by controlling the movement of the stair climber 100 along the length direction of the step and the rotation of the cleaning main machine 200, the cleaning of the step by the cleaning main machine 200 can be realized.

[0181] In other similar embodiments, in order to further improve the stability of the stair climber 100 during the climbing process, the scissor lifting assembly 120 hinged to the other end of the fixed base 111 and the load platform 112 in the second direction Y can also be set as a second lifting assembly, and the number of the second lifting assembly is at least one.

[0182] Please refer to Figure 15 , Figure 15 The structural schematic diagram of the stair climber 100 provided for another embodiment of the present application is shown.

[0183] The structure of the second lifting assembly is basically the same as that of the first lifting assembly, which can be used to cooperate with the first lifting assembly to maintain the continuous support and lifting of the load platform 112 at both ends in the second direction Y during the height change of the stair climber 100, so as to improve the stability of the stair climber 100 during the height change.

[0184] When the height adjusting device is in action, the sliding direction of the second lifting assembly is opposite to that of the first lifting assembly.

[0185] For example, when a lead screw member drives the first lifting assembly and the second lifting assembly to act synchronously, the lead screw member can be provided with a bidirectional lead screw, and the first lifting assembly and the second lifting assembly are connected to different parts of the bidirectional lead screw, which will not be described here.

[0186] In view of the balance problem of the scissor lifting assembly 120 during the lifting action, in some embodiments, the scissor lifting assembly 120 can also be provided to include at least two first lifting assemblies arranged side by side along the first direction X, and the two first lifting assemblies are arranged at intervals along the first direction X, and the second lifting assembly is located between the two adjacent first lifting assemblies.

[0187] In other similar embodiments, the number of the fixed base 111 can also be set to be at least two, and the number of the fixed base 111 is the same as and arranged one by one with the number of the scissor lifting assembly 120.

[0188] The plurality of fixed bases 111 are arranged at intervals along the first direction X. Different fixed bases 111 can realize independent lifting action under the control of the corresponding scissor lifting assembly 120, which meets the different needs of the stair climber 100 during the lifting process.

[0189] By splitting the fixed base 111, the stair climbing machine 100 can have better flexibility and improve the adaptability of the stair climbing machine 100 to the stairs of different shapes. In the case where the facade S3 of the stairs extends along a curved surface (for example, a spiral staircase), the stair climbing machine 100 can more flexibly adjust the actions of different scissor lifting assemblies 120 to better adapt to the climbing operation.

[0190] In a third aspect, the embodiments of the present application also provide a cleaning system, comprising the stair climbing machine 100 of any one of the above, and further comprising a cleaning base station.

[0191] The cleaning system comprises the beneficial effects of any one or more of the above-mentioned stair climbing machines 100, which will not be repeated here.

[0192] The above description of the various embodiments tends to emphasize the differences between the various embodiments, and the same or similar parts can be referred to each other, and for the sake of brevity, will not be repeated here.

[0193] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A connection device, characterized in that The connecting device is arranged on the stair climbing machine and used for detachable connection with the cleaning main machine. The fixing frame is connected with the stair climbing machine, and a positioning sleeve is arranged on the fixing frame. The connecting main body is arranged on the positioning sleeve. The locking clamps are arranged on the connecting main body, and the cleaning main machine is provided with positioning clamps matched with the locking clamps.

2. The connection device according to claim 1, characterized in that The connecting main body comprises a first mounting main body, and an action assembly is arranged on the first mounting main body.

3. The connection device according to claim 2, characterized in that The action assembly is in contact with the locking clamps and used for pushing the locking clamps to move from the locking position to the release position or pushing the locking clamps to move from the release position to the locking position.

4. The connection device of claim 2, wherein The action assembly comprises matched guide members and action arms. One end of the action arms in the moving direction is in contact with the locking clamps.

5. The connection device according to claim 4, characterized in that In the case that the action assembly pushes the locking clamps to move from the locking position to the release position, the surface of the locking clamps away from the middle part of the connecting main body is separated from the positioning clamps.

6. The connection device of claim 4, wherein In the case that the action assembly pushes the locking clamps to move from the release position to the locking position, the surface of the locking clamps towards the middle part of the connecting main body is in contact with the positioning clamps.

7. The connection device of claim 3, wherein The locking clamps comprise first ends and second ends.

8. The connection device according to claim 7, characterized in that The action assembly is in contact with the surface of the locking clamps adjacent to the first ends to push the first ends to swing away from the middle part of the first mounting main body. The surface adjacent to the second ends is recessed inward to form first locking hooks matched with the positioning clamps.

9. The connection device according to claim 8, characterized in that The number of the locking clamps is at least two and regularly arranged on the connecting main body. The number of the action assemblies is the same as that of the locking clamps and arranged one by one. The connecting device further comprises a driving mechanism used for driving the action arms to act to swing the locking clamps. The driving mechanism comprises a first driving motor and a driving arm in transmission connection. One end of the driving arm in the axial direction is in transmission connection with the output shaft of the first driving motor, and the other end has push parts. The number of the push parts is the same as that of the action assemblies and arranged one by one. Under the driving of the first driving motor, the driving arm acts and drives the push parts to rotate around the axis to push the action arms to extend relative to the first mounting main body. The side of the push part away from the rotation axis of the driving arm is a curved surface structure. The push part is in contact with the action arms through the curved surface structure. And / or, the push part is provided with a rotating bearing, and the push part is in contact with the action arm through the rotating bearing.

10. The connection device of claim 8, wherein The connecting body further comprises a second mounting body fixedly connected with the first mounting body, and a through slot is formed in the second mounting body, and the locking hook passes through the through slot and is swingably connected with the second mounting body.

11. The connection device according to claim 10, characterized in that The first mounting body is an annular mounting side plate protruding from one side surface of the second mounting body, and the mounting side plate and the second mounting body form an accommodation cavity, and at least part of the driving arm is located in the accommodation cavity. The guide member is a guide hole formed in the mounting side plate, and the push part is located at one end of the driving arm extending into the accommodation cavity and is directed to the inner side wall of the accommodation cavity.

12. The connection device of claim 11, wherein, The guide hole comprises a first hole and a second hole arranged at intervals, the action arm comprises a first push arm, a second push arm and a connecting portion, the first push arm and the second push arm are arranged side by side and respectively pass through the first hole and the second hole, and the connecting portion is located in the accommodation cavity and connects the first push arm and the second push arm.

13. The connection device of claim 11, wherein, The through slot is located outside the accommodation cavity and is independent of the accommodation cavity; or the through slot is communicated with the accommodation cavity.

14. The connection device of claim 11, wherein, The connecting body further comprises a cover body covering one side of the mounting side plate away from the second mounting body and fixedly connected with the mounting side plate, and the driving arm passes through the cover body and extends into the accommodation cavity.

15. The connection arrangement according to any one of claims 10-14, characterized in that, The connecting device further comprises an elastic member acting on the locking hook, and the locking hook swings and pushes the action arm to reset under the action of the elastic member.

16. The connection device of claim 15, wherein, The elastic member is a torsion spring, and two ends of the torsion spring are respectively in contact with the surface of the locking hook and the surface of the through slot.

17. The connection device of claim 1, wherein, The connecting device further comprises a rotating mechanism for driving the connecting body to rotate around the axis relative to the positioning sleeve to drive the cleaning main machine to rotate.

18. The connection device of claim 17, wherein, The rotating mechanism comprises a second driving motor fixedly installed on the fixed frame and an engagement assembly connected with the second driving motor and the connecting body. Under the driving of the second driving motor, the connecting body rotates around the axis and drives the locking hook to rotate synchronously.

19. A stair climber characterized by The connecting device is any one of claims 1-18. The connecting device is any one of claims 1-18. The height adjusting device comprises a device body, a scissor lifting assembly and a lifting driving assembly, the device body comprises a fixed base and a load platform, the load platform is above the fixed base, the connecting device is arranged on the load platform through the fixed frame; the scissor lifting assembly is between the fixed base and the load platform, one end of the scissor lifting assembly is connected with the fixed base, and the other end is connected with the load platform; the lifting driving assembly is in transmission connection with the scissor lifting assembly, and is used for driving the scissor lifting assembly to move, so that the load platform drives the connecting device to move towards the fixed base or away from the fixed base.

20. The stair climber of claim 19, wherein, The number of the scissor lifting assemblies is at least two and is arranged in a first direction, the scissor lifting assembly hinged with one end of the fixed base and the load platform in a second direction is a first lifting assembly, and the number of the first lifting assembly is at least two. The first direction and the second direction are orthogonal.

21. The stair climber of claim 20, wherein, The scissor lifting assembly hinged with the other end of the fixed base and the load platform in the second direction is a second lifting assembly, and the number of the second lifting assembly is at least one. The first lifting assembly and the second lifting assembly are arranged in the first direction.

22. The stair climber of claim 19, wherein, The number of the fixed bases is at least two and is arranged in the first direction, and the number of the scissor lifting assemblies is the same as that of the fixed bases and is arranged one by one.

23. The stair climber of any one of claims 19-22, wherein, Any one of the scissor lifting assemblies comprises: A first sliding guide arranged on the fixed base; A second sliding guide arranged on the load platform; A pair of scissor arms comprising a first scissor arm and a second scissor arm hinged with each other; One end of the first scissor arm is hinged with the fixed base, and the other end is in sliding connection with the second sliding guide through a second sliding piece, and the second sliding piece is in sliding fit with the second sliding guide; One end of the second scissor arm is hinged with the load platform, and the other end is in sliding connection with the fixed base through a first sliding piece, and the first sliding piece is in sliding fit with the first sliding guide.

24. The stair climber of claim 19, wherein, The stair climbing machine further comprises a sliding translation device, the sliding translation device comprises a translation driving motor and a gear and rack meshing mechanism in transmission connection, the translation driving motor is fixedly arranged on the fixed frame, and the gear and rack meshing mechanism comprises a driving gear and a guide rack, the driving gear is sleeved on an output shaft of the translation driving motor, and the guide rack is fixedly arranged on the load platform.

25. The stair climber of claim 24, wherein, The sliding translation device further comprises a guide limiting assembly, the guide limiting assembly comprises a first guide and a second guide in cooperation, the first guide is arranged on the connecting device, and the second guide is arranged on the load platform and is parallel to the guide rack.

26. A cleaning system characterized by, The stair climbing machine comprises the stair climbing machine according to any one of claims 19-25 and a cleaning base station.

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