Connecting device, stair climbing machine and cleaning system

Abstract

The utility model is applicable to the technical field of household appliances, and provides a connecting device, a stair climbing machine and a cleaning system, and the connecting device is mounted on stair climbing equipment and at least used for loading a cleaning host. The connecting device comprises a connecting platform, a load part and a movable matching part, the load part is in sliding connection with the connecting platform through the movable matching part in the first direction, and the load part rotates along with sliding displacement relative to the connecting platform. The connecting device can be used for guiding the cleaning main machine to move to the stair climbing equipment and can be matched with the stair climbing equipment, and the adaptability of the cleaning equipment to the ground environment with the height difference is improved.

Description

Technical Field

[0001] This application belongs to the field of household appliances, and more specifically, relates to a connection device, a stair climber, and a cleaning system. Background Technology

[0002] In modern family life, keeping floors clean has become an important daily task, leading to the emergence of floor cleaning devices such as robotic vacuum cleaners, robotic mops, and sweeping-mopping robots, which provide great convenience. However, existing floor cleaning devices have significant limitations when dealing with floor environments with height differences, such as indoor steps.

[0003] In related technologies, a stair-climbing device is provided that can overcome the limitations of structures with stepped surfaces. Floor cleaning equipment can be connected to the stair-climbing device to meet users' expectations for automated floor cleaning and improve user experience.

[0004] However, simply placing the floor cleaning equipment on the stair climbing equipment can make it difficult for the cleaning equipment to easily enter or exit the stair climbing equipment, thus affecting the normal use of the floor cleaning equipment. In addition, there is a certain risk of the floor cleaning equipment falling during the process of moving up and down the stair climbing equipment.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] This application aims to solve or improve the technical problem of the limitation on the combination of cleaning equipment and stair climbing equipment in the prior art.

[0007] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0008] In a first aspect, this application provides a connecting device installed on a stair-climbing device, at least for loading a cleaning host. The connecting device includes a connecting platform, a load-bearing component, and a movable mating component, wherein the load-bearing component is slidably connected to the connecting platform along a first direction via the movable mating component, and the load-bearing component rotates relative to the connecting platform with sliding displacement.

[0009] In one feasible implementation, the movable mating element includes:

[0010] The first connector includes a protrusion;

[0011] The second connector includes a receiving portion that mates with the protrusion, at least a portion of the protrusion being located within the receiving portion and capable of sliding and rotating relative to the receiving portion;

[0012] One of the first connector and the second connector is located on the connection platform, and the other is located on the load component.

[0013] In one feasible implementation, the receiving portion is a groove or guide groove, and when the second connector is located on the load member, the length direction of the receiving portion extends along the first direction.

[0014] In one feasible implementation, the movable mating component further includes a connected guide and an actuating element, the guide being located on one of the connecting platform and the load member, and the actuating element being located on the other, the actuating element being movable along the guide to push the load member to slide and rotate relative to the connecting platform.

[0015] In one feasible implementation, the connecting platform is provided with a groove extending along the first direction, and the guide member is disposed within the groove.

[0016] In one feasible implementation, along the second direction, the actuator includes a first end and a second end, the first end of the actuator is hinged to the load member, and the second end of the actuator is provided with a transmission connection to the connecting platform;

[0017] The second direction is the thickness direction of the connecting platform and is perpendicular to the first direction. In the second direction, the distance between the first end and the second end is greater than the distance between the guide and the second connector.

[0018] In one feasible implementation, the guide includes a second guide groove, and the actuating element further includes a second slider, the second slider being slidably engaged with the second guide groove, and the extension direction of the second guide groove having an angle with the first direction.

[0019] In one feasible implementation, the guide further includes a first guide groove, and the actuating element further includes a first slider, the first slider being slidably engaged with the first guide groove, the first guide groove being parallel to the first direction.

[0020] In one feasible implementation, the connecting platform is provided with a groove extending along the first direction, and the guide includes a guide rack located in the groove and arranged along the length direction of the groove;

[0021] Along the second direction, the actuating member includes a first end and a second end, the first end of the actuating member is hinged to the load member, and the second end of the actuating member is provided with a movable gear that meshes with the guide rack;

[0022] The second direction is the thickness direction of the connecting platform and is perpendicular to the first direction. In the second direction, the distance between the first end and the second end is greater than the distance between the guide rack and the second connector.

[0023] In one feasible implementation, the angle between the load member and the connecting platform changes continuously with the sliding displacement of the load member in the first direction.

[0024] In one feasible implementation, the groove has a bottom wall, the guide rack is located on the bottom wall, and the first slider slides along the first guide groove as the movable gear moves along the guide rack.

[0025] In one possible implementation, the first slider is coaxially arranged with the movable gear.

[0026] In one feasible implementation, the connecting device further includes a drive member that is drively connected to the actuator.

[0027] In one feasible implementation, the connecting device further includes a drive shaft, the drive member being located between the connecting platform and the load member and being drively connected to the actuating member via the drive shaft.

[0028] In one possible implementation, a portion of the surface of the connecting platform facing the load member is recessed to form a clearance groove, and at least a portion of the drive member is located within the clearance groove when the load member is retracted relative to the connecting platform.

[0029] In one feasible implementation, the number of the movable mating parts is at least two, and they are spaced apart along a third direction;

[0030] The third direction is perpendicular to the plane containing the movement path of the load component.

[0031] In one feasible implementation, the connecting device further includes a synchronizing rod, to which all the movable mating parts are fixedly connected.

[0032] In one feasible implementation, the surface of the load member facing away from the connecting platform has a walking area, and when the length of the load member extending relative to the connecting platform in the first direction is at its maximum, the cleaning host can walk along the walking area to drive into or out of the load member.

[0033] In one feasible implementation, the load member includes a tray and a limiting side plate, the limiting side plate being fixedly connected to a portion of the outer circumferential edge of the tray to enclose and form an outlet for the cleaning host to drive into or out of the load member relative to the load member;

[0034] The exit is located on one side of the walking area in the first direction.

[0035] In one feasible implementation, the load-bearing component includes a pallet and a guide ramp, the guide ramp being rotatably connected to one end of the pallet extending relative to the connecting platform, the guide ramp being located on one side of the walking area in the first direction.

[0036] In one feasible implementation, the connection platform is provided with a receiving cavity.

[0037] In a second aspect, this application provides a stair-climbing machine, including a connecting device and a height adjustment device. The connecting device is any of the connecting devices described above. The height adjustment device includes a device body, a lifting assembly, and a lifting drive assembly. The device body includes a fixed base and a load platform. The load platform is located above the fixed base and connected to the connecting platform. The lifting assembly is located between the fixed base and the load platform. One end of the lifting assembly is connected to the fixed base, and the other end is connected to the load platform. The lifting drive assembly is drively connected to the lifting assembly and is used to drive the lifting assembly to move, so that the load platform drives the connecting device to move towards or away from the fixed base.

[0038] In one feasible implementation, the connecting platform is slidably connected to the load platform via a translation device; the translation device includes a cooperating translation guide and a translation drive, the translation guide being located on one of the load platform and the connecting platform, and the translation drive being located on the other.

[0039] In one feasible implementation, the translation guide includes at least one of a translation slide rail extending along the first direction and a translation rack, and the translation drive includes a translation drive motor and a translation action member cooperating with the translation guide;

[0040] Driven by the translation drive motor, the translation actuator moves along the length direction of the translation guide to cause the load platform and the connecting platform to translate relative to each other.

[0041] In a third aspect, this application also provides a cleaning system, including a cleaning host and a stair climber as described in any of the above claims.

[0042] Compared with the prior art, this application includes at least the following beneficial effects:

[0043] The connecting device provided in this application embodiment can reduce the difficulty for the cleaning host to climb onto the connecting device by extending or retracting the load member relative to the connecting platform. When the load member extends to its maximum length relative to the connecting platform, it can rotate to contact the working surface, allowing the cleaning host to drive into or out of the working surface via the walking area on the load member, thereby effectively reducing the difficulty for the cleaning host to move up and down relative to the connecting device. The stair climber provided in this application embodiment includes the above-mentioned connecting device, therefore the stair climber includes at least the beneficial effects of any one or more of the above-mentioned height adjustment devices, which will not be elaborated further here. In addition, the stair climber can also help improve the adaptability of the cleaning host to ground environments with certain height differences, thereby improving the automation and convenience of its cleaning process to a certain extent and improving the user experience. The cleaning system provided in this application embodiment includes the above-mentioned stair climber, therefore it includes at least the beneficial effects of any one or more of the above-mentioned stair climbers, which will not be elaborated further here. Attached Figure Description

[0044] 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.

[0045] Figure 1 This is a schematic diagram of the connection device provided in the embodiments of this application in its first state;

[0046] Figure 2 for Figure 1 A schematic diagram showing the connection between the connecting device and the cleaning unit;

[0047] Figures 3A-3B This is a schematic diagram of the connection device provided in the embodiments of this application in a second state;

[0048] Figure 4 for Figure 3A A schematic diagram showing the connection between the connecting device and the cleaning unit;

[0049] Figures 5A-5B This is an exploded view of the connecting device in its first state.

[0050] Figure 6 This is a cross-sectional structural diagram of the connecting device in the first state.

[0051] Figure 7 This is a cross-sectional structural diagram of the connecting device in the second state.

[0052] Figure 8This is a schematic diagram illustrating the engagement between the actuator and the groove in the connecting device provided in the embodiments of this application;

[0053] Figure 9 This is a schematic diagram of the stair-climbing machine provided in an embodiment of this application;

[0054] Figure 10 This is a partial structural schematic diagram of the stair-climbing machine provided in an embodiment of this application;

[0055] Figure 11 This is a structural schematic diagram of the stair-climbing machine provided in an embodiment of this application from another angle.

[0056] The following are the labeling elements in the figure:

[0057] 10. Connecting device; 1. Connecting platform; 11. Groove; 1101. Bottom wall; 1102. First side wall; 1103. Second side wall; 12. First guide groove; 13. Second guide groove; 14. Clearance groove; 15. Avoidance groove;

[0058] 2. Load-bearing components; 201. Traveling area; 202. Exit; 21. Pallet; 22. Limiting side plate; 23. Guide ramp;

[0059] 3. Movable mating parts; 31. First connecting part; 311. Protrusion; 32. Second connecting part; 321. Receiving part; 33. Guide part; 331. Guide rack; 34. Actuating part; 3401. First end; 3402. Second end; 341. Movable gear; 342. First slider; 343. Second slider;

[0060] 4. Drive components;

[0061] 5. Drive shaft;

[0062] 6. Synchronizing rod;

[0063] 20. Height adjustment device; 210. Main body of the device; 2101. Fixed base; 2102. Load platform;

[0064] 30. Translation device; 310. Translation guide; 320. Translation drive; 3201. Translation drive motor; 3202. Translation actuator;

[0065] 40. Walking device; 410. Walking wheels;

[0066] 50. Casters;

[0067] 100. Stair climber; 200. Cleaning unit. Detailed Implementation

[0068] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0069] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0070] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0072] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0073] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0074] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0075] This application provides a connection device 10, a stair-climbing robot 100, and a cleaning system. The cleaning system includes a cleaning base station and a cleaning host 200 for floor cleaning equipment. It may also include the stair-climbing robot 100 and the floor cleaning equipment, or simultaneously. In the cleaning system, the cleaning host 200 can be a sweeping robot, a mopping robot, or a combined sweeping and mopping robot, etc. The cleaning host 200 has sweeping and / or mopping functions. It is understood that the cleaning host 200 is a device used to automatically clean corresponding areas in the floor environment. When the cleaning host 200 starts working, it can depart from the cleaning base station and execute the corresponding cleaning task. When the cleaning host 200 completes the cleaning task or in other situations requiring the cleaning task to be terminated, it can return to the cleaning base station to perform at least one or more tasks such as charging, water replenishment, washing, and dust collection.

[0076] Elevation differences refer to structural elements within a home environment that create a height difference between different surfaces to be cleaned. These structures arise from architectural design and functional zoning needs, serving to separate, transition between, or connect different areas. For example, steps, as elevation differences, can connect interior spaces with significant height changes, such as the interior staircase in a duplex apartment; thresholds, as elevation differences, can serve as transitional partitions between different rooms or spaces (such as the living room and balcony), and thresholds are typically quite low; floor-to-ceiling window sills, as elevation differences, represent the height difference between the bottom of the window and the interior floor.

[0077] The cleaning unit 200 has a certain ability to cross height differences. Taking a door sill as an example, when the cleaning unit 200 approaches the door sill, it can increase the output torque of the motor to provide sufficient power for the wheels to cross the door frame. Simultaneously, the special tread pattern on the wheels increases the friction with the door sill surface, enabling the wheels to climb the door frame. Generally speaking, the height that the cleaning unit 200 can cross is relatively limited, usually not exceeding 3cm, and there is a certain probability of tipping over or getting stuck during the crossing process, seriously affecting the cleaning unit 200's cleaning and applicability to ground environments with height differences.

[0078] The connecting device 10, stair climber 100, and cleaning system provided in this application embodiment can improve the above-mentioned problems and overcome the limitations imposed on the use of the cleaning host 200 by ground environments with elevation differences. When there are elevation differences (such as steps, high thresholds, stairs, etc.) in the area to be cleaned that are difficult for the cleaning host 200 to cross autonomously, the cleaning host 200 can be connected to the stair climber 100 through the connecting device 10. This overcomes the traditional difficulty in combining the cleaning host 200 with the stair climber 100, and enables the climbing and cleaning of the aforementioned elevation differences through the stair climber 100, which has a stair climbing function. Compared with related technologies, the connecting device 10 provided in this application embodiment can effectively overcome the problem of difficulty in combining the cleaning host 200 with the stair climber 100, thereby improving the usage effect of the cleaning host 200, enabling it to better meet users' expectations for automated cleaning of ground cleaning equipment, and improving the user experience.

[0079] When the elevation difference structure to be traversed has only two planes of different heights, such as a single step or a window sill, the cleaning unit 200 can move up and down between the two planes of different heights using the stair climber 100, thus smoothly traversing the elevation difference structure and meeting the cleaning needs of the two different planes. Similarly, when the elevation difference structure to be traversed is a staircase structure with continuous steps, the stair climber 100 can assist the cleaning unit 200 in climbing the staircase structure and continuously ascending and traversing multiple steps, meeting the cleaning needs of the two different areas connected by the staircase.

[0080] Figure 1 This is a schematic diagram of the connection device 10 provided in the embodiments of this application in its first state. Figure 2 for Figure 1 The diagram shows the interaction between the connecting device 10 and the cleaning unit 200. Figures 3A-3B This is a schematic diagram of the connection device 10 provided in the embodiments of this application in a second state. Figure 4 for Figure 3A The diagram shows the interaction between the connecting device 10 and the cleaning host 200.

[0081] The connecting device 10 can be installed on top of a stair-climbing device (such as a stair-climbing machine 100) or in the middle of a device with a stair-climbing function, with at least a portion of its upper surface used to load the cleaning host 200.

[0082] Specifically, the connecting device 10 mainly includes a connecting platform 1, a load component 2, and a movable mating component 3. The connecting platform 1 can be combined with other components to assemble the main body of the stair climber 100. The load component 2 can be movably connected to the connecting platform 1 through the movable mating component 3 and can generate a certain displacement relative to the connecting platform 1 under the action of external force, so as to facilitate the entry and exit of the cleaning host 200 on the load platform 2102.

[0083] Specifically, the surface of the load-bearing component 2 facing away from the connecting platform 1, i.e., the upper surface of the load-bearing component 2, is used to support the cleaning host 200.

[0084] Under the action of external force, the load component 2 can slide relative to the connecting platform 1 along the first direction (see...) by means of sliding engagement with the connecting platform 2. Figure 1 The load member 2 translates in the X direction (indicated by the middle arrow) and is driven by the movable mating part 3 during the translation. In addition, the load member 2 can rotate relative to the connecting platform 1 with the sliding displacement during the translation relative to the connecting platform 1.

[0085] In the first state, the load 2 is located above the connecting platform 1 and is stationary. Please refer to [link / reference]. Figure 1 When the cleaning host 200 is located on the load unit 2, please refer to... Figure 2 .

[0086] When an external force is applied to the load member 2 in the first state of the connecting device 10, causing the load member 2 to move relative to the connecting device 10 in the first direction, as the length of the load member 2 extending relative to the connecting platform 1 gradually increases, the end of the load member 2 that extends out loses the upward support force provided by the connecting platform 1. Therefore, when subjected to a downward force, it will cause the entire load member 2 to rotate relative to the connecting platform 1 until the connecting device 10 is in the second state.

[0087] In the second state, the load member 2 extends outward in the first direction relative to the connecting platform 1 at its longest length. At this time, the end of the load member 2 furthest from the connecting platform 1 rotates to its lowest point towards the side closest to the working surface supporting the connecting platform 1. When the load member 2 extends outward in the first direction relative to the connecting platform 1 at its maximum length, please refer to [link to relevant documentation]. Figure 3A and Figure 3B The end of the load member 2 furthest from the connecting platform 1 can contact the working surface, or the distance between the load member 2 and the working surface is less than the maximum height difference that the cleaning host 200 can climb. Alternatively, the angle between the load member 2 and the working surface allows the cleaning host 200 to climb. In the second state of the connecting device 10, the cleaning host 200 located on the working surface can climb along its upper surface using the load member 2, which is inclined relative to the working surface. After the cleaning host 200 has completely climbed onto the load member 2, please refer to... Figure 4 At this point, the load component 2 and the connecting platform 1 can be adjusted to be as described above by controlling the load component 2 to move in the opposite direction relative to the connecting platform 1 along the first direction. Figure 1 In the first state shown, the cleaning unit 200 located on the upper surface of the load member 2 can be transferred to the top of the connecting platform 1 as the load member 2 moves. Alternatively, in the second state of the connecting device 10, the cleaning unit 200 located on the upper surface of the load member 2, please refer to [link to relevant documentation]. Figure 4 It can move along the upper surface of the load 2 toward the side away from the connecting platform 1 until the cleaning host 200 is transferred to the working surface and detached from the upper surface of the load 2.

[0088] Please see Figure 3A and Figure 3B At least a portion of the surface of the connecting platform 1 that contacts the load member 2 is planar. When the load member 2 moves above the connecting platform 1 along the first direction, the connecting platform 1 can contact the surface of the load member 2 through the aforementioned planar surface, thereby providing a larger contact area between the connecting platform 1 and the load member 2 and ensuring a more stable connection between them. The side of the load member 2 that contacts the upper surface of the connecting platform 1 also includes a planar surface.

[0089] Please see Figure 3A The load member 2 has a walking area 201 on the side surface that directly contacts the cleaning host 200. In a first state, the walking area 201 extends along a first direction; in a second state, the extending direction of the walking area 201 is on the same plane as the first direction. When the length of the load member 2 extending relative to the connecting platform 1 along the first direction is at its maximum, the cleaning host 200 can move along the walking area 201 to enter or exit relative to the load member 2.

[0090] It should be noted that in the second state, at least part of the structure of the above-mentioned load member 2 is located outside the connection platform 1.

[0091] Specifically, in some cases, the load member 2 as a whole can be a flat plate-like structure, such as a pallet 21. In other feasible embodiments, the load member 2 as a whole can also be a trough-shaped structural member, one end of which has an opening for the cleaning host 200 to drive in or out, and other areas form a semi-enclosed cavity structure for accommodating the cleaning host 200.

[0092] Specifically, please refer to Figure 3A , the load member 2 includes a pallet 21 and a limiting side plate 22. The limiting side plate 22 is fixedly connected to a part of the circumferential outer edge of the pallet 21 to enclose an exit 202 for the cleaning host 200 to drive in or out relative to the load member 2. The exit 202 is located on one side of the walking area 201 in the first direction.

[0093] The positive projection of the above-mentioned limiting side plate 22 in the thickness direction of the pallet 21 is a "匚" - shaped structure.

[0094] Please refer to Figure 3B , an active fitting 3 is also provided between the connection platform 1 and the load member 2. The active fitting 3 is at least used to provide guidance and leading effects for the relative movement between the connection platform 1 and the load member 2.

[0095] Figures 5A-5B It is an exploded view of the structure of the connection device 10 in the first state, Figure 6 It is a schematic cross-sectional structure diagram of the connection device 10 in the first state, Figure 7 It is a schematic cross-sectional structure diagram of the connection device 10 in the second state, Figure 8 It is a schematic diagram of the cooperation between the moving part 34 and the groove 11 in the connection device 10 provided by the embodiment of the present application.

[0096] In a feasible embodiment, the active fitting 3 includes a first connecting member 31 and a second connecting member 32 that cooperate with each other. Among them, the first connecting member 31 can slide relative to the second connecting member 32 and generate a certain rotation to meet the relative displacement between the load member 2 and the connection platform 1.

[0097] Specifically, it can be set that the first connecting member 31 includes a convex portion 311, and the second connecting member 32 has a receiving portion 321 that cooperates with the convex portion 311. The above-mentioned receiving portion 321 can be used to receive at least part of the convex portion 311 and can meet the sliding and rotational movement of the convex portion 311 relative to the receiving portion 321 under the action of an external force.

[0098] One of the first connecting member 31 and the second connecting member 32 is located on the connection platform 1, and the other is located on the load member 2.

[0099] For example, please refer to Figure 5A The first connector 31 is located on the connecting platform 1, and the second connector 32 is located on the side of the load member 2 opposite to the first connector 31.

[0100] To ensure that the first connecting member 31 can translate and rotate relative to the second connecting member 32, the protrusion 311 can be a cylindrical rotating shaft structure. In this case, the second connecting member 32 can be a strip member protruding from the lower surface of the load member 2, and the receiving part 321 is a strip groove or strip guide formed on the strip member.

[0101] In one possible implementation, the receiving portion 321 is a concave groove-shaped structure (groove) or a guide groove-shaped structure.

[0102] Alternatively, in other feasible embodiments, the protrusion 311 can be set as a trapezoidal or rectangular slider, and the protrusion 311 can be rotatably connected to the connecting platform 1 through a structure with similar function such as a rotating shaft, so as to meet the relative rotation requirements between the load member 2 and the connecting platform 1.

[0103] It should be noted that the aforementioned receiving portion 321 is used to limit the protrusion 311 to slide relative to the receiving portion 321 in a specific direction.

[0104] In this embodiment, the receiving portion 321 is a strip-shaped structure and its length direction is parallel to the extension direction of the walking area 201. When the connecting device 10 is in the first state, the extension direction of the receiving portion 321 is parallel to the first direction, that is, the receiving portion 321 extends along the first direction.

[0105] With the cooperation of the first connector 31 and the second connector 32, the load member 2 can perform a coupled motion of translation and rotation relative to the connecting platform 1 under the drive of external force.

[0106] For details, please refer to Figure 6 and Figure 7 The first connecting member 31 is a cylindrical rotating shaft located at the outwardly extending end of the connecting device 10 near the load member 2. The second connecting member 32 is a strip-shaped groove protruding from the lower surface of the load member 2 and cooperating with the first connecting member 31. When the connecting device 10 is in the first state, ... Figure 6 Taking the indicated orientation as an example, the first connector 31 is located on the left side of the connecting platform 1 and engages with the left side of the second connector 32. As the load member 2 extends relative to the connecting platform 1 and the extension length gradually increases, the first connector 31 and the load member 2 move synchronously. When the extension length of the load member 2 relative to the connecting platform 1 is at its maximum, the connecting device 10 is in the second state. Please refer to [link / reference]. Figure 7 The right side of the first connector 31 mates with the right side of the second connector 32.

[0107] Of course, in other similar embodiments, the first connector 31 can be adjusted to be disposed on the load member 2 as needed, and the second connector 32 can be disposed on the connecting platform 1. When the connecting device 10 is in the first state, the first connector 31 is located in the middle of the connecting platform 1 and cooperates with the middle of the second connector 32; as the length of the load member 2 extending relative to the connecting platform 1 gradually increases, the first connector 31 gradually moves towards the left side of the connecting platform 1 until the load member 2 reaches its maximum length relative to the connecting platform 1. At this time, the connecting device 10 is in the second state, and the first connector 31 moves to the left side of the connecting platform 1 and cooperates with the left side of the second connector 32.

[0108] This embodiment does not limit the specific location of the first connector 31 and the second connector 32, as long as the movable mating parts 3 including the mutually cooperating first connector 31 and second connector 32 can satisfy the relative movement between the load member 2 and the connecting platform 1.

[0109] In other similar embodiments, the first connecting member 31 and the second connecting member 32 can be adjusted to be a meshing structure as needed. For example, the first connecting member 31 can be a freely rotating gear structure, and the second connecting member 32 can be a rack structure that meshes with the gear.

[0110] Considering that the load component 2 can rotate at a certain angle relative to the connecting platform 1 during the translation along the first direction, in addition to using gravity to change the angle of rotation of the load component 2 relative to the connecting platform 1 by controlling the length of the part of the load component 2 extending relative to the connecting platform 1, in order to better control the above-mentioned rotation angle so that the angle between the load component 2 and the working surface when they come into contact can meet the climbing design requirements of the cleaning host 200, the above-mentioned movable mating part 3 also includes a rotation adjustment structure for adjusting the movement and rotation of the load component 2.

[0111] Please see Figure 5A , Figure 5B and Figure 8 The aforementioned rotation adjustment structure also includes a guide member 33 and an actuator 34 that cooperate with each other. The guide member 33 is located on one of the connecting platform 1 and the load member 2, and the actuator 34 is located on the other. When a relative displacement occurs between the guide member 33 and the actuator 34, the actuator 34 can be used to realize and control the specific rotation angle of the relative rotation between the load member 2 and the connecting platform 1.

[0112] In some embodiments, the maximum angle of rotation of the load member 2 relative to the connecting platform 1 is set to 20°. This angle limitation is based on the climbing ability of the cleaning host 200 itself. When the maximum climbing angle of the cleaning host 200 is 15°, the maximum angle of rotation of the load member 2 relative to the connecting platform 1 is adjusted to 15°; when the maximum climbing angle of the cleaning host 200 is 30°, the maximum angle of rotation of the load member 2 relative to the connecting platform 1 is adjusted to 30°. Of course, in actual design, the maximum angle of rotation of the load member 2 relative to the connecting platform 1 is generally set to be less than the maximum climbing angle of the cleaning host 200 to improve and ensure the success rate of the cleaning host 200 climbing along the walking area 201 on the surface of the load member 2.

[0113] The dimensions of the aforementioned actuator 34 remain fixed.

[0114] Please see Figure 5A , Figure 5B and Figure 8 The following example, with guide 33 set on connecting platform 1 and actuator 34 set on load 2, will be used to explain the cooperation between guide 33 and actuator 34 and the process of angle adjustment.

[0115] The two ends of the load member 2 in the first direction are defined as an extension end and a follower end. The extension end extends outward from the connecting platform 1 as the load member 2 moves and can cooperate with the working surface to form a ramp structure for the cleaning host 200 to drive in or out.

[0116] One end of the actuating element 34 is connected to the follower end of the load element 2 or a region near the follower end, and the other end is connected to the connecting platform 1 via the guide element 33. During the movement of the actuating element 34 relative to the connecting platform 1, since the size of the actuating element 34 remains constant, when the actuating element 34 is fixedly connected to the load element 2, its position can be adjusted to move along the length direction of the guide element 33, thereby changing the position of the actuating element 34 on the connecting platform 1. This, in turn, pulls the follower end of the load element 2 to move relative to the connecting platform 1, and during this process, the rotation angle of the load element 2 relative to the connecting platform 1 is adjusted through the cooperating first connecting element 31 and second connecting element 32. When the actuating element 34 is rotatably connected to the load platform 2102, the rotation angle of the load element 2 relative to the connecting platform 1 can be adjusted by changing the angle between the actuating element 34 and the load element 2, and / or by driving the actuating element 34 to move along the length direction of the guide element 33.

[0117] A guide member 33 is provided on the side of the connecting platform 1 facing away from the working surface. The guide member 33 includes a guide rack 331 extending along a first direction. An actuating member 34 has a first end 3401 and a second end 3402. In the thickness direction of the connecting platform 1 (i.e., in the second direction Y), the end of the actuating member 34 closest to the guide member 33 is the second end 3402, and a movable gear 341 is provided at the second end 3402, meshing with the guide rack 331. The end of the actuating member 34 facing away from the guide member 33 is the first end 3401. The first end 3401 of the actuating member 34 is used to connect to the load member 2, and the second end 3402 is used for transmission connection with the connecting platform 1. The second direction is perpendicular to the first direction.

[0118] It should be noted that, in the second direction, the distance between the first end 3401 and the second end 3402 of the actuator 34 is greater than the distance between the guide rack 331 and the second connector 32.

[0119] The aforementioned actuator 34 can move relative to the connecting platform 1 along the first direction via the guide rack 331, and in this process, adjust the rotation angle of the load member 2 relative to the connecting platform 1.

[0120] Specifically, the aforementioned actuator 34 can be configured as a gear set, with the movable gear 341 located at the second end 3402 of the gear set and capable of meshing with the guide rack 331. The gear set also includes other gears that mesh with the movable gear 341, thereby driving the movable gear 341 to move along the guide rack 331 under the influence of an external force.

[0121] For example, the first end 3401 of the actuator 34 is fixedly connected to the load member 2: when the load member 2 moves relative to the connecting platform 1 via the second end 3402, the relative position between the actuator 34 and the load member 2 remains unchanged. During the process of the connecting device 10 adjusting from the first state to the second state, as the actuator 34 moves along the length direction of the guide rack 331, the load member 2 connected to the actuator 34 also moves synchronously. During this process, the position of the follower end of the load member 2 in the second direction is always located on the side of the first end 3401 of the actuator 34 facing away from the connecting platform 1. Since the distance between the guide rack 331 and the second connecting member 32 in the second direction is always less than the distance between the first end 3401 and the second end 3402 of the actuator 34, as the follower end of the load member 2 moves along the first direction with the movement of the actuator 34, the protruding end of the load member 2 can gradually move toward the side closer to the working surface until the connecting device 10 is in the second state. The above process is manifested as the load member 2 gradually rotating relative to the connecting platform 1 during the extension process and forming a certain tilt angle with the connecting platform 1.

[0122] Specifically, the guide rack 331 can be configured as an inclined rack. Along the first direction, the thickness of the guide rack 331 gradually changes in the second direction, so that the thickness of the two ends of the guide rack 331 in the first direction is different and changes sequentially along the first direction.

[0123] For example, the thickness of the guide rack 331 at the end near the first connector 31 on the connecting platform 1 can be set to be greater than the thickness of the end of the guide rack 331 away from the first connector 31. When the actuating member 34 moves along the guide rack 331, the change in the thickness of the guide rack 331 itself can be used to further increase the angle adjustment of the load member 2 relative to the connecting platform 1. The angle adjustment range of the load member 2 can be increased without changing the dimensions of the load member 2 and the connecting platform 1, so that a larger angle ramp structure can be formed when the load member 2 extends relative to the connecting platform 1, and / or, when the load member 2 retracts relative to the connecting platform 1, it can be retracted to a horizontal state, so that the cleaning host 200 located on the upper surface of the load member 2 can be more stable on the load member 2.

[0124] Alternatively, the second end 3402 of the actuator 34 is movably connected to the load member 2: when the actuator 34 moves relative to the connecting platform 1, the relative position between the actuator 34 and the load member 2 will be adjusted to a certain extent.

[0125] In order to better control the rotation process of the actuator 34 relative to the load member 2, and to better control the dimensional changes of the actuator 34 in the second direction, the structure of the guide member 33 needs to be adjusted.

[0126] Please see Figure 5B The upper surface of the connecting platform 1 (i.e. the side for contacting the lower surface of the load member 2) is also provided with a groove 11, at least a portion of the groove 11 is provided along the first direction, and the guide rack 331 is located in the groove 11.

[0127] The groove 11 has a bottom wall 1101, and the guide rack 331 is located on the bottom wall 1101.

[0128] In some embodiments, the bottom wall 1101 of the groove 11 may be set parallel to the first direction, or the bottom wall 1101 may be set as an inclined surface with a certain angle to the first direction. Referring to the preceding text, in the first direction, the height of the side of the bottom wall 1101 closer to the first connector 31 in the second direction is higher than the height of the side of the bottom wall 1101 facing away from the first connector 31 in the second direction. When the actuator 34 moves along the guide rack 331 via the movable gear 341, the height of the actuator 34 in the second direction changes with the movement, thereby helping to change the rotation angle of the load member 2 relative to the connecting platform 1.

[0129] To reduce the space occupied by the groove 11 within the connecting platform 1, in some embodiments, the aforementioned actuator 34 is configured as a gear set. Please refer to [link to relevant documentation]. Figure 5B The aforementioned gear set has a flat structure, and its axial dimension is significantly smaller than that of a conventional gear set to achieve thickness reduction. This gear set can be inserted into the groove 11 and mesh with the guide rack 331 located on the bottom wall 1101 of the groove 11. Other spaces within the connecting platform 1 can be used to arrange structures such as batteries. Of course, provided there is sufficient internal space, the connecting platform 1 can also be equipped with a receiving cavity, which can hold other structures required for cleaning operations by the cleaning host 200, such as a dust collection box, a clean water tank, a waste water tank, and a cleaning fluid tank.

[0130] Considering that the actuator 34 is rotatably connected to the load member 2, that is, the first end 3401 of the actuator 34 is hinged to the load member 2, in order to facilitate the adjustment and control of the rotation of the actuator 34 relative to the load member 2, the guide member 33 can also include a guide structure for guiding the rotation of the actuator 34.

[0131] In some embodiments, the guide structure described above may be formed within the groove 11, for example, on the inner sidewall surface of the groove 11.

[0132] In some embodiments, a guide groove is provided on the inner wall of the groove 11 to guide the movement direction of the actuator 34. A slider structure that cooperates with the guide groove is provided on the outer wall of the gear set opposite to the inner wall of the groove 11. Through the sliding engagement of the guide groove and the slider, it can cooperate with the guide rack 331 and the actuator gear to limit and adjust the rotation angle of the actuator 34 relative to the load member 2.

[0133] For example, the guide groove may be formed on the bottom wall 1101 of the groove 11, and / or may be formed on the inner sidewall of the groove 11.

[0134] In some embodiments, the guide member 33 further includes a first guide groove 12, and correspondingly, the actuating member 34 further includes a first slider 342 that cooperates with the first guide groove 12.

[0135] Specifically, the outer side of the actuating member 34 is provided with a first slider 342, and the inner wall of the groove 11 is provided with a first guide groove 12 that slides and engages with the first slider 342. The first guide groove 12 is parallel to the extending direction of the bottom wall 1101. When the movable gear 341 moves along the guide rack 331, the first slider 342 can slide and engage with the first guide groove 12. Under the action of the slidingly engaged first slider 342 and first guide groove 12, the actuating member 34 only moves along the guide rack 331 relative to the connecting platform 1, without rotation. Correspondingly, the follower end of the load member 2 is only pulled and translated by the actuating member 34, and the protruding end of the load member 2 can move closer to or further away from the working surface with the cooperation of the first connecting member 31 and the second connecting member 32. At this time, the load member 2 can rotate relative to the connecting platform 1.

[0136] Specifically, the groove 11 also includes a first sidewall 1102 and a second sidewall 1103, which are located on opposite sides of the groove 11 in a third direction (see the direction indicated by arrow Z in the figure). Both the first sidewall 1102 and the second sidewall 1103 are parallel to the first direction. The first guide groove 12 can be formed on the bottom wall 1101 of the groove 11, or it can be formed on one of the first sidewall 1102 and the second sidewall 1103.

[0137] When the bottom wall 1101 of the groove 11 is flat and extends along the first direction, the first guide groove 12 is also a straight groove extending along the first direction, that is, the first guide groove 12 is parallel to the first direction. Of course, when the bottom wall 1101 of the groove 11 is adjusted to be a curved surface extending along the first direction according to the design requirements, the shape of the first guide groove 12 is also adjusted accordingly to meet the position adjustment requirements of the actuator 34 on the load member 2.

[0138] It should be noted that the first guide groove 12 located on a certain side wall is at a certain distance from the bottom wall 1101 to ensure that the axis of the movable gear 341 and the first slider 342 do not coincide in the third direction.

[0139] The aforementioned third direction is perpendicular to both the first and second directions. It can be assumed that the third direction is the width direction of the connecting platform 1, and that the third direction is perpendicular to the plane on which the moving path of the load component 2 is located.

[0140] In some embodiments, the guide member 33 further includes a second guide groove 13, and correspondingly, the actuating member 34 further includes a second slider 343 that cooperates with the second guide groove 13.

[0141] Specifically, the outer side of the actuating member 34 is provided with a second slider 343, and the inner wall of the groove 11 is provided with a second guide groove 13 that slides with the second slider 343. The length direction of the second guide groove 13 forms an angle with the extension direction of the bottom wall 1101 (i.e., the first direction). When the movable gear 341 moves along the guide rack 331, the second slider 343 can slide with the second guide groove 13. In the third direction, there is a gap between the axis of the movable gear 341 and the axis of the second slider 343, and the distance between them remains constant.

[0142] As the actuator 34 moves along the length of the groove 11, the distance between the second guide groove 13 and the bottom wall 1101 gradually increases or decreases. At this time, the actuator 34 will rotate relative to the groove 11 under the drive of the second slider 343 and the movable gear 341, thereby causing the dimensions of the first end 3401 and the second end 3402 of the actuator 34 to change in the second direction, so as to realize the height of the follower end of the load member 2 in the second direction, and finally realize the adjustment of the rotation angle of the load member 2 relative to the connecting platform 1.

[0143] As the load member 2 extends relative to the connecting platform 1, the distance between the first guide groove 12 and the second guide groove 13 gradually increases in the second direction along the moving direction of the actuating member 34.

[0144] To prevent the first slider 342 and the first guide groove 12 from affecting the rotation of the actuator 34, the first slider 342 and the movable gear 341 need to be coaxially arranged in the third direction. In this case, the first guide groove 12 can be located on the first side wall 1102 of the groove 11 or on the second side wall 1103 of the groove 11. When the first guide groove 12 and the second guide groove 13 are located on the same side wall of the groove 11, the first slider 342 and the second slider 343 are also located on the same side of the actuator 34; when the first guide groove 12 and the second guide groove 13 are located on different side walls of the groove 11, the first slider 342 and the second slider 343 are also located on different sides of the actuator 34.

[0145] Please see Figure 8When the connecting device 10 is in the first state, the actuator 34 connected to the follower end of the load member 2 is located on the right side of the connecting platform 1. The distance between the first guide groove 12 and the second guide groove 13 on the right side of the connecting platform 1 is the smallest in the second direction, and the distance between the first end 3401 and the second end 3402 of the actuator 34 in the second direction is also the smallest. As the load member 2 extends, the actuator 34 gradually moves towards the left side of the connecting platform 1, and the distance between the first guide groove 12 and the second guide groove 13 gradually increases. The actuator 34 is gradually oscillating clockwise due to the structural adjustment of the two guide grooves. During this process, the distance between the first end 3401 and the second end 3402 of the actuator 34 in the second direction gradually increases. The follower moves towards the side away from the connecting platform 1 and pushes the extended end of the load member 2 towards the side closer to the action surface, so that the rotation angle of the load member 2 relative to the connecting platform 1 gradually increases.

[0146] Specifically, the second guide groove 13 can be a straight groove or a curved groove with a certain curvature. This embodiment does not limit the specific shape of the second guide groove 13, as long as it can meet the above functions.

[0147] In other similar embodiments, in order to ensure that the first slider 342 and the second slider 343 can respectively cooperate with the first guide groove 12 and the second guide groove 13 provided in the groove 11, the outer contours of the projection of the first slider 342 and the second slider 343 in the third direction can be set to be circular; or, the first slider 342 and the second slider 343 can be rotatably connected to the outer wall of the gear set of the actuator 34.

[0148] With the cooperation of guide 33 and actuating member 34, the included angle between load member 2 and connecting platform 1 can change continuously with the sliding displacement of load member 2 in the first direction.

[0149] In order to drive the action of the aforementioned actuator 34, please refer to the embodiments of this application. Figure 5B The connecting device 10 also includes a driving member 4 that is connected to the actuating member 34. Under the drive of the driving member 4, the actuating member 34 can move along the length direction of the guide rack 331 to drive the load member 2 to move relative to the connecting platform 1.

[0150] Specifically, the aforementioned driving component 4 can be a drive motor.

[0151] Considering the stability of the movement of the load member 2 relative to the connecting platform 1, in some embodiments, the number of movable mating members 3 is one. This movable mating member 3 is generally positioned between the connecting platform 1 and the load member 2, and in the middle of the third direction. The driving member 4 can be directly connected to the actuating member 34 in the movable mating member 3.

[0152] Since the drive member 4 is located between the load platform 2102 and the connecting platform 1, in order to ensure that there is sufficient space between the load platform 2102 and the connecting platform 1 to accommodate the drive member 4 in the first state, in one feasible embodiment, a recessed relief groove 14 is formed on a portion of the surface of the connecting platform 1 facing the load member 2. When the load member 2 is retracted relative to the connecting platform 1, at least a portion of the drive member 4 is located in the relief groove 14.

[0153] To further improve the connection and operational stability between the load component 2 and the connecting platform 1, the number of the aforementioned movable mating components 3 can be set to two, with the two movable mating components 3 arranged at intervals along a third direction. The number of driving components 4 can be the same as the number of actuating components 34 and each can be connected to a corresponding actuating component 34, or the driving components 4 can be located between the two spaced movable mating components 3 and simultaneously connected to the aforementioned two actuating components 34 in a transmission manner.

[0154] Specifically, the connecting device 10 also includes a drive shaft 5 that is connected to the drive member 4, and the drive shaft 5 connects to two actuating members 34 simultaneously. Please refer to... Figure 5B The drive shaft 5 is located between the connecting platform 1 and the load component 2.

[0155] Alternatively, the number of the aforementioned active mating parts 3 can be further set to three or even more, the structure of which can be referred to the previous text and will not be repeated here.

[0156] When there are multiple movable mating parts 3, there are also multiple actuating parts 34. To ensure that the actuating parts 34, spaced apart along a third direction, always maintain synchronized operation and improve their synchronization accuracy to a certain extent, in one feasible embodiment, the connecting device 10 further includes a synchronizing rod 6. All actuating parts 34 are fixedly connected to the synchronizing rod 6. (See [link to relevant documentation]). Figure 5B The synchronizing rod 6 extends along a third direction and passes through all the actuators 34 and is fixedly connected to the actuators 34.

[0157] Synchronizing rod 6 is used to fix the actuators 34, further constraining the movement of different actuators 34 along the guide gear. Under the fixing action of synchronizing rod 6, the movement of multiple adjacent actuators 34 is further constrained and synchronized, ensuring that the positions of different actuators 34 in the third direction are completely consistent. This allows multiple actuators 34 arranged side by side to move synchronously, ensuring that the load 2 will not get stuck or damaged due to the synchronization problem of the actuators 34 during the extension or retraction relative to the connecting platform 1, thus helping to improve the stability and reliability of the connecting device 10 during use.

[0158] In the connection device 10 provided in this application embodiment, the end of the load member 2 that extends out relative to the connection platform 1 has a certain thickness. Therefore, when this end comes into contact with the working surface, a certain gap will be generated, which will affect the normal entry and exit of the cleaning host 200.

[0159] To address the aforementioned issues, the load-bearing component 2 further includes a guide ramp 23. The guide ramp 23 is located at the end of the pallet 21 that points towards the opening. The guide ramp 23 has an overall sloping structure, with one end thicker than the other near the pallet 21, which can improve or even eliminate the discontinuity between the pallet 21 and the working surface, thereby reducing the difficulty of the cleaning unit 200 climbing the slope.

[0160] Specifically, the guide slope 23 can be connected to the tray 21 by rotation, and an elastic element, such as a torsion spring, is provided at the connection point. When the cleaning unit 200 passes the guide slope 23, the guide slope 23 can rotate downward relative to the tray 21 under the gravity of the cleaning unit 200. At this time, the torsion spring is torsional and deformed. After the cleaning unit 200 leaves the guide slope 23, the guide slope 23 can rotate upward relative to the tray 21 and return to its original position under the elastic force provided by the torsion spring.

[0161] It is understood that the connecting device 10 provided in this application reduces the difficulty for the cleaning host 200 to climb onto the connecting device 10 by driving the load member 2 to extend or retract relative to the connecting platform 1. When the load member 2 extends to its maximum length relative to the connecting platform 1, the load member 2 can rotate to contact the working surface, so that the cleaning host 200 can drive into or out of the working surface through the walking area 201 on the load member 2, thereby effectively reducing the difficulty for the cleaning host 200 to move up and down relative to the connecting device 10.

[0162] Based on the same inventive concept, this application also provides a stair climber 100, which includes the above-mentioned connecting device 10 and a height adjustment device 20. The height adjustment device 20 can be used to adjust the height of the connecting device 10 and cooperate with the connecting device 10 to realize the stair climbing function.

[0163] When the cleaning unit 200 is connected to the height adjustment device 20 via the connecting device 10, the cleaning unit 200 can move up and down between two planes with different heights in the height difference structure, so as to smoothly cross the height difference structure and meet the cleaning needs of the two different planes. Similarly, when the height difference structure to be crossed is a staircase structure with continuous steps, the stair climber 100 can assist the cleaning unit 200 in climbing the staircase structure: under the action of the stair climber 100, the cleaning unit 200 can continuously climb and cross multiple steps, meeting the cleaning needs of the two different areas connected by the staircase.

[0164] Figure 9 This is a schematic diagram of the stair-climbing machine 100 provided in the embodiments of this application. Figure 10 This is a partial structural schematic diagram of the stair-climbing machine 100 provided in an embodiment of this application; Figure 11 This is a structural schematic diagram of the stair-climbing machine provided in an embodiment of this application from another angle.

[0165] Specifically, the height adjustment device 20 includes a device body 210, a lifting assembly, and a lifting drive assembly. The device body 210 includes a fixed base 2101 and a load platform 2102. The load platform 2102 is located above the fixed base 2101 and connected to the connecting platform 1. The lifting assembly is located between the fixed base 2101 and the load platform 2102. One end of the lifting assembly is connected to the fixed base 2101, and the other end is connected to the load platform 2102. The lifting drive assembly is connected to the lifting assembly and is used to drive the lifting assembly to move so that the load platform 2102 drives the connecting device 10 to move towards or away from the fixed base 2101.

[0166] The height adjustment device 20 can, to some extent, overcome the shortcomings of the cleaning host 200's weak ability to autonomously traverse structures with elevation differences, making it difficult to meet users' automatic cleaning needs for ground environments with elevation differences. When the cleaning host 200 enters the connecting device 10, the height adjustment device 20 can drive the cleaning host 200 to lift and move, enabling the cleaning host 200 to quickly lift, move, and transfer on ground surfaces with elevation differences.

[0167] In some embodiments, the lifting assembly may be a scissor-type lifting structure, which is similar to an "X" shape, with its upper and lower ends used to connect the fixed base 2101 and the load platform 2102, respectively.

[0168] In some feasible embodiments, the number of the aforementioned lifting components is one and it is located in the middle of the connecting device 10; or, the number of lifting components is two and they are arranged at intervals along a third direction. In this case, the number of the aforementioned device bodies 210 is the same as the number of lifting components and they are arranged in a one-to-one correspondence. The two device bodies 210 can be arranged at intervals below the connecting device 10, or they can be connected to the connecting device 10 on both sides in a third direction, respectively. Please refer to [link to relevant documentation]. Figure 9 At this point, there are two height adjustment devices 20, located on opposite sides of the connecting device 10 in the third direction. This structure helps to reduce the overall thickness of the stair climber 100, thereby increasing its flexibility of use and reducing the difficulty for the cleaning unit 200 to move in or out along the load member 2 on the connecting device 10.

[0169] Specifically, any lifting component includes a first translation guide 310, a second translation guide 310, and a scissor arm pair. The first translation guide 310 is located on the fixed base 2101, and the second translation guide 310 is located on the load platform 2102. The scissor arm pair includes a first scissor arm and a second scissor arm that are hinged to each other. One end of the first scissor arm is hinged to the fixed base 2101, and the other end is slidably connected to the load platform 2102 through the second translation guide 310. One end of the second scissor arm is hinged to the load platform 2102, and the other end is slidably connected to the fixed base 2101 through the first translation guide 310. The scissor arm pair as a whole has an X-shaped structure in the third direction. Under the drive of an external force, it can move the fixed base 2101 and the load platform 2102 closer or further apart in the second direction by translating relative to them, thereby realizing the height adjustment function of the height adjustment device 20.

[0170] The first and second scissor arms, which are hinged to each other, can form a triangular stable structure with either the fixed base 2101 or the load platform 2102. While enabling the height adjustment device 20 to drive the load platform 2102 to move up and down, the load can also be evenly distributed through the hinge point, which can improve the vertical load bearing capacity of the height adjustment device 20 to a certain extent.

[0171] It should be noted that the structures of the first and second scissor arms described above can be the same or different. In the scissor arm pair provided in the embodiments of this application, it is only necessary to ensure that the arm lengths of the first and second scissor arms are the same and that both the first and second scissor arms are hinged together at their midpoints.

[0172] Specifically, the structures of the first translation guide 310 and the second translation guide 310 can be sliding blocks or slide rails, or meshing gears or racks, as well as other structures that can achieve linear drive, which will not be elaborated here.

[0173] The lifting drive assembly can be a drive motor or other structure that is connected to one of the first translation guide 310 and the second translation guide 310.

[0174] In order to enable the stair climber 100 to continuously climb the stair structure during the process of climbing the structure with height difference, in a feasible implementation, the connecting platform 1 is slidably connected to the load platform 2102 through the translation device 30; the translation device 30 includes a translation guide 310 and a translation drive 320 that cooperate with each other, the translation guide 310 is located on one of the load platform 2102 and the connecting platform 1, and the translation drive 320 is located on the other.

[0175] Specifically, under the action of the translation device 30, the connecting platform 1 can extend or retract relative to the load platform 2102 along the first direction. When the connecting platform 1 extends relative to the load platform 2102, the connecting platform 1 and the fixed base 2101 are located on two different horizontal planes with a height difference and are in contact with the aforementioned horizontal planes respectively. At this time, by controlling the height adjustment device 20 to first retract and then move towards the position close to the connecting platform 1 along the first direction, the climbing of a single step can be achieved.

[0176] When there are two height adjustment devices 20, the two height adjustment devices 20 can perform the above process respectively, so as to achieve climbing of a single step while improving the stability of the stair climber 100.

[0177] Specifically, in one feasible embodiment, the translation guide 310 includes at least one of a translation slide rail extending along a first direction and a translation rack, and the translation drive 320 includes a translation drive motor 3201 and a translation actuating member cooperating with the translation guide 310. (See also...) Figure 10 Driven by the translation drive motor 3201, the translation action moves along the length direction of the translation guide 310, so that the load platform 2102 and the connecting platform 1 are translated relative to each other.

[0178] Please see Figure 10 The connecting platform 1 is provided with a clearance groove 15 for placing the translation drive motor 3201.

[0179] In some embodiments, the translation guide 310 may be a translation rack fixedly mounted on the load platform 2102. In this case, the translation action is a translation gear meshing with the translation rack. The translation gear is located on the output shaft of the translation drive motor 3201 and can rotate under the drive of the translation drive motor 3201, thereby realizing the relative translation between the connecting device 10 and the height adjustment device 20.

[0180] Of course, the aforementioned translation device 30 also includes a guide sliding structure parallel to the translation guide 310. This guide sliding structure may include a guide rail and a slider that slides with the guide rail, wherein the guide rail is located on one of the connecting device 10 and the height adjustment device 20, and the slider is located on the other. The guide sliding structure cooperates with the translation guide 310 to provide better limiting for the aforementioned connecting device 10 and height adjustment device 20 during relative translation, and can also improve the smoothness of the translation process.

[0181] Specifically, the number of guide sliding structures located between two adjacent connecting devices 10 and height adjusting devices 20 can be one or more.

[0182] The following describes the process of the stair climber 100 climbing a single step:

[0183] The stepped structure is defined as having a first horizontal plane and a second horizontal plane with different heights, wherein the height of the first horizontal plane is higher than the height of the second horizontal plane, and the first horizontal plane and the second horizontal plane are connected by a facade.

[0184] In its initial state, the stair climber 100 is positioned on the second horizontal plane with one end pointing towards the vertical plane in the first direction. In the first stage of climbing, the two height adjustment devices 20 are activated simultaneously, causing the connecting device 10 to move upwards along the third direction until its lower surface aligns with the first horizontal plane. At this point, the lower surface of the connecting device 10 is on the same plane as or slightly above the first horizontal plane. In the second stage, the translation device 30 is activated, causing the connecting device 10 to move upwards relative to the height adjustment devices 20 towards the end of the path. In the third stage, one of the height adjustment devices 20 is retracted until its lower surface aligns with the first horizontal plane, and the corresponding translation device 30 is activated, causing it to translate relative to the connecting device 10 along the first direction to the end of the path. In the fourth stage, the above process is repeated, allowing the other height adjustment device 20 to sequentially complete the retraction and translation process. At this point, the single-step climbing process is complete.

[0185] By repeating the above process, the stair climber can climb 100 pairs of continuous step structures, such as stairs.

[0186] By performing the above process in reverse order, the stair climber can descend 100 steps or stairs.

[0187] With the assistance of the stair climber 100, the cleaning unit 200 located above the connecting device 10 can enter different areas of the room with a certain height difference (for example, a duplex apartment with a floor height difference of 10 to 50 cm) and clean the aforementioned areas respectively.

[0188] It should be noted that in the first stage of climbing the stairs, after the height adjustment device 20 is activated, the connecting device 10 can be adjusted to move upward along a third direction until the upper surface of the connecting device 10 is adapted to the first horizontal plane. At this time, the cleaning host 200 can be directly transferred from the upper surface of the connecting device 10 to the first horizontal plane and perform cleaning on the different areas with different height differences. After cleaning the first horizontal plane, it returns to the connecting device 10 and directly controls the height adjustment device 20 to retract and return to the second horizontal plane.

[0189] When the cleaning host 200 is needed to clean the stairs, the first stage of climbing the stairs can be controlled to be executed in two steps. In the first step, the upper surface of the connecting device 10 is controlled to match the first horizontal plane (see the previous text). In the second step, after the cleaning host 200 returns to the upper surface of the connecting device 10, the height adjustment device 20 is controlled to rise until the lower surface of the connecting device 10 matches the first horizontal plane.

[0190] It should be noted that when the width of the stair treads is too narrow and does not meet the minimum cleaning requirement of the cleaning host 200, making it difficult for the cleaning host 200 to clean the treads alone, the stair climbing machine 100 can be controlled to move synchronously with the cleaning host 200 in a third direction (i.e., the width direction of the stair). At this time, the upper surface of the connecting device 10 can combine with the treads to jointly support the cleaning host 200.

[0191] Considering that the stair climber 100 needs to be moved from its placement location to the front of the stairs before performing stair climbing operations, in order to solve the problem of how the stair climber 100 moves to the front of the stairs, and in conjunction with the stair climbing process of the stair climber 100 and the cleaning process of the cleaning unit 200, in one feasible embodiment, the stair climber 100 is further provided with a walking device 40. The walking device 40 is disposed within the connecting device 10 and partially extends out relative to the bottom of the connecting device 10. Please refer to [link to relevant documentation]. Figure 11 .

[0192] Specifically, the walking device 40 includes a walking motor and walking wheels 410. The walking motor is located inside the connecting device 10, and the walking wheels 410 are connected to the walking motor and partially extend out through the bottom surface of the connecting device 10. When the walking motor is started, the movement direction of the stair climber 100 can be controlled by controlling the rotational speed and direction of movement of the walking wheels 410, enabling the stair climber 100 to move back and forth between its location and the stairs, as well as to move back and forth along the width of the stair steps.

[0193] The bottom of the connecting device 10 is also equipped with casters.

[0194] Driven by the traveling wheels 410, the stair climber 100 can move along the surface to be cleaned and the working surface. Furthermore, the traveling wheels 410 provide some support to the stair climber 100 during the climbing process.

[0195] With the support of the connecting device 10 and the traveling wheel 410, the height adjustment device 20, which moves relative to the connecting device 10, can avoid direct contact with the stair treads, thereby reducing the possibility that the height adjustment device 20 may directly contact the stair treads and be damaged by friction during the climbing process.

[0196] To enable the stair climber 100 to move more flexibly, casters 50 are also installed on the bottom surface of the stair climber 100, such as the bottom surface of the connecting device 10. There is a certain distance between the casters 50 and the traveling wheels 410.

[0197] It is understood that the stair-climbing machine 100 provided in this application embodiment can help improve the adaptability of the cleaning host 200 to ground environments with a certain height difference, so as to improve the automation and convenience of its cleaning process to a certain extent and improve the user experience.

[0198] Based on the same inventive concept, this application also provides a cleaning system, which includes a cleaning host 200 and a stair climber 100 as described in any of the above claims.

[0199] The cleaning system includes the beneficial effects of any one or more of the stair climbers 100 mentioned above, which will not be elaborated here.

[0200] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0201] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A connecting device, which is installed on a stair climbing device, at least for a load cleaning main machine (200), characterized in that, The connecting platform (1), the load (2) and the movable fitting (3) are included, the load (2) is connected with the connecting platform (1) along the first direction by the movable fitting (3), and the load (2) rotates relative to the connecting platform (1) with sliding displacement.

2. The connection device according to claim 1, characterized in that The movable fitting (3) includes: The first connecting piece (31) includes the convex part (311); The second connecting piece (32) includes the accommodating part (321) matched with the convex part (311), and at least part of the convex part (311) is located in the accommodating part (321) and can slide and rotate relative to the accommodating part (321); Wherein, one of the first connecting piece (31) and the second connecting piece (32) is located in the connecting platform (1), and the other is located in the load (2).

3. The connection device according to claim 2, characterized in that The accommodating part (321) is a groove or a guide groove, and when the second connecting piece (32) is located on the load (2), the length direction of the accommodating part (321) extends along the first direction.

4. The connection device of claim 2, wherein The movable fitting (3) further includes a guide (33) and an action piece (34) connected, the guide (33) is located in one of the connecting platform (1) and the load (2), the action piece (34) is located in the other, and the action piece (34) can move along the guide (33) to push the load (2) to slide and rotate relative to the connecting platform (1).

5. The connection device according to claim 4, characterized in that The connecting platform (1) is provided with a groove (11) extending along the first direction, and the guide (33) is arranged in the groove (11).

6. The connection device of claim 4, wherein Along the second direction, the action piece (34) includes a first end (3401) and a second end (3402), the first end (3401) of the action piece (34) is hinged with the load (2), and the second end (3402) of the action piece (34) is drivingly connected with the connecting platform (1); The second direction is the thickness direction of the connecting platform (1), and the second direction is perpendicular to the first direction, and in the second direction, the distance between the first end (3401) and the second end (3402) is greater than the distance between the guide (33) and the second connecting piece (32).

7. The connection device according to claim 6, characterized in that The guide (33) includes a second guide groove (13), and the action piece (34) further includes a second sliding block (343), the second sliding block (343) is slidably matched with the second guide groove (13), and the extension direction of the second guide groove (13) and the first direction form an included angle.

8. The connection device according to claim 7, characterized in that The guide (33) further includes a first guide groove (12), and the action piece (34) further includes a first sliding block (342), the first sliding block (342) is slidably matched with the first guide groove (12), and the first guide groove (12) is parallel to the first direction.

9. The connection device according to claim 8, characterized in that The connecting platform (1) is provided with a groove (11) extending along the first direction, and the guide member (33) comprises a guide rack (331) located in the groove (11) and extending along the length direction of the groove (11); In the second direction, the action member (34) comprises a first end (3401) and a second end (3402), the first end (3401) of the action member (34) is hinged to the load member (2), and the second end (3402) of the action member (34) is provided with a movable gear (341) engaged with the guide rack (331); The second direction is the thickness direction of the connecting platform (1) and is perpendicular to the first direction, and in the second direction, the distance between the first end (3401) and the second end (3402) is greater than the distance between the guide rack (331) and the second connecting member (32).

10. The connection device according to claim 9, characterized in that The included angle between the load member (2) and the connecting platform (1) continuously changes with the sliding displacement of the load member (2) in the first direction.

11. The connection device of claim 9, wherein The groove (11) has a bottom wall (1101), and the guide rack (331) is located on the bottom wall (1101), and the first guide groove (12) is parallel to the bottom wall (1101); When the movable gear (341) moves along the guide rack (331), the first sliding block (342) slides along the first guide groove (12).

12. The connection device of claim 9, wherein The first sliding block (342) is coaxially arranged with the movable gear (341).

13. The connection arrangement according to any one of claims 4-12, characterized in that, The connecting device (10) further comprises a driving member (4) in transmission connection with the action member (34).

14. The connection device according to claim 13, characterized in that The connecting device (10) further comprises a transmission shaft (5), and the driving member (4) is located between the connecting platform (1) and the load member (2) and is in transmission connection with the action member (34) through the transmission shaft (5).

15. The connection device of claim 13, wherein, The side surface of the connecting platform (1) facing the load member (2) is recessed to form a clearance groove (14), and at least part of the driving member (4) is located in the clearance groove (14) when the load member (2) is retracted relative to the connecting platform (1).

16. The connection device according to any one of claims 1-12, characterized in that The number of the movable fitting members (3) is at least two, and they are arranged at intervals in a third direction. The third direction is perpendicular to the plane in which the movement path of the load member (2) lies.

17. The connection device of claim 16, wherein, The connecting device (10) further comprises a synchronization rod (6), and all the movable fitting members (3) are fixedly connected with the synchronization rod (6).

18. The connection device of claim 1, wherein, The side surface of the load member (2) away from the connecting platform (1) has a walking area (201), and when the length of the load member (2) extending out relative to the connecting platform (1) is maximum, the cleaning main machine (200) can walk along the walking area (201) to drive in or out relative to the load member (2).

19. The connection device of claim 18, wherein, The load carrier (2) comprises a supporting plate (21) and a limiting side plate (22) fixedly connected with a part of the circumferential outer side edge of the supporting plate (21) to form an exit (202) for the cleaning main machine (200) to drive in or drive out relative to the load carrier (2). The exit (202) is located on one side of the walking area (201) in the first direction.

20. The connection device of claim 18, wherein, The load carrier (2) comprises a supporting plate (21) and a guide slope (23) rotatably connected with an end of the supporting plate (21) extending relative to the connecting platform (1), and the guide slope (23) is located on one side of the walking area (201) in the first direction.

21. The connection device of claim 1, wherein, The connecting platform (1) is provided with a containing cavity.

22. A stair climber characterized by, Comprise: The connecting device (10) is the connecting device (10) of any one of claims 1-21; The height adjusting device (20) comprises a device body (210), a lifting assembly and a lifting driving assembly, the device body (210) comprises a fixed base (2101) and a load platform (2102), the load platform (2102) is located above the fixed base (2101) and is connected with the connecting platform (1); the lifting assembly is located between the fixed base (2101) and the load platform (2102), one end of the lifting assembly is connected with the fixed base (2101), and the other end is connected with the load platform (2102); the lifting driving assembly is in transmission connection with the lifting assembly, and is used for driving the lifting assembly to move, so that the load platform (2102) drives the connecting device (10) to move towards the direction close to or away from the fixed base (2101).

23. The stair climber of claim 22, wherein, The connecting platform (1) is slidably connected with the load platform (2102) through the translation device (30); the translation device (30) comprises a translation guide (310) and a translation driving part (320) matched with each other, the translation guide (310) is located in one of the load platform (2102) and the connecting platform (1), and the translation driving part (320) is located in the other.

24. The stair climber of claim 23, wherein, The translation guide (310) comprises at least one of a translation sliding rail extending along the first direction and a translation rack, and the translation driving part (320) comprises a translation driving motor (3201) and a translation acting part (3202) matched with the translation guide (310); Under the driving of the translation driving motor (3201), the translation acting part (3202) moves along the length direction of the translation guide (310), so that the load platform (2102) and the connecting platform (1) produce relative translation.

25. A cleaning system characterized by, The cleaning main machine (200) and the stair climbing machine (100) of any one of claims 22-24. The cleaning main machine (200) and the stair climbing machine (100) of any one of claims 22-24.

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