Bearing equipment, cleaning device and cleaning system

Abstract

The utility model relates to bearing equipment, a cleaning device and a cleaning system. The bearing equipment comprises a main body part and a side supporting part. Wherein the side supporting part can move from the first surface to the second surface; one of the first surface and the second surface is the upper surface of the step, and the other is the lower surface located at the bottom of the step. The side supporting part comprises a body part, and a notch is formed in the face, facing the edge of the second surface, of the body part so that when the side supporting part moves to the second surface from the first surface, the notch can avoid the edge of the second surface, and damage caused by collision between the body part and the edge of the second surface is avoided.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning equipment manufacturing, in particular to a bearing device, a cleaning device and a cleaning system. BACKGROUND

[0002] In the technical field of household bearing device manufacturing, the existing bearing device will collide with the kick surface when climbing up or down the steps, resulting in damage to the bearing device.

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

[0004] The present disclosure aims to provide a bearing device, a cleaning device and a cleaning system, which will not collide with the edge of the second surface when moving from the first surface to the second surface.

[0005] In one aspect, the present disclosure provides a bearing device, comprising:

[0006] a main body portion;

[0007] a side support portion, the side support portion being movable from a first surface to a second surface; the side support portion comprising a main body portion, one side of the main body portion facing the edge of the second surface being provided with a notch, so as to avoid the edge of the second surface when the side support portion is moved from the first surface to the second surface or from the second surface to the first surface by using the notch;

[0008] wherein one of the first surface and the second surface is the upper surface of a step, and the other is the lower surface at the bottom of the step.

[0009] In one exemplary embodiment of the present disclosure, the side support portion further comprises:

[0010] a swing rod connected to the main body portion, the swing rod having a third support end;

[0011] when the side support portion is in a static state, the third support end is in a first position, at this time the third support end is in contact with the surface on which the side support portion is located, and at least part of the third support end protrudes from the side of the main body portion facing the edge of the second surface;

[0012] when the side support portion is moved from the first surface to the second surface, the third support end is in a second position, the second position being away from the edge of the second surface relative to the first position.

[0013] In an example embodiment of the present disclosure, the swing rod is rotationally connected with the body portion, and the swing rod is rotatable relative to the body portion to switch the third supporting end between the first position and the second position.

[0014] In an example embodiment of the present disclosure, the side supporting portion further comprises:

[0015] A third driving portion is connected with the swing rod to drive the swing rod to rotate relative to the body portion.

[0016] In an example embodiment of the present disclosure, the third driving portion comprises:

[0017] A third driving member;

[0018] A first dial is installed on the body portion, and the third driving member is capable of driving the first dial to rotate;

[0019] A pulling mechanism is connected at one end with an end face or an outer circumferential face of the first dial, and connected at the other end with the swing rod.

[0020] In an example embodiment of the present disclosure, at least a part of the outer circumferential face of the first dial is provided with a first protruding portion, and the third driving portion further comprises:

[0021] A second dial is installed on the body portion and connected with the third driving member, and the third driving member is capable of driving the second dial to rotate; at least a part of the outer circumferential face of the second dial is provided with a second protruding portion, and when the second dial rotates, the second protruding portion is capable of abutting against the first protruding portion to drive the first dial to rotate.

[0022] In an example embodiment of the present disclosure, the first protruding portion comprises at least one first protruding block, and the second protruding portion comprises one second protruding block, and when the second dial rotates, the second protruding block is capable of abutting against one first protruding block.

[0023] In an example embodiment of the present disclosure, the side supporting portion further comprises:

[0024] A reset member is provided on the body portion, and the reset member is configured to drive the first dial to return to an initial position after the second dial drives the first dial to rotate.

[0025] In an example embodiment of the present disclosure, the reset member is an elastic member, one end of the elastic member is fixed on the body portion, and the other end is fixed on the first dial; when the second dial drives the first dial to rotate, the elastic member is elastically deformed to make the elastic member have a restoring force.

[0026] In an example embodiment of the present disclosure, the pulling mechanism is a pulling rope.

[0027] In an example embodiment of the present disclosure, the side support portion further comprises:

[0028] a first limiting structure disposed on the body portion, the first limiting structure being in limiting cooperation with the pulling rope to limit the pulling rope by the first limiting structure.

[0029] In an example embodiment of the present disclosure, the first limiting structure is provided with a limiting slot, at least part of the pulling rope being located in the limiting slot to make the pulling rope in limiting cooperation with the first limiting structure.

[0030] In an example embodiment of the present disclosure, the first limiting structure faces one side of the body portion away from the swing lever and the first dial towards the second surface, and the limiting slot is located on the side of the first limiting structure away from the swing lever and the first dial.

[0031] In an example embodiment of the present disclosure, the side support portion further comprises:

[0032] a second limiting structure comprising a first limiting block, the first limiting block being disposed on the body portion and facing one side of the body portion close to the edge of the second surface relative to the swing lever to limit the rotation range of the swing lever when the third support end is in the first position.

[0033] In an example embodiment of the present disclosure, the second limiting structure further comprises:

[0034] a second limiting block disposed on the body portion and facing one side of the body portion away from the edge of the second surface relative to the swing lever to limit the rotation range of the swing lever when the third support end is in the second position.

[0035] In an example embodiment of the present disclosure, the second limiting structure further comprises:

[0036] a limiting detector disposed on the body portion, the limiting detector being configured to detect whether the third support end is in the first position.

[0037] In an example embodiment of the present disclosure, the limiting detector is mounted on the first limiting block.

[0038] The limiting detector is a contact sensor, and the limiting detector is configured to determine that the third support end is in the first position when the swing lever is in contact with the limiting detector.

[0039] In an exemplary embodiment of the present disclosure, the side support portion further comprises:

[0040] A climbing driving member is installed on the main body portion or the body portion to drive the side support portion to move from the first surface to the second surface or from the second surface to the first surface, and the climbing driving member is multiplexed as the third driving member.

[0041] Another aspect of the present disclosure provides a cleaning device, comprising:

[0042] A carrying device, which is any of the above-mentioned carrying devices; the main body portion has a carrying structure;

[0043] A cleaning device is located on the carrying structure, and the cleaning device is capable of cleaning a surface to be cleaned.

[0044] Still another aspect of the present disclosure provides a cleaning system, comprising:

[0045] A base station;

[0046] A cleaning device, which is the above-mentioned cleaning device, the carrying device and / or the cleaning device can be docked with the base station.

[0047] The technical solutions provided by the present disclosure can achieve the following beneficial effects:

[0048] The carrying device provided by the present disclosure comprises a main body portion and a side support portion. The side support portion can comprise a body portion, and one side of the body portion facing the edge of the second surface is provided with a notch to avoid the body portion and the edge of the second surface from being damaged by collision when the side support portion moves from the first surface to the second surface.

[0049] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0050] The drawings incorporated into the specification and forming a part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure. It is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0051] Figure 1 A structural schematic diagram of a carrying device according to an exemplary embodiment of the present disclosure is shown;

[0052] Figure 2A structural schematic diagram of a first support module before supporting according to an example embodiment of the present disclosure is shown;

[0053] Figure 3 A structural schematic diagram of a first support module when supporting according to an example embodiment of the present disclosure is shown;

[0054] Figure 4 A structural schematic diagram of a first support module before supporting according to another example embodiment of the present disclosure is shown;

[0055] Figure 5 A structural schematic diagram of a third support end when in a first position according to an example embodiment of the present disclosure is shown;

[0056] Figure 6 A structural schematic diagram of a third support end when in a second position according to an example embodiment of the present disclosure is shown;

[0057] Figure 7 A structural schematic diagram of a cleaning member when in a first state according to an example embodiment of the present disclosure is shown;

[0058] Figure 8 A structural schematic diagram of a cleaning member when in a second state according to an example embodiment of the present disclosure is shown;

[0059] Figure 9 A partial structural schematic diagram of a bearing device according to an example embodiment of the present disclosure is shown; Figure 7

[0060] Figure 10 A structural schematic diagram of a first support module from a perspective according to an example embodiment of the present disclosure is shown;

[0061] Figure 11 A structural schematic diagram of a first support module from a perspective according to another example embodiment of the present disclosure is shown;

[0062] Figure 12 A partial structural schematic diagram of a bearing device according to another example embodiment of the present disclosure is shown; Figure 7

[0063] Figure 13 A partial structural schematic diagram of a bearing device according to an example embodiment of the present disclosure is shown;

[0064] Figure 14 A schematic diagram of a cleaning area of a bearing device according to an example embodiment of the present disclosure is shown;

[0065] Figure 15 A flow schematic diagram of a control method of a stair climbing machine according to an example embodiment of the present disclosure is shown; ​​

[0066] Figure 16 A flowchart of a control method of an escalator according to another example embodiment of the present disclosure is shown;

[0067] Figure 17 A flowchart of a control method of an escalator according to another example embodiment of the present disclosure is shown;

[0068] Figure 18 A flowchart of a control method of an escalator according to another example embodiment of the present disclosure is shown;

[0069] Figure 19 A flowchart of a control method of an escalator according to another example embodiment of the present disclosure is shown.

[0070] BRIEF DESCRIPTION OF DRAWINGS

[0071] 1, main body part; 11, bearing structure; 12, accommodating cavity; 13, second support module; 131, second driving part; 132, second support rod;

[0072] 2, side support part; 21, first support module; 211, first driving part; 2111, first driving member; 2112, first transmission member; 2113, second tooth part; 212, first support rod; 2121, first support end; 2122, first support block; 2123, first installation slot; 213, first detector; 214, first guide sleeve; 2141, first tooth part; 215, second detector; 216, first guide rod; 217, first connecting block; 218, second connecting block; 219, second guide sleeve; 23, body part; 231, notch; 24, swing rod; 241, third support end; 25, third driving part; 251, third driving member; 252, first dial; 2521, first protruding part; 2522, first protruding block; 253, pulling mechanism; 254, second dial; 2541, second protruding part; 2542, second protruding block; 26, reset member; 27, first limiting structure; 28, second limiting structure; 281, first limiting block; 282, second limiting block; 283, third limiting block; 284, limiting detector; 29, climbing driving member; 30, cleaning member; 301, first sliding groove; 302, second sliding groove; 303, connecting plate; 304, scraping strip; 305, third sliding groove; 33, first pressing member; 34, first fixed block; 35, second fixed block; 36, second pressing member; 37, first overhanging part;

[0073] 3, step; 31, tread surface; 32, kick surface; 38, first surface; 39, second surface;

[0074] X, first direction; Y, second direction; Z, third direction; H, height direction. Detailed Implementation

[0075] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0076] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0077] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion meaning and that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0078] like Figures 1 to 14 As shown, this disclosure first provides a cleaning device, which may include a carrying device and a cleaning device. The cleaning device may be a sweeping robot, a floor scrubber, a vacuum cleaner, a sweeping and mopping robot, a window cleaning robot, etc. The cleaning device may include a cleaning unit, which may be a roller brush, a side brush, a water outlet, a mopping component, a window cleaning component, etc., for cleaning the surface to be cleaned, such as the ground, the surface of the step 3, etc.

[0079] The supporting equipment can be a stair climber, which may have the function of climbing up and / or down steps 3, but is not limited to this; the supporting equipment can be other machines with supporting functions. For example... Figure 1As shown, the carrying device can include a main body part 1 and a side support part 2. The main body part 1 can be provided with a carrying structure 11, and the cleaning device can be located on the carrying structure 11, so that the carrying device can carry the cleaning device to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the second surface 39 can be higher than the first surface 38, so as to clean the surfaces of different heights by using the cleaning device. For example, the carrying device can carry the cleaning device to climb the steps 3 and / or descend the steps 3, and the first surface 38 and the second surface 39 can be the surfaces of different steps 3 respectively, so as to clean the surfaces of the steps 3 or the cleaning surfaces of different floors, etc.

[0080] It should be noted that when the carrying device moves from the current first surface 38 to the current second surface 39 in the climbing process, the current second surface 39 becomes the first surface 38 in the next climbing process of the carrying device, and the surface above the current second surface 39 becomes the second surface 39 in the next climbing process of the carrying device. When the carrying device moves from the current second surface 39 to the current first surface 38 in the descending process, the current first surface 38 becomes the second surface 39 in the next descending process of the carrying device, and the surface below the current first surface 38 becomes the first surface 38 in the next descending process of the carrying device.

[0081] The carrying structure 11 can be located on the bottom surface of the main body part 1, so that the distance between the carrying structure 11 and the surface to be cleaned is closer, and the cleaning device can clean the surface to be cleaned more conveniently. The main body part 1 can also have a containing cavity 12, and the cleaning device can be located in the containing cavity 12, so that the inner wall of the containing cavity 12 and the carrying structure 11 can limit and protect the cleaning device, thereby reducing the probability that the cleaning device is separated from the carrying structure 11, and avoiding the damage of the cleaning device caused by the collision between the cleaning device and the objects in the external environment.

[0082] In some embodiments, the main body part 1 itself can also have a cleaning function, that is, the bottom surface of the main body part 1 can be directly provided with a cleaning device, so that the main body part 1 and the cleaning device form an integral structure, which can have the functions of moving from the first surface 38 to the second surface 39 or moving from the second surface 39 to the first surface 38 and cleaning the surface to be cleaned. In this way, the integration of the main body part 1 can be improved, and additional cleaning devices no longer need to be added, and the carrying structure 11 for carrying other cleaning devices no longer needs to be provided on the main body part 1.

[0083] The side support part 2 can be connected with the main body part 1, and the side support part 2 can be moved from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38. When the carrying device is moved from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, the side support part 2 can support the main body part 1 to move the main body part 1 to the surface to be reached, and when the main body part 1 reaches the surface to be reached, the side support part 2 moves to the surface with the main body part 1. That is, the main body part 1 and the side support part 2 can move alternately to achieve the purpose of moving the carrying device from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38.

[0084] Alternatively, when the carrying device is moved from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, the side support part 2 can first move to the surface to be reached, and when the side support part 2 reaches the surface to be reached, the main body part 1 is moved to the surface. That is, the side support part 2 and the main body part 1 can move alternately to achieve the purpose of moving the carrying device from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38.

[0085] Alternatively, when the carrying device is moved from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, the side support part 2 can first move to the surface to be reached, and when the side support part 2 reaches the surface to be reached, the main body part 1 is moved to the surface. That is, the side support part 2 and the main body part 1 can move alternately to achieve the purpose of moving the carrying device from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38.

[0086] In some embodiments, as shown in FIG. 2, the side support part 2 can include a first support module 21. The first support module 21 can be configured to support the first overhanging part 37 when the side support part 2 is located on the second surface 39 and has the first overhanging part 37. Figures 2 to 12

[0087] When the width of the second surface 39 is wide, the side support part 2 does not have the first overhanging part 37 when it is located on the step 3, and the side support part 2 can provide support so that the carrying device can keep the center of gravity stable on the second surface 39, so that the carrying device has high safety and stability when working on the wider second surface 39.

[0088] When the width of the second surface 39 is narrow, the side support part 2 has the first overhanging part 37 when it is located on the second surface 39, which causes the center of gravity of the carrying device on the second surface 39 to be unstable. At this time, the first support module 21 can be used to support the first overhanging part 37, so that the center of gravity of the carrying device on the second surface 39 remains stable, so that the carrying device also has high safety and stability when working on the narrower second surface 39. Therefore, the carrying device can be suitable for different widths of the second surface 39, and has high safety and stability when working on different widths of the second surface 39.​

[0089] In addition, since the first support module 21 can support the first overhanging portion 37, the carrying device can be suitable for the first surface 38 and the second surface 39 with different height differences, and the carrying device can have high stability when the carrying device is located on the second surface 39 with different height differences from the first surface 38, thereby improving the safety and stability of the carrying device when working on the second surface 39 with different height differences from the first surface 38.

[0090] The first support module 21 can include a first driving part 211 and a first support rod 212. The first support rod 212 can be connected with the first driving part 211, and the first driving part 211 can drive the first support rod 212 to support the first surface 38 when the side support part 2 is located on the second surface 39.

[0091] The first driving part 211 can automatically support the first overhanging portion 37 of the side support part 2. Meanwhile, the first support rod 212 can improve the support force and structural strength of the first support module 21, and ensure the support effect of the first support module 21 on the side support part 2. In addition, the first support rod 212 can be freely adjusted in length according to the different height differences between the first surface 38 and the second surface 39, so that the first support module 21 can be suitable for providing good support to the side support part 2 under the condition that the first surface 38 and the second surface 39 have different height differences.

[0092] In some embodiments, as shown in Figure 2 , Figure 3 , Figures 5 to 9 The first support rod 212 can have a first support end 2121, and the first driving part 211 can drive the first support end 2121 to move towards the first surface 38, so that the first support rod 212 can support the first surface 38. It can be understood that the first driving part 211 can drive the first support end 2121 to move in a straight line, so that the first support end 2121 reaches the first surface 38, and the first support rod 212 can support the first surface 38.

[0093] The first support rod 212 can be a single rod structure, and the first support end 2121 can be located at one end of the single rod structure close to the first surface 38. The first driving part 211 can drive the entire first support rod 212 to move towards the first surface 38, so that the first support end 2121 moves towards the first surface 38, and the first support rod 212 can support the first surface 38.

[0094] The first support rod 212 can also be a telescopic structure, that is, the first support rod 212 can be formed by a fixed rod and a telescopic rod which are sleeved with each other, the telescopic rod can move relative to the fixed rod, and the first support end 2121 can be an end of the telescopic rod close to the first surface 38. The first driving part 211 can be connected with the telescopic rod, the first driving part 2111 moves the telescopic rod to the direction close to the first surface 38, so that the first support end 2121 moves to the direction close to the first surface 38, thereby enabling the first support rod 212 to be supported on the first surface 38.

[0095] The first support rod 212 can also be a linkage structure, that is, the first support rod 212 can be formed by at least two linkage rods which are rotationally connected, and the first support end 2121 can be located on the linkage rod closest to the first surface 38. The first driving part 211 can be connected with the linkage structure, and by driving the linkage structure, the linkage rod closest to the first surface 38 moves to the direction close to the first surface 38, so that the first support end 2121 moves to the direction close to the first surface 38, thereby enabling the first support rod 212 to be supported on the first surface 38.

[0096] However, the first support rod 212 is not limited to the three structures listed above, and can also be other structures, which can be selected and arranged according to actual needs, and all of them are within the protection scope of the present disclosure.

[0097] In some embodiments, when the side support part 2 needs to climb the steps 3 or climb down the steps 3, and the height of the steps 3 changes, the first driving part 211 can drive the first support end 2121 to move away from the first surface 38, so as to release the support of the first support rod 212 on the first overhanging part 37. It can be understood that the first driving part 211 can drive the first support end 2121 to move in a straight line, so that the first support end 2121 is away from the first surface 38, so as to retract the first support rod 212, thereby releasing the support of the first support rod 212 on the first overhanging part 37. When the side support part 2 reaches the next step 3, the first driving part 211 is used again to drive the first support end 2121 to move close to the first surface 38 at this time, so as to support the first overhanging part 37 by the first support rod 212 again.

[0098] When the side support part 2 needs to be moved from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 does not change, since the first support rod 212 does not need to change the support height when performing the next support, the first support rod 212 can not be retracted, and the next support can be directly performed by using the first support rod 212 which has been extended. However, the first support rod 212 can also be driven by the first driving part 211 to move away from the first surface 38 to release the support of the first overhanging part 37 by the first support rod 212 when the side support part 2 needs to be moved from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 does not change. When the side support part 2 reaches the next second surface 39, the first support end 2121 is driven by the first driving part 211 to move towards the first surface 38 at this time to support the first overhanging part 37 by the first support rod 212 again.

[0099] In some embodiments, as shown in Figures 5 to 12 The body part 23 can include a housing and a containing space which can be enclosed by the housing. The first support module 21 can be arranged in the containing space to protect the first support module 21 by the housing to avoid damage caused by collision with other structures in the external environment. However, the first support module 21 can also not be arranged in the containing space, i.e., the first support module 21 can also be arranged on the outer surface of the housing.

[0100] As shown in Figure 9 The first support module 21 further includes a first guide sleeve 214. The first guide sleeve 214 can be mounted on the body part 23, and the first guide sleeve 214 can be sleeved on at least part of the outer circumferential surface of the first support rod 212 to provide guidance for the movement of the first support rod 212 to ensure that the first support rod 212 can always move in the correct movement direction.

[0101] The outer circumferential surface of the first support rod 212 can be provided with a first thread. The inner circumferential surface of the first guide sleeve 214 can be provided with a second thread which engages with the first thread. The first driving part 211 can drive the first guide sleeve 214 or the first support rod 212 to rotate to move the first support rod 212 towards the first surface 38. Alternatively, the first driving part 211 can drive the first guide sleeve 214 or the first support rod 212 to rotate in the opposite direction to move the first support rod 212 away from the first surface 38.

[0102] The first thread and the second thread are arranged, the self-locking can be realized by the first thread and the second thread, displacement of the first supporting rod 212 during supporting of the opposite supporting part 2 is avoided, and therefore the supporting force and the supporting stability of the first supporting rod 212 can be improved. Meanwhile, the movement stroke of the first supporting rod 212 can be more conveniently and accurately controlled by arranging the first thread and the second thread, and the supporting effect of the first supporting rod 212 on the opposite supporting part 2 is further improved.

[0103] At least part of the outer circumferential surface of the first guide sleeve 214 can be provided with a first tooth portion 2141. The first driving part 211 can include a first driving piece 2111 and a first transmission piece 2112. The first transmission piece 2112 can be connected with the first driving piece 2111, and the outer circumferential surface of the first transmission piece 2112 can be provided with a second tooth portion 2113 engaged with the first tooth portion 2141, and the first driving piece 2111 can drive the first transmission piece 2112 to rotate. When the first transmission piece 2112 rotates, the first transmission piece 2112 can drive the first tooth portion 2141 to move through the second tooth portion 2113, thereby driving the first guide sleeve 214 to rotate. In this way, the first supporting rod 212 can be driven to move towards or away from the first surface 38 through cooperation of the first thread and the second thread.

[0104] The first transmission piece 2112 can include a plurality of gears, and the plurality of gears can be engaged with each other. The gear ratio of the plurality of gears can be adjusted as needed to adjust the rotation speed of the first guide sleeve 214, so as to adjust the movement speed of the first supporting rod 212. Alternatively, when the relative position between the first driving piece 2111 and the second tooth portion 2113 is far, the arrangement position of the plurality of gears can be adjusted according to the position of the first driving piece 2111 and the second tooth portion 2113, so as to ensure that the driving force output by the first driving piece 2111 can be transmitted to the second tooth portion 2113 through the plurality of gears. However, the first transmission piece 2112 can also include only one gear, which can be selected according to actual conditions, and this is within the protection scope of the present disclosure.

[0105] In some embodiments of the present disclosure, as shown in Figure 2 and Figure 4 The first driving part 211 can drive the first supporting rod 212 to rotate in the first direction X, and the first supporting end 2121 is rotated to the first surface 38, so that the first supporting rod 212 is supported on the first surface 38. For example, the initial state of the first supporting rod 212 can be retracted in the side supporting part 2, the first supporting rod 212 can be driven to rotate in the first direction X by the first driving part 211, so that the first supporting rod 212 extends out of the side supporting part 2, and the first supporting rod 212 is supported on the first surface 38.

[0106] Further, the first driving unit 211 is capable of driving the first support rod 212 to rotate in the direction opposite to the first direction X, so as to separate the first support end 2121 from the first surface 38, and release the support of the first support rod 212 to the first overhanging portion 37. For example, the first driving unit 211 can be used to drive the first support rod 212 to rotate in the direction opposite to the first direction X, so that the first support rod 212 returns to the initial state and is retracted in the side support unit 2, and the support of the first support rod 212 to the first overhanging portion 37 is released.

[0107] In some embodiments, as shown in Figures 5 to 11 The first support rod 212 can include a first support block 2122. The first support block 2122 can be arranged on the first support end 2121, and the first support block 2122 can be connected with the first support end 2121. The contact area between the first support block 2122 and the first surface 38 can be greater than the contact area between the first support end 2121 and the first surface 38. In this way, when the first support block 2122 is in contact with the first surface 38, compared with directly contacting the first surface 38 with the first support end 2121, the first support block 2122 has a larger contact area, so that more stable support can be provided, and the pressure applied by the first support rod 212 to the first surface 38 can be reduced, so as to avoid damage to the first surface 38 caused by the first support rod 212.

[0108] As shown in Figure 10 The first support module 21 can further include a first detector 213. The first detector 213 can be configured to detect the relative position between the first support end 2121 and the first surface 38. When the first support end 2121 is in contact with the first surface 38, the first driving unit 211 is controlled to stop providing driving force to the first support end 2121. In this way, it can be avoided that the interaction force between the first support end 2121 and the first surface 38 is large due to the first driving unit 211 continuously providing driving force to the first support end 2121 when the first support end 2121 is in contact with the first surface 38, so as to reduce the probability of damage to the first support rod 212 and / or the first surface 38.

[0109] Furthermore, when the outer circumferential surface of the first support rod 212 is provided with a first thread and the inner circumferential surface of the first guide sleeve 214 is provided with a second thread, if a driving force is continuously provided to the first support end 2121 when it contacts the first surface 38, the applied driving force will accumulate between the first thread and the second thread because the first support end 2121 will no longer move at this time. This will cause the first thread and the second thread to lock up, affecting the subsequent movement of the first support rod 212 and thus affecting the normal operation of the bearing device. Therefore, by setting the first detector 213, this embodiment can avoid the first driving part 211 from providing a driving force to the first support end 2121 when it contacts the first surface 38, thus effectively avoiding the problem of locking between the first thread and the second thread, ensuring the subsequent movement of the first support rod 212, and ensuring the normal operation of the bearing device.

[0110] The first detector 213 can be mounted on the first support end 2121. When the first detector 213 contacts the first surface 38, the first drive unit 211 is controlled to stop providing driving force to the first support end 2121. This arrangement allows the distance between the first detector 213 and the first support end 2121 to be closer, thereby improving the accuracy of the first detector 213 in detecting the relative position between the first support end 2121 and the first surface 38.

[0111] When the first support rod 212 includes the first support block 2122, the first detector 213 can be installed on the side of the first support block 2122 facing the first surface 38, which can make the distance between the first detector 213 and the first support block 2122 closer, thereby improving the accuracy of the first detector 213 in detecting the relative position between the first support block 2122 and the first surface 38.

[0112] like Figure 10 and Figure 11 As shown, a first mounting groove 2123 can be provided on the side of the first support block 2122 facing the first surface 38, and the first detector 213 can be disposed in the first mounting groove 2123. When the first support block 2122 contacts the first surface 38, the first detector 213 also contacts the first surface 38. This arrangement provides mounting space for the first detector 213, preventing the first detector 213 from protruding entirely from the first support block 2122, thereby reducing the probability of the first detector 213 being damaged by pressure when the first support block 2122 contacts the first surface 38.

[0113] In some embodiments, the supporting device may further include a first controller. A first detector 213 may be connected to the first controller, and a first drive unit 2111 may be communicatively connected to the first controller. When the first detector 213 detects that the first support end 2121 is in contact with the first surface 38, it may send a detection signal to the first controller. After receiving the detection signal, the first controller may control the first drive unit 2111 to stop providing driving force to the first support end 2121.

[0114] However, this is not the only option. The supporting device may not have a first controller. The first detector 213 may have both detection and control functions and may be communicatively connected to the first drive unit 2111. When the first detector 213 detects that the first support end 2121 is in contact with the first surface 38, it directly controls the first drive unit 2111 to stop providing driving force to the first support end 2121.

[0115] The first detector 213 can be a micro switch. However, it is not limited to this. The first detector 213 can also be an optocoupler sensor, a Hall sensor, etc., which can be selected and set according to the actual situation, and all of these are within the protection scope of this disclosure.

[0116] In some embodiments, such as Figures 5 to 12 As shown, the first support module 21 may further include a second detector 215. The second detector 215 can be configured to detect the position of the first support end 2121 moving away from the first surface 38. When the first support end 2121 moves away from the first surface 38 to a preset position, the first drive unit 211 is controlled to stop providing driving force to the first support end 2121. In this way, it is possible to avoid the first support end 2121 colliding with other structural members in the side support part 2 because the first drive unit 211 continuously provides driving force to the first support end 2121 when it moves away from the first surface 38 to the preset position.

[0117] And, when the outer circumferential surface of the first support rod 212 is provided with a first thread, and the inner circumferential surface of the first guide sleeve 214 is provided with a second thread, if the first driving part 211 continues to provide driving force to the first support end 2121 when the first support end 2121 moves to the preset position in the direction away from the first surface 38, the applied driving force may be concentrated between the first thread and the second thread, causing the first thread and the second thread to be locked, affecting the subsequent movement of the first support rod 212, and thus affecting the normal work of the bearing device. Therefore, by providing the second detector 215, the first driving part 211 can be prevented from providing driving force to the first support end 2121 when the first support end 2121 moves to the preset position, which can effectively prevent the first thread and the second thread from being locked, ensure the subsequent movement of the first support rod 212, and ensure the normal work of the bearing device.

[0118] The second detector 215 can be installed at the preset position, and the second detector 215 can be configured to control the first driving part 211 to stop providing driving force to the first support end 2121 when the first support end 2121 moves away from the first surface 38 and contacts the second detector 215. In this way, the distance between the second detector 215 and the preset position can be closer, so as to improve the accuracy of detection by the second detector 215.

[0119] In some embodiments, the bearing device can further include a second controller. The first controller and the second controller can be the same controller, but are not limited to this, and the second controller and the first controller can also be independent controllers.

[0120] The second detector 215 can be connected to the second controller, and the first driving part 2111 can be connected to the second controller. When the second detector 215 detects that the first support end 2121 moves to the preset position, a detection signal can be sent to the second controller, and the second controller can control the first driving part 2111 to stop providing driving force to the first support end 2121 after receiving the detection signal.

[0121] However, the bearing device can also not be provided with a second controller, and the second detector 215 can have both detection and control functions, and can be in communication connection with the second driving part. When the second detector 215 detects that the first support end 2121 moves to the preset position, the first driving part 2111 can be directly controlled to stop providing driving force to the first support end 2121.

[0122] The second detector 215 can be a micro switch. However, the second detector 215 can also be an optical coupling sensor, a Hall sensor, etc., which can be selected and set according to actual conditions, and all of these are within the protection scope of the present disclosure.

[0123] In some embodiments, as shown in Figures 5 to 12 The first support module 21 can further include a first guide rod 216. The first guide rod 216 can be arranged in parallel with the first support rod 212, and the first guide rod 216 can be connected with the first support rod 212. The first guide rod 216 is configured to guide the movement of the first support rod 212, so as to ensure that the first support rod 212 can always move along the correct movement direction.

[0124] As shown in Figure 12 The first support module 21 can further include a first connecting block 217. The first connecting block 217 can have a first through hole and a second through hole. The first support rod 212 can pass through the first through hole, and the first guide rod 216 can pass through the second through hole, so as to connect the first support rod 212 and the first guide rod 216.

[0125] As shown in Figures 5 to 12 The first support module 21 can further include a second connecting block 218. The second connecting block 218 can be fixedly connected with the first support rod 212 and the first guide rod 216, so as to enable the first support rod 212 and the first guide rod 216 to move synchronously relative to the first connecting block 217. This can further improve the connection stability of the first guide rod 216 and the first support rod 212, and can further improve the guiding ability of the first guide rod 216.

[0126] The second connecting block 218 can be away from the first support end 2121 relative to the first connecting block 217, but is not limited thereto.

[0127] The first support module 21 can further include a second guide sleeve 219. The second guide sleeve 219 can be mounted to the body portion 23, and can be sleeved on at least part of the outer circumferential surface of the first guide rod 216, so as to guide the movement of the first guide rod 216, thereby further improving the accuracy of the movement direction of the first support portion.

[0128] In other embodiments, the first support rod 212 can be fixedly connected with the first connecting block 217 through the first through hole, and the first guide rod 216 can be slidingly connected with the first connecting block 217 through the second through hole. The first support rod 212 and the first connecting block 217 can move relative to the first guide rod 216. The movement of the first connecting block 217 is guided by the first guide rod 216, and the movement of the first support rod 212 is indirectly guided by the first connecting block 217.

[0129] In some embodiments of the present disclosure, as shown in Figure 13As shown, the main body 1 comprises a second support module 13. The second support module 13 can be configured to support the second overhanging part when the main body 1 is located on the second surface 39 and has the second overhanging part. In this way, the second support module 13 and the first support module 21 can be used in cooperation to improve the stability of the bearing device.

[0130] The second support module 13 can comprise a second driving part 131 and a second support rod 132. The second support rod 132 can be connected with the second driving part 131, and the second driving part 131 can drive the second support rod 132 to support the first surface 38. By providing the second driving part 131, the main body 1 can be automatically supported when the second overhanging part is provided. At the same time, by providing the second support rod 132, the support force and structural strength of the second support module 13 can be improved, so as to ensure the support effect of the second support module 13 on the main body 1. Moreover, by providing the second support rod 132, the support length of the second support rod 132 can be freely adjusted according to the different height differences between the first surface 38 and the second surface 39, so that the second support module 13 can be applied to provide good support to the main body 1 in the case that the first surface 38 and the second surface 39 have different height differences.

[0131] In some embodiments, the second support rod 132 can have a second support end, and the second driving part 131 can drive the second support end to move towards the second support surface, so that the second support rod 132 supports the second support surface. It can be understood that the second driving part 131 can drive the second support end to move in a straight line direction, so that the second support end reaches the second support surface, so that the second support rod 132 can support the second support surface.

[0132] In some embodiments, when the main body 1 needs to be moved from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 changes, the second driving part 131 can drive the second support end to move away from the second support surface, so as to release the support of the second support rod 132 on the second overhanging part. When the main body 1 reaches the next second surface 39, the second driving part 131 is used again to drive the second support end to move towards the first surface 38 at this time, so that the second support rod 132 supports the second overhanging part again.

[0133] When the main body 1 needs to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 does not change, the second support rod 132 does not need to change the support height when it is used for the next support, so the second support rod 132 can not be retracted, and the second support rod 132 that has been extended can be directly used for the next support. However, when the main body 1 needs to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 does not change, the second driving part 131 can be used to drive the second support end to move away from the first surface 38, so as to release the support of the second support rod 132 on the second overhanging part. When the main body 1 reaches the next second surface 39, the second driving part 131 is used again to drive the second support end to move towards the first surface 38 at this time, so as to support the second overhanging part again by using the second support rod 132.

[0134] In some embodiments, the second driving part 131 can drive the second support rod 132 to rotate in the first direction X, so as to rotate the second support end to the first surface 38, so that the second support rod 132 is supported on the first surface 38.

[0135] In addition, the second driving part 131 can drive the second support rod 132 to rotate in the direction opposite to the first direction X, so as to move the second support end away from the first surface 38, so as to release the support of the first support rod 212 on the first overhanging part 37.

[0136] In some embodiments of the present disclosure, one of the first surface 38 and the second surface 39 is the upper surface of the step 3, and the other can be the lower surface at the bottom of the step 3, as shown in Figure 5 and Figure 6 In order to avoid the collision with the edge of the second surface 39 when the side support part 2 moves from the first surface 38 to the second surface 39, a notch 231 can be arranged on the side of the body part 23 facing the edge of the second surface 39, so as to avoid the edge of the second surface 39 by using the notch 231. However, when the side of the body part 23 facing the edge of the second surface 39 is provided with the notch 231, the body part 23 cannot be supported at the position of the notch 231, which leads to the decrease of the support strength of the side support part 2.

[0137] In the embodiment, the side support part 2 can further comprise a swing lever 24. The swing lever 24 can be connected with the body part 23, and the swing lever 24 can have a third support end 241. When the side support part 2 is in a static state, the third support end 241 can be in a first position, at which the third support end 241 is in contact with the surface on which the side support part 2 is located, and at least part of the third support end 241 protrudes from one side of the edge of the body part 23 facing the second surface 39. When the side support part 2 climbs the step 3 and / or descends the step 3, the third support end 241 can be in a second position, which is away from the edge of the second surface 39 relative to the first position.

[0138] It should be noted that when the carrying device is in the climbing process, the surface on which the side support part 2 is located at the moment can be considered as the first surface 38, at which the third support end 241 is in contact with the first surface 38, and at least part of the third support end 241 protrudes from one side of the edge of the body part 23 facing the second surface 39 at the moment; when the carrying device is in the descending process, the surface on which the side support part 2 is located at the moment can be considered as the second surface 39 at the moment, at which the third support end 241 is in contact with the second surface 39 at the moment, and at least part of the third support end 241 protrudes from one side of the edge of the body part 23 facing the second surface 39 at the last moment.

[0139] In this way, when the side support part 2 is in a static state, the swing lever 24 can be used to support the side support part 2 at the position of the gap 231 of the body part 23, so as to make up for the defect that the body part 23 cannot support at the position of the gap 231, thereby improving the support strength of the side support part 2. Meanwhile, when the side support part 2 moves from the first surface 38 to the second surface 39, the swing lever 24 can be away from the edge of the second surface 39, so as to avoid the swing lever 24 from colliding with the edge of the second surface 39.

[0140] When the first surface 38 and the second surface 39 are surfaces of the step 3, the first surface 38 and the second surface 39 can be tread surfaces of the step 3, at which the gap 231 can face a kick surface 32 of the step 3. Meanwhile, the swing lever can protrude from one side of the edge of the body part 23 facing the kick surface 32 of the step 3. At this time, the gap 231 can avoid the kick surface 32, so as to avoid the gap 231 from colliding with the kick surface 32. Meanwhile, when the swing lever 24 is in the second position, the kick surface 32 can also be avoided.

[0141] It should be noted that, as shown in Figures 2 to 4 The step 3 can have a tread surface 31 and a kick surface 32. The tread surface 31 of the step 3 refers to a surface extending horizontally in the step 3, and the kick surface 32 of the step 3 refers to a surface extending vertically in the step 3, i.e., the kick surface 32 of the step 3 connects the first surface 38 and the second surface 39 in the step 3.

[0142] In some embodiments, the rocker arm 24 may be rotatably connected to the body portion 23, and the rocker arm 24 may rotate relative to the body portion 23 to switch the third support end 241 between a first position and a second position.

[0143] The side support 2 may further include a third drive unit 25. The third drive unit 25 may be connected to the rocker arm 24 for driving the rocker arm 24 to rotate relative to the main body 23.

[0144] like Figure 5 , Figure 6 and Figure 13 As shown, the third drive unit 25 may include a third drive member 251, a first dial 252, and a pulling mechanism 253. The first dial 252 is mounted on the main body 23, and the third drive member 251 can drive the first dial 252 to rotate. One end of the pulling mechanism 253 can be connected to the end face or outer peripheral surface of the first dial 252, and the other end of the pulling mechanism 253 is connected to the rocker arm 24. When the first dial 252 rotates, it can pull one end of the pulling mechanism 253, causing the other end of the pulling mechanism 253 to pull the rocker arm 24, thereby causing the rocker arm 24 to rotate relative to the main body 23.

[0145] The pulling mechanism 253 can be a pull rope to reduce the manufacturing cost of the pulling mechanism 253. However, it is not limited to this. The pulling mechanism 253 can also be a pull rod, a connecting rod structure, etc., which can be selected and set according to the actual situation, and all of these are within the protection scope of this disclosure.

[0146] In some embodiments, at least a portion of the outer peripheral surface of the first dial 252 may be provided with a first protrusion 2521. The third drive unit 25 may further include a second dial 254. The second dial 254 may be mounted on the body unit 23 and may be connected to the third drive member 251. The third drive member 251 is capable of driving the second dial 254 to rotate.

[0147] At least a portion of the outer peripheral surface of the second dial 254 may be provided with a second protrusion 2541. When the second dial 254 rotates, the second protrusion 2541 can abut against the first protrusion 2521 to drive the first dial 252 to rotate.

[0148] The first protruding portion 2521 can include at least one first protruding block 2522, and the second protruding portion 2541 can include one second protruding block 2542. When the second dial 254 rotates, the second protruding block 2542 can abut against one first protruding block 2522. Since the third driving member 251 continuously drives the second dial 254 to rotate, the swing lever 24 does not need to continuously rotate, but only needs to move the third support end 241 from the first position to the second position or from the second position to the first position. Thus, through the above arrangement, when the first protruding block 2522 abuts against the second protruding block 2542, the first dial 252 can rotate with the second dial 254. When the first dial 252 and the second dial 254 rotate through a certain angle, the first protruding block 2522 and the second protruding block 2542 are separated, at which time the third support end 241 moves from the first position to the second position or from the second position to the first position, and the first dial 252 does not continue to rotate. Thus, through the above arrangement, the continuous rotation of the second dial 254 can be converted into the intermittent rotation of the first dial 252 to avoid continuous rotation of the swing lever 24.

[0149] However, the second protruding portion 2541 can also have other numbers of second protruding blocks 2542, which can be arranged according to actual needs.

[0150] In other embodiments, the first dial 252 can not be provided with the first protruding portion 2521, and the second dial 254 can not be provided with the second protruding portion 2541. The outer circumferential surface of the first dial 252 and the outer circumferential surface of the second dial 254 can be in contact, and the second dial 254 can drive the first dial 252 to rotate through the friction between the outer circumferential surface of the first dial 252 and the outer circumferential surface of the second dial 254.

[0151] In the present embodiment, the outer circumferential surface of the first dial 252 can have a recessed portion. When the recessed portion is opposite to the outer circumferential surface of the second dial 254, the outer circumferential surface of the second dial 254 cannot be in contact with the surface of the recessed portion, so that the second dial 254 cannot drive the first dial 252 to rotate through the friction. Thus, through the above arrangement, the continuous rotation of the second dial 254 can be converted into the intermittent rotation of the first dial 252 to avoid continuous rotation of the swing lever 24.

[0152] In some embodiments, the side support part 2 can further comprise a reset member 26. The reset member 26 can be arranged on the body part 23. Moreover, the reset member 26 can be configured to drive the first dial 252 to return to the initial position after the second dial 254 drives the first dial 252 to rotate, so as to drive the swing lever 24 to rotate, so that the third support end 241 returns to the initial position. For example, when the second dial 254 drives the first dial 252 to rotate, the first dial 252 can drive the swing lever 24 to rotate so that the third support end 241 switches from the first position to the second position; the reset member 26 can drive the first dial 252 to rotate in the opposite direction, so that the third support end 241 returns from the second position to the initial first position. Alternatively, when the second dial 254 drives the first dial 252 to rotate, the first dial 252 can drive the swing lever 24 to rotate so that the third support end 241 switches from the second position to the first position; the reset member 26 can drive the first dial 252 to rotate in the opposite direction, so that the third support end 241 returns from the first position to the initial second position.

[0153] The reset member 26 can be an elastic member, for example, the reset member 26 can be a spring or the like. One end of the elastic member can be fixed to the body part 23, and the other end can be fixed to the first dial 252. When the second dial 254 drives the first dial 252 to rotate, the elastic member is elastically deformed, so that the elastic member has a restoring force inside. The reset member 26 can drive the first dial 252 to return to the initial position through the restoring force.

[0154] However, the reset member 26 can also not be an elastic member, but can be a driving member such as a motor or an air cylinder, to directly drive the first dial 252 to rotate in the opposite direction, so that the first dial 252 returns to the initial position.

[0155] In some embodiments, the side support part 2 can further comprise a first limiting structure 27. The first limiting structure 27 can be arranged on the body part 23, and the first limiting structure 27 can be limited in cooperation with the pull rope, so as to limit the pull rope by the first limiting structure 27. In this way, the pulling direction of the pull rope can be fixed by the first limiting structure 27, and at the same time, the normal work of other components can be avoided due to the random swinging of the pull rope on the body part 23.

[0156] The first limiting structure 27 can be provided with a limiting groove, and at least part of the pull rope can be located in the limiting groove, so that the pull rope is limited in cooperation with the first limiting structure 27. In this way, the limiting ability of the first limiting structure 27 to the pull rope can be improved, and the probability of disengagement of the pull rope from the first limiting structure 27 can be reduced.

[0157] The first limiting structure 27 can be located on the side of the body portion 23 facing the second surface 39, and the limiting slot can be located on the side of the first limiting structure 27 away from the body portion 23. In this way, the pull rope can be limited in the limiting slot, and the pull rope can be used to pull the swing lever 24, so that the third support end 241 is switched from the first position to the second position.

[0158] Alternatively, the first limiting structure 27 can be located on the side of the body portion 23 facing the second surface 39, and the limiting slot can be located on the side of the first limiting structure 27 away from the body portion 23. In this way, the pull rope can be limited in the limiting slot, and the pull rope can be used to pull the swing lever 24, so that the third support end 241 is switched from the second position to the first position.

[0159] In some embodiments, the side support portion 2 can further include a second limiting structure 28. The second limiting structure 28 can include a first limiting block 281, which can be arranged on the body portion 23, and when the third support end 241 is in the first position, the first limiting block 281 can be located on the side of the body portion 23 facing the edge of the second surface 39, to limit the rotation range of the swing lever 24. That is, when the swing lever 24 rotates towards the first limiting block 281, the third support end 241 can be switched from the second position to the first position. The first limiting block 281 can limit the rotation range of the swing lever 24, to ensure that the third support end 241 can accurately reach the first position. At the same time, it can also avoid the problem of collision with other components due to the continuous rotation of the swing lever 24.

[0160] The second limiting structure 28 can further include a second limiting block 282. The second limiting block 282 can be arranged on the body portion 23, and when the third support end 241 is in the second position, the second limiting block 282 can be located on the side of the body portion 23 facing the edge of the second surface 39, to limit the rotation range of the swing lever 24. That is, when the swing lever 24 rotates towards the second limiting block 282, the third support end 241 can be switched from the first position to the second position. The second limiting block 282 can limit the rotation range of the swing lever 24, to ensure that the third support end 241 can accurately reach the second position. At the same time, it can also avoid the problem of collision with other components due to the continuous rotation of the swing lever 24.

[0161] The second limiting structure 28 can further include a third limiting block 283. The third limiting block 283 can be arranged on the side of the swing lever 24 away from the main body 1 to avoid the swing lever 24 moving away from the main body 1. The two ends of the third limiting block 283 can be connected with the first limiting block 281 and the second limiting block 282 to form an integrated structure of the third limiting block 283, the first limiting block 281 and the second limiting block 282, so as to improve the integration of the second limiting structure 28.

[0162] The second limiting structure 28 can further include a limiting detector 284. The limiting detector 284 can be arranged on the body 23, and the limiting detector 284 can be configured to detect whether the third supporting end 241 is in the first position.

[0163] The limiting detector 284 can be installed on the first limiting block 281 to further improve the integration of the second limiting structure 28. The limiting detector 284 can be a contact sensor, such as a microswitch, an optical coupling sensor, etc. The limiting detector 284 can be configured to determine that the third supporting end 241 is in the first position when the swing lever 24 contacts the limiting detector 284.

[0164] However, the limiting detector 284 can also be a non-contact sensor, such as a Hall sensor, etc. The selection and arrangement can be made according to actual needs, which are all within the protection scope of the present disclosure.

[0165] As shown in FIG. 1, Figure 13 The side supporting part 2 can further include a climbing driving part 29. The climbing driving part 29 can be installed on the main body 1 or the body 23 to drive the side supporting part 2 to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38.

[0166] In some embodiments, the climbing driving part 29 can be reused as the third driving part 251 to make the swing lever 24 swing synchronously when the side supporting part 2 moves from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, so that the third supporting end 241 is switched to the second position synchronously. In this way, the synchronization between the action of the third supporting end 241 switching to the second position and the action of the side supporting part 2 moving from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38 can be improved, so as to further reduce the probability of collision between the third supporting end 241 and the edge of the second surface 39. At the same time, other structures and control schemes for synchronizing the above two actions can no longer be needed, and the structure and control difficulty of the bearing device can be greatly simplified.

[0167] In some embodiments of the present disclosure, as shown in FIG. 1, Figure 7 andFigure 8 As shown, the side support part 2 can have a cleaning state and a lifting state. The climbing driving part 29 can drive the side support part 2 to switch between the cleaning state and the lifting state. The side support part 2 can include a cleaning part 30, at least part of the cleaning part 30 is in contact with the surface to be cleaned to clean the surface to be cleaned when the side support part 2 is in the cleaning state. When the side support part 2 is in the lifting state, the cleaning part 30 can be away from the surface to be cleaned. The surface to be cleaned can be the first surface 38 or the second surface 39.

[0168] At the same time, as shown, Figure 14 The surface to be cleaned can include a first cleaning area A1 and a second cleaning area A2, the first cleaning area A1 can be located at the edge of the surface to be cleaned. And because the side support part 2 is located at the side of the main body part 1, the first cleaning area A1 is an area that the main body part 1 cannot clean, and the second cleaning area A2 is an area that the main body part 1 can clean. Therefore, by providing the cleaning part 30 on the side support part 2 and making the side support part 2 have a cleaning state, the side support part 2 can be used to clean the area that the main body part 1 cannot clean, so as to eliminate the cleaning dead angle.

[0169] As shown in Figure 7 and Figure 8 The side support part 2 can also include a first pressing part 33. The first pressing part 33 can be configured to apply a force to the cleaning part 30 when the side support part 2 is in the cleaning state, so that the cleaning part 30 is in abutment with the surface to be cleaned. In this way, it can be ensured that the cleaning part 30 is in contact with the surface to be cleaned at all times, and the cleaning effect of the cleaning part 30 on the surface to be cleaned is improved.

[0170] The first pressing part 33 can be an elastic element, one end of the first pressing part 33 can be connected with the body part 23, and the other end can be connected with the cleaning part 30; when the cleaning part 30 is in contact with the surface to be cleaned, the first pressing part 33 can elastically deform, so that the first pressing part 33 has a restoring force, and the first pressing part 33 can use the restoring force to make the cleaning part 30 in abutment with the surface to be cleaned. The first pressing part 33 can be a spring, but is not limited thereto, and the first pressing part 33 can also be other elements capable of elastically deforming.

[0171] In some embodiments, the body part 23 can be provided with a first fixing block 34, one end of the first pressing part 33 can be connected with the first fixing block 34, and the other end can be connected with the cleaning part 30, so that the first pressing part 33 can elastically deform after the cleaning part 30 is in contact with the surface to be cleaned.

[0172] The cleaning piece 30 can be provided with a first sliding groove 301 extending along the height direction H of the body part 1, and the first fixed block 34 can be in sliding fit with the first sliding groove 301 to connect the cleaning piece 30 with the body part 23 and limit the movement direction of the cleaning piece 30, so that the cleaning piece 30 can only reciprocate in the height direction H. When the cleaning piece 30 contacts the surface to be cleaned, the cleaning piece 30 can slide relative to the first fixed block 34 to cause the first pressing piece 33 to elastically deform.

[0173] In some embodiments, the cleaning piece 30 can be configured to reciprocate in a third direction Z. Any two of the second direction Y, the third direction Z and the height direction H are perpendicular, and the second direction Y is the direction in which the side support part 2 points to the body part 1. It can be understood that the third direction Z can be the length direction of the carrying device. By reciprocating the cleaning piece 30 in the third direction Z, the cleaning range of the cleaning piece 30 in the third direction Z can be increased, so that the cleaning effect of the cleaning piece 30 can be further improved.

[0174] The cleaning piece 30 can be provided with a second sliding groove 302 extending along the third direction Z, and the second sliding groove 302 can be in communication with the first sliding groove 301. The first fixed block 34 and the second sliding groove 302 can be in sliding fit to limit the movement direction of the cleaning piece 30, so that the cleaning piece 30 can reciprocate in the height direction H and the third direction Z.

[0175] The cleaning piece 30 can be connected with the swing rod 24. When the swing rod 24 rotates relative to the body part 23, the swing rod 24 can have displacement in the third direction Z to drive the cleaning piece 30 to reciprocate in the third direction Z. In this way, the linkage of the swing rod 24 and the cleaning piece 30 can be realized, and it is not necessary to additionally provide other structures to drive the cleaning piece 30 to reciprocate in the third direction Z, so that the structure of the carrying device can be simplified.

[0176] The cleaning piece 30 is provided with a third sliding groove 305 extending along the height direction H. The side support part 2 can further include a second fixed block 35. The second fixed block 35 can be provided on the swing rod 24, and the second fixed block 35 and the third sliding groove 305 can be in sliding fit. In this way, the movement direction of the cleaning piece 30 relative to the swing rod 24 can be limited, so that the cleaning piece 30 can only reciprocate relative to the swing rod 24 in the height direction H to ensure that the swing rod 24 can drive the cleaning piece 30 to move in the third direction Z.

[0177] The side supporting part 2 can further include a second pressing member 36. The second pressing member 36 can be an elastic element, one end of the second pressing member 36 can be connected with the second fixed block 35, and the other end can be connected with the cleaning member 30. When the cleaning member 30 is in contact with the surface to be cleaned, the cleaning member 30 can slide relative to the second fixed block 35, so that the second pressing member 36 is elastically deformed, so that the second pressing member 36 has a restoring force, and the second pressing member 36 can use the restoring force to abut the cleaning member 30 against the surface to be cleaned. The second pressing member 36 can be a spring, but is not limited thereto, and the second pressing member 36 can also be other elements capable of elastically deforming.

[0178] The side supporting part 2 can simultaneously include the first pressing member 33 and the second pressing member 36 to simultaneously apply force to the cleaning member 30 by the first pressing member 33 and the second pressing member 36, so as to further ensure that the cleaning member 30 is in contact with the surface to be cleaned at all times, and further improve the cleaning effect of the cleaning member 30 on the surface to be cleaned.

[0179] The side supporting part 2 can include a plurality of first pressing members 33, a plurality of second pressing members 36, a plurality of first fixed blocks 34, or a plurality of second fixed blocks 35, etc. The specific number of the first pressing member 33, the second pressing member 36, the first fixed block 34, and the second fixed block 35 is not limited in the present disclosure, and can be selected and set according to actual conditions, which are all within the protection scope of the present disclosure.

[0180] In some embodiments, the cleaning member 30 can include a connecting plate 303 and a scraping strip 304. The other end of the first pressing member 33 can be connected with the connecting plate 303, and the first sliding groove 301 can be arranged on the connecting plate 303. The scraping strip 304 can be installed on the side of the connecting plate 303 close to the surface to be cleaned. When the side supporting part 2 is in a cleaning state, the scraping strip 304 is in contact with the surface to be cleaned. Since the connecting plate 303 has higher structural strength than the scraping strip 304, arranging the first sliding groove 301 on the connecting plate 303 can improve the connection strength between the cleaning member 30 and the body part 23. For example, the material of the scraping strip 304 can be soft rubber or felt, but is not limited thereto, and the material of the scraping strip 304 can also be plastic, etc.

[0181] The second sliding groove 302 can also be arranged on the connecting plate 303 to improve the connection strength between the cleaning member 30 and the swing rod 24. Moreover, the first pressing member 33 and the second pressing member 36 can be connected with the connecting plate 303 to improve the connection strength between the first pressing member 33 and the second pressing member 36 and the cleaning member 30.

[0182] In some embodiments, as Figure 14As shown, the bearing device can further comprise a position detector. The position detector can be configured to detect the position of the side support part 2. When the position detector detects that the side support part 2 is in the first cleaning area A1, the side support part 2 is switched from the lifting state to the cleaning state. The first cleaning area A1 can be an area that the main body part 1 cannot clean, but is not limited thereto. In this way, the position detector can be used to accurately determine the timing at which the side support part 2 needs to clean the surface to be cleaned, thereby avoiding the problem of damage to the cleaning element 30 due to the side support part 2 switching to the cleaning state too early, and also avoiding the problem of the side support part 2 being unable to better clean the surface to be cleaned in the first cleaning area A1 due to the side support part 2 switching to the cleaning state too late.

[0183] Further, when the first cleaning area A1 is located at the edge of the surface to be cleaned, the position detector can be configured to detect the relative position between the support part and the edge of the surface to be cleaned. When the position detector detects that the side support part is located at the edge of the step surface to be cleaned, it can be considered that the side support part is in the first cleaning area, and the side support part is switched from the lifting state to the cleaning state.

[0184] The edge of the surface to be cleaned can have a stop structure. The position detector can be a collision detector, such as a microswitch or the like. The collision detector can be arranged on the side of the side support part 2 away from the main body part 1, and the collision detector is configured to detect the collision between the side support part 2 and the stop structure. When the collision detector detects that the side support part 2 collides with the stop structure, it can be considered that the side support part 2 is in the first cleaning area A1, and the side support part 2 can be switched from the lifting state to the cleaning state. Thus, by arranging the collision detector, the side support part 2 can be more accurately detected whether it reaches the first cleaning area A1, so as to further improve the accuracy of the timing at which the side support part 2 switches to the cleaning state.

[0185] However, the position detector can also be a distance sensor, such as an infrared sensor or the like. The distance sensor can be arranged on the main body part 1 or the side support part 2, so as to detect the distance between the side support part 2 and the stop structure, thereby determining whether the side support part 2 reaches the first cleaning area A1.

[0186] In some embodiments, when the side support part 2 is cleaning the first cleaning area A1, the cleaning element 30 can be used to clean the dirt located in the first cleaning area A1, so as to sweep the dirt to the second cleaning area A2 that can be reached by the main body part 1. At this time, the cleaning device of the main body part 1 or the cleaning device arranged on the bearing structure 11 of the main body part 1 can be used to further clean the dirt, thereby achieving the purpose of cleaning all areas of the surface to be cleaned without dead angles.

[0187] In some embodiments, as shown in FIG. 6, the bearing device can further comprise a cleaning element 30 arranged on the side support part 2. The cleaning element 30 can be arranged on the side of the side support part 2 away from the main body part 1, and the cleaning element 30 can be used to clean the surface to be cleaned when the side support part 2 is in the cleaning state. Figures 1 to 14As shown, the supporting device may include two side support parts 2, which can be located on both sides of the main body 1 in the second direction Y, that is, the two support parts can be located on both sides of the main body 1 in its width direction. This arrangement can further improve the supporting capacity of the side support parts 2 for the supporting device, thereby further improving the stability and safety of the supporting device. Furthermore, when the side support parts 2 have cleaning components 30, the edges on both sides of the step 3 can be cleaned using the two side support parts 2 respectively, thereby further improving the cleaning range and cleaning effect, and further eliminating cleaning dead corners.

[0188] Some embodiments of this disclosure provide a control method for a carrier device. The control method for the carrier device is used to control the carrier device described above, such as... Figure 15 As shown, the control method for the carrier equipment may include:

[0189] Step S100: Detect whether the side support 2 has a first suspended portion 37;

[0190] Step S110: When the side support part 2 has a first suspended part 37, the first support module 21 is used to support the first suspended part 37.

[0191] It should be noted that the specific structure, working method and beneficial effects of the carrier device have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure, working method and beneficial effects of the carrier device will not be described again. You can refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0192] In step S110, the first drive unit 211 can be used to drive the first support end 2121 to move towards the first surface 38, so that the first support rod 212 is supported on the first surface 38. Alternatively, the first drive unit 211 can be used to drive the first support rod 212 to rotate along the first direction X, rotating the first support end 2121 to the first surface 38, so that the first support rod 212 is supported on the first surface 38.

[0193] In some embodiments, the control method for the support device may further include: using a first detector 213 to detect whether the first support end 2121 is in contact with the first surface 38. When the first support end 2121 is in contact with the first surface 38, using a first controller to control the first drive unit 211 to stop providing driving force to the first support end 2121.

[0194] In some embodiments, the control method of the carrying device can further include: driving the first support end 2121 to move away from the first surface 38 by the first driving part 211, so as to release the support of the first overhanging part 37 by the first support rod 212; or driving the first support rod 212 to rotate in the direction opposite to the first direction X by the first driving part 211, so that the first support end 2121 is away from the first surface 38, and the support of the first overhanging part 37 by the first support rod 212 is released.

[0195] Further, the control method of the carrying device can further include: detecting whether the first support end 2121 moves to a preset position away from the first surface 38 by the second detector 215. When the first support end 2121 moves to the preset position, the first driving part 211 is controlled to stop providing driving force to the first support end 2121 by the second controller.

[0196] Further, when the main body 1 is provided with the second support module 13, as shown in Figure 16 the control method of the carrying device can further include:

[0197] Step S120: detecting whether the main body 1 has a second overhanging part;

[0198] Step S130: when the main body 1 has the second overhanging part, supporting the second overhanging part by the second support module 13.

[0199] In step S120, the second support end can be driven to move towards the second support surface by the second driving part 131, so that the second support rod 132 is supported on the second support surface. Alternatively, the second support rod 132 is driven to rotate in the first direction X by the second driving part 131, and the second support end is rotated to the second support surface, so that the second support rod 132 is supported on the second support surface.

[0200] In some embodiments, the control method of the carrying device can further include: driving the second support end to move away from the second support surface by the second driving part 131, so as to release the support of the second overhanging part by the second support rod 132; or driving the second support rod 132 to rotate in the direction opposite to the first direction X by the second driving part 131, so that the second support end is away from the second support surface, and the support of the second overhanging part by the second support rod 132 is released.

[0201] Some other embodiments of the present disclosure also provide a control method of a carrying device. The control method of the carrying device is used to control the carrying device described above, as shown in Figure 17 the control method of the carrying device can include:

[0202] Step S200: obtaining a cleaning instruction.

[0203] Step S210, in response to the side support part cleaning instruction, and control the side support part switch to the cleaning state, for cleaning piece to clean the surface cleaning.

[0204] Wherein, the cleaning instruction can include: side support part cleaning instruction, etc.

[0205] It should be noted that the specific structure, working method and beneficial effects of the bearing device have been described in detail in the above embodiments, so in this embodiment, the specific structure, working method and beneficial effects of the bearing device will not be described again, and can refer to the specific description in the above embodiments, which is within the protection scope of the present disclosure.

[0206] In some embodiments, as shown in Figure 18 The position detector can detect the position of the side support part 2 in step S210;

[0207] When the side support part is detected in the first cleaning area A1, the controller controls the side support part 2 to switch from the lifting state to the cleaning state, and the cleaning piece 30 cleans the first cleaning area A1.

[0208] In some embodiments, as shown in Figure 19 When the side support part 2 collides with the stop structure in step S210, the side support part 2 is in the first cleaning area A1.

[0209] In some embodiments, the side support part 2 can be controlled to move to the second cleaning area A2, so that the cleaning piece 30 sweeps the dirt of the first cleaning area A1 to the second cleaning area A2, so as to realize the cleaning of the first cleaning area A1. Further, the second cleaning area A2 can be cleaned by the cleaning device, so as to realize the purpose of cleaning each area of the surface to be cleaned without dead angle.

[0210] For example, the first cleaning area A1 can be the two side edges of the surface to be cleaned. The side support part 2 can be controlled to move to one side edge of the surface to be cleaned, and then the side support part 2 is switched to the cleaning state. The side support part 2 is controlled to move to the second cleaning area A2, and when the side support part 2 reaches the main body part 1 to the second cleaning area A2, the side support part 2 is controlled to switch to the lifting state.

[0211] The side support part 2 can be controlled to move to the other side first cleaning area A1 edge of the surface to be cleaned, and then the side support part 2 is switched to the cleaning state. The side support part 2 is controlled to move to the second cleaning area A2, and when the side support part 2 reaches the second cleaning area A2, the side support part 2 is controlled to switch to the lifting state. At this time, the second cleaning area A2 can be cleaned by the cleaning device.

[0212] In some embodiments of the present disclosure, a computer readable storage medium is also provided, and at least one program code is stored on the computer readable storage medium, and the at least one program code can be loaded and executed by a processor to implement the control method of the bearing device described in the above embodiments.

[0213] The computer program product can adopt a portable compact disc read-only memory (CD-ROM) and include at least one program code, and can run on a terminal device such as a personal computer. However, the program product in the present embodiment is not limited to this, and in the present embodiment, the computer readable storage medium can be any tangible medium containing or storing the computer program product, which can be used or combined with an instruction execution system, device or instrument.

[0214] The computer program product can be stored in one or more computer readable storage media. The computer readable storage medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or instrument, or any combination of the above. More specific examples (non-exhaustive list) of readable storage medium include: electrical connection with one or more conductive wires, portable disc, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

[0215] The readable signal medium can include a data signal propagating in a baseband or as a carrier wave part of a data signal, in which readable program codes are carried. Such a propagating data signal can take various forms, including but not limited to electromagnetic signals, optical signals or any suitable combination of the above. The readable signal medium can also be any readable medium other than the readable storage medium, which can send, propagate or transmit programs for use by or in combination with an instruction execution system, device or instrument.

[0216] The program code contained on the computer readable storage medium can be transmitted in any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0217] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programs.

[0218] In some embodiments, a carrying device is provided. The carrying device can include, but is not limited to, one or more processors and one or more memories. The one or more memories have at least one program code stored therein, which can be loaded and executed by the one or more processors to implement each step in the control method of the carrying device described in the above embodiments.

[0219] The memory can include a readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory, and can further include a read-only memory (ROM).

[0220] In some embodiments of the present disclosure, a cleaning system is also provided. As shown in the drawings, the cleaning system includes a base station and a cleaning device. The cleaning device can be the cleaning device described above, and the carrying device and / or the cleaning device in the cleaning device can be docked with the base station. The base station can charge and clean the carrying device, and / or can charge, replenish water and clean the cleaning device, or can suck out dirt stored in the cleaning device. Figures 1 to 14

[0221] It should be noted that the specific structure and beneficial effects of the cleaning device have been described in detail in the above embodiments of the present disclosure, so in the present embodiment, the specific structure and beneficial effects of the cleaning device will not be described again, and reference can be made to the specific description in the above embodiments, which are all within the protection scope of the present disclosure.

[0222] The cleaning system provided by the present disclosure includes the cleaning device described above, which includes a carrying device and a cleaning device. The carrying device can include a main body part 1 and a side support part 2. The side support part 2 can include a body part 23, and the body part 23 is provided with a notch 231 on the side facing the edge of the second surface 39, so as to avoid damage caused by the body part 23 and the edge of the second surface 39 when the side support part 2 is moved from the first surface 38 to the second surface 39 by using the notch 231 to avoid the edge of the second surface 39.

[0223] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the utility model disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure following the general principles thereof and including modifications and equivalents of the utility model disclosed herein. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the present disclosure are indicated by the appended claims.​

Claims

1. A load bearing device, characterized by, The side support part comprises a body part, one side of which is provided with a notch facing the edge of the second surface, so as to avoid the edge of the second surface when the side support part is moved from the first surface to the second surface. One of the first surface and the second surface is the upper surface of a step, and the other is the lower surface at the bottom of the step. The side support part further comprises: a swing rod connected with the body part, and the swing rod has a third supporting end; when the side support part is in a static state, the third supporting end is in a first position, at which the third supporting end is in contact with the surface on which the side support part is located, and at least part of the third supporting end protrudes from the side of the body part facing the edge of the second surface; 2. The load bearing device of claim 1, wherein, when the side support part is moved from the first surface to the second surface, the third supporting end is in a second position, which is away from the edge of the second surface relative to the first position. The swing rod is rotationally connected with the body part, and the swing rod can rotate relative to the body part to switch the third supporting end between the first position and the second position. The side support part further comprises: a third driving part connected with the swing rod to drive the swing rod to rotate relative to the body part.

3. The load bearing device of claim 2, wherein, The third driving part comprises:

4. The load bearing device of claim 3, wherein, a third driving member; a first dial plate mounted on the body part, and the third driving member can drive the first dial plate to rotate; 5. The load bearing device of claim 4, wherein, a pulling mechanism, one end of which is connected with the end face or the outer peripheral surface of the first dial plate, and the other end of which is connected with the swing rod. At least part of the outer peripheral surface of the first dial plate is provided with a first protrusion, and the third driving part further comprises: a second dial plate mounted on the body part and connected with the third driving member, and the third driving member can drive the second dial plate to rotate; at least part of the outer peripheral surface of the second dial plate is provided with a second protrusion, and when the second dial plate rotates, the second protrusion can abut against the first protrusion to drive the first dial plate to rotate. The first protrusion comprises at least one first protruding block, and the second protrusion comprises one second protruding block, and when the second dial plate rotates, the second protruding block can abut against one first protruding block.

6. The load bearing device of claim 5, wherein, The side support part further comprises: a reset member provided on the body part, which is configured to drive the first dial plate to return to an initial position after the second dial plate drives the first dial plate to rotate.

7. The load bearing device of claim 6, wherein, The reset member is an elastic member, one end of which is fixed to the body part, and the other end of which is fixed to the first dial plate; when the second dial plate drives the first dial plate to rotate, the elastic member is elastically deformed to have a restoring force.

8. The load bearing device of claim 6, wherein, The pulling mechanism is a pull rope. The side support part further comprises:

9. The load bearing device of claim 8, wherein, a first limiting structure provided on the body part, which is in limiting cooperation with the pull rope to limit the pull rope by the first limiting structure.

10. The load bearing apparatus of any one of claims 5 to 9, wherein, ​ 11. The load bearing device of claim 10, wherein, ​ ​ 12. The load bearing device of claim 11, wherein, The first limiting structure is provided with a limiting groove, and at least part of the pull rope is located in the limiting groove, so that the pull rope is limited and matched with the first limiting structure.

13. The load bearing device of claim 12, wherein, The first limiting structure is located on a side of the first limiting structure away from the swing rod and the first dial relative to an edge of the body part facing one side of the second surface, and the limiting groove is located on a side of the first limiting structure away from the swing rod and the first dial.

14. The load bearing apparatus of any one of claims 4 to 9, wherein, The side support part further comprises: The second limiting structure comprises a first limiting block, and the first limiting block is arranged on the body part, and when the third support end is in the first position, the first limiting block is located on a side of the swing rod close to an edge of the body part facing one side of the second surface, so as to limit the rotation range of the swing rod.

15. The load bearing device of claim 14, wherein, The second limiting structure further comprises: A second limiting block is arranged on the body part, and when the third support end is in the second position, the second limiting block is located on a side of the swing rod away from an edge of the body part facing one side of the second surface, so as to limit the rotation range of the swing rod.

16. The load bearing apparatus of claim 14, wherein, The second limiting structure further comprises: A limiting detector is arranged on the body part, and the limiting detector is configured to detect whether the third support end is in the first position.

17. The load bearing device of claim 16, wherein, The limiting detector is mounted on the first limiting block; The limiting detector is a contact sensor, and the limiting detector is configured to determine that the third support end is in the first position when the swing rod is in contact with the limiting detector.

18. The load bearing apparatus of any one of claims 5 to 9, wherein, The side support part further comprises: A climbing driving member is mounted on the main body part or the body part, and is used to drive the side support part to move from the first surface to the second surface or from the second surface to the first surface; and the climbing driving member is multiplexed as the third driving member.

19. A cleaning device, characterized by It comprises: The bearing device is the bearing device of any one of claims 1 to 18; The main body part has a bearing structure; A cleaning device is located on the bearing structure, and the cleaning device can clean the surface to be cleaned.

20. A cleaning system characterized by, It comprises: A base station; The cleaning device is the cleaning device of claim 19, and the bearing device and / or the cleaning device can be docked with the base station.

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