A tool kit, an implement assembly and a cleaning base station

Abstract

The present disclosure provides a tool box, an execution tool assembly and a cleaning base station. The tool box comprises a box body and a guide part. The box body comprises a receiving cavity for accommodating an execution tool, and the receiving cavity has an opening for the execution tool to enter or exit. The guide part is connected with the box body and guides a mechanical arm to enter the opening and be connected with the execution tool, and / or guides the execution tool to enter the receiving cavity. By arranging the guide part on the box body of the tool box, the mechanical arm can be guided when entering the opening and being connected with the execution tool, or the entry of the execution tool can be guided when the execution tool is placed. Compared with a tool box structure without the guide part, the tool box of the present disclosure can improve the success rate of the mechanical arm or the execution tool entering the box body.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, specifically to a toolbox, execution tool assembly, and cleaning base station. Background Technology

[0002] To meet the growing demands of users, existing intelligent cleaning equipment is typically adaptable to more application scenarios and can perform more cleaning functions. Some related technologies involve incorporating robotic arms into intelligent cleaning equipment to grasp different tools and assist in performing corresponding tasks. For example, a robotic arm can be used to pick up larger debris, a vacuum cleaner to remove dust, and a cloth component to wipe surfaces. However, in these technologies, the robotic arms on intelligent cleaning equipment often encounter difficulties in grasping or returning tools due to insufficient docking precision, leading to problems such as failed grasping or return. Therefore, there is a need to provide a toolbox, tool components, and a cleaning base station to improve the success rate of the robotic arm in grasping or returning tools. Utility Model Content

[0003] In view of the problems existing in the above-mentioned related technologies, this disclosure provides a toolbox, execution tool assembly and cleaning base station to improve the technical problem of low success rate of existing robotic arms when grasping execution tools or putting them back.

[0004] To achieve the above and other related objectives, a first aspect of this disclosure provides a toolbox, comprising: a housing and a guide. The housing includes a receiving cavity for accommodating an execution tool, the receiving cavity having an opening for the execution tool to enter and exit; the guide is connected to the housing and guides a robotic arm to enter through the opening and dock with the execution tool, and / or guides the execution tool into the receiving cavity for storage.

[0005] The beneficial effects of this solution are as follows: by setting a guide part on the toolbox body, the robotic arm can be guided when entering the opening to dock with the execution tool, or the execution tool can be guided when it is placed. Compared with the toolbox structure without a guide part, the toolbox disclosed herein can improve the success rate of the robotic arm or execution tool entering the box.

[0006] In one embodiment of the toolbox disclosed herein, the toolbox further includes a base, and the toolbox body is floatingly mounted on the base via a floating connection. In response to pressure applied to the guide portion, at least one end of the toolbox body near the opening floats.

[0007] The beneficial effects of this solution are as follows: by floating the housing on the housing base, the housing can automatically adjust its position to match the position of the execution tool or robotic arm when the execution tool or robotic arm squeezes the guide. This eliminates the need to set a separate position adjustment mechanism on the robotic arm or execution tool to match and adapt to the guidance of the guide, thereby reducing the complexity and weight of the robotic arm and execution tool.

[0008] In one embodiment of the toolbox disclosed herein, the floating connection includes at least one floating support disposed between the box body and the box base, with at least one floating support located at one end of the box body near the opening.

[0009] The beneficial effects of this scheme are as follows: when the extrusion guide of the execution tool or robotic arm enters the opening and interacts with the floating connection, the first floating support located near the opening can quickly sense and respond to this external force, and can enable the end of the housing with the opening to produce a large deformation so as to match with the robotic arm or execution tool.

[0010] In one embodiment of the toolbox disclosed herein, the floating connection includes a floating support, the floating support includes at least one elastic connection, one end of the elastic connection along the elastic deformation direction is mounted on the housing, and the other end of the elastic connection along the elastic deformation direction is mounted on the housing base.

[0011] The beneficial effects of this scheme are as follows: by using the elastic connection as part of the floating support, on the one hand, the elastic deformation capability of the elastic connection can be used to float the position, and on the other hand, the elastic deformation of the elastic element can buffer and absorb the impact force, which can reduce vibration during the floating of the box and keep the box in a relatively stable state.

[0012] In one embodiment of the toolbox disclosed herein, a mounting base for mounting an elastic connecting part is provided on the box body and / or box base, and the end of the elastic connecting part can be detachably snapped onto the mounting base.

[0013] The advantages of this solution are: the flexible connector is detachably snap-fitted to the housing or base, facilitating installation and maintenance. When the flexible connector becomes worn or damaged, it can be quickly replaced, reducing maintenance costs and equipment downtime.

[0014] In one embodiment of the toolbox disclosed herein, the floating connection includes a spring, and the housing and / or base are provided with a mounting groove, a positioning post is provided in the mounting groove, and the end of the spring is located in the mounting groove and fitted onto the positioning post.

[0015] The beneficial effects of this solution are as follows: Firstly, springs, as a commonly used elastic element, possess excellent elastic properties and cost-effectiveness. Secondly, by setting mounting grooves and positioning posts on the housing and base, the accurate installation position of the spring can be ensured, while limiting the direction of spring movement, allowing it to work along the expected elastic deformation direction, thus improving the stability and reliability of the elastic connection. This structure can also prevent the spring from shifting or twisting during operation, extending its service life.

[0016] In one embodiment of the toolbox disclosed herein, the floating connection includes a plurality of elastic connection portions, a portion of which undergoes elastic deformation along a first direction, and another portion of which undergoes elastic deformation along a second direction. The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are perpendicular to the direction in which the execution tool enters the receiving cavity.

[0017] The beneficial effects of this solution are as follows: multiple elastic connecting parts undergo elastic deformation along two perpendicular directions, both of which are perpendicular to the entry direction of the actuator, enabling the housing to flexibly float and adjust in multiple dimensions. This multi-directional adjustment capability is particularly important when facing complex working conditions. For example, when the actuator or robotic arm enters, there may be a certain angular deviation. The elastic deformation in multiple directions can simultaneously correct the housing, ensuring accurate docking with the actuator or robotic arm, thus improving the adaptability and precision of the equipment.

[0018] In one embodiment of the toolbox disclosed herein, the box body includes a cylindrical wall, and the floating connection part includes a plurality of elastic connection parts. The plurality of elastic connection parts are arranged in a circumferential direction and surround the outer periphery of the cylindrical wall. The elastic connection parts undergo elastic deformation in the radial direction of the cylindrical wall, and one end of the elastic connection part along the elastic deformation direction is connected to the cylindrical wall, and the other end along the elastic deformation direction is connected to the box base.

[0019] The beneficial effects of this scheme are as follows: by arranging multiple elastic connecting parts along the circumferential direction on the outer periphery of the cylindrical wall and causing it to undergo elastic deformation in the radial direction, the external force can be evenly distributed, so that the position adjustment of the box is no longer limited to one or two dimensions, and can achieve 360-degree all-round elastic adjustment along the circumference of the cylindrical wall.

[0020] In one embodiment of the toolbox disclosed herein, the end of the box body away from the opening is fixed to the box base; or the end of the box body away from the opening is hinged to the box base via a spherical bearing; or the end of the box body away from the opening is rotatably mounted on the box base.

[0021] The beneficial effects of this solution are as follows: the end of the housing furthest from the opening is fixed to the housing base, or the end furthest from the opening is hinged to the housing base via a joint bearing. Compared with a fully floating structure, it can achieve greater positional floating at the opening position to accommodate the entry of the robotic arm or execution tool. On the other hand, it can obtain stable support at the end far from the opening, ensuring the overall stability of the toolbox when the execution tool is stored.

[0022] In one embodiment of the toolbox disclosed herein, the floating connection part includes a rod, a second elastic member, and a stop member. The box body includes an ear plate with a mounting hole. One end of the rod is floatingly mounted on the box base, and the other end of the rod passes through the mounting hole and is connected to the stop member. The second elastic member is fitted onto the rod and clamped between the ear plate and the stop member.

[0023] The beneficial effects of this solution are as follows: The floating connection of this structure provides elastic support through the floating connection between the rod and the housing base, as well as the elastic element, enabling relatively precise position adjustment and elastic buffering along the axial direction of the rod. On one hand, the stop element limits the floating range of the housing, preventing excessive displacement and equipment damage. On the other hand, the rigid structure of the rod can transmit a certain torque or moment, ensuring the housing maintains a stable mechanical state during adjustment, thus improving the reliability and accuracy of the floating connection.

[0024] In one embodiment of the toolbox disclosed herein, a ball-cone mating pair is formed between the rod and the base and / or between the rod and the lug.

[0025] The beneficial effects of this solution are as follows: the ball-cone fit between the spherical body and the conical hole allows for multi-degree-of-freedom floating adjustment. When the tool or robotic arm contacts the housing, the spherical body can rotate or swing freely within the conical hole, thereby causing the housing to make minute displacement adjustments. This multi-degree-of-freedom adjustment method further improves the adaptability of the housing to external tools or robotic arms, especially at the moment of contact, it can quickly eliminate positional errors, ensure smooth cooperation between the two, and enhance the equipment's adaptability and flexibility.

[0026] In one embodiment of the toolbox disclosed herein, the toolbox further includes a buffer, and the box body includes a rear wall disposed opposite to the opening, with the buffer clamped between the rear wall and the box base.

[0027] The beneficial effects of this solution are as follows: the buffer is clamped between the rear wall of the housing and the housing base, which can effectively absorb impact energy when the tool or robotic arm collides with the housing during the entry process, thus protecting the tools and equipment inside the toolbox from damage.

[0028] In one embodiment of the toolbox disclosed herein, a buffer mounting base for mounting a buffer is provided on the rear wall and / or the base.

[0029] The beneficial effects of this solution are: setting up a buffer mounting base can ensure that the installation position of the buffer is accurate and stable, and facilitates the installation and replacement of the buffer.

[0030] In one embodiment of the toolbox disclosed herein, the box body is further provided with a floating positioning part for positioning the execution tool. The floating positioning part extends to position the execution tool and retracts to avoid the execution tool from passing in response to the squeezing of the execution tool.

[0031] The beneficial effects of this solution are as follows: the floating positioning unit can automatically extend for positioning or retract to avoid obstacles when the tool enters or leaves the toolbox, achieving rapid and accurate guidance and positioning of the tool. This floating positioning structure improves the docking accuracy and efficiency between the toolbox and the tool, reduces operational errors caused by positional deviations, and ensures the normal use of the toolbox and the rapid access to tools.

[0032] In one embodiment of the toolbox disclosed herein, the floating positioning part includes a positioning body and a first elastic member. The positioning body is slidably mounted on the box body, and the first elastic member is disposed between the positioning body and the box body, and causes the positioning body to extend out to limit the execution tool.

[0033] The beneficial effects of this scheme are: the positioning body is slidably installed on the housing, and elastic support is provided by the first elastic element, enabling it to automatically extend and maintain the limit on the execution tool.

[0034] In one embodiment of the toolbox disclosed herein, a first inclined surface is provided on the side of the positioning body near the opening, and a second inclined surface is provided on the other side of the positioning body away from the opening. In response to the extrusion tool pressing against the first inclined surface, the positioning body retracts to avoid the extrusion tool and allows the extrusion tool to enter; in response to the extrusion tool pressing against the second inclined surface, the positioning body retracts to avoid the extrusion tool and allows the extrusion tool to exit the chamber.

[0035] The beneficial effects of this scheme are: by allowing the first inclined plane to enter the corresponding execution tool and the second inclined plane to leave the corresponding execution tool, the positioning body can accurately retract and avoid obstacles in both states, thereby improving the adaptability and reliability of the floating positioning part.

[0036] In one embodiment of the toolbox disclosed herein, the guide portion includes a tapered guide structure, which includes a large end inlet and a small end inlet. The small end inlet is connected to an opening, and the large end inlet is located on the side of the small end inlet facing away from the opening, and is connected to the small end inlet by a curved surface.

[0037] The beneficial effects of this design are as follows: This tapered guiding structure acts like a funnel, effectively guiding the robotic arm or tool to smoothly enter the toolbox opening. As the robotic arm or tool approaches the toolbox, the tapered shape gradually converges their movement trajectory at the opening, improving the success rate of docking between the tool and the toolbox, or between the robotic arm and the tool.

[0038] In one embodiment of the toolbox disclosed herein, the curved surface includes at least a portion of a frustum-shaped inner wall, the height direction of which is consistent with the extension direction of the receiving cavity, and the small end of the frustum-shaped inner wall is connected to the inner wall of the opening.

[0039] The beneficial effects of this scheme are as follows: similar to the conical guide structure, the tapering characteristic of the frustum-shaped inner wall enables a gradual guidance and positioning when the robotic arm or execution tool enters along the guide section. This ensures that the robotic arm or execution tool maintains a stable direction of movement during entry and automatically centers as it approaches the small end entrance.

[0040] In one embodiment of the toolbox disclosed herein, a positioning guide rail is provided inside the box for positioning the execution tool and / or robotic arm. The guiding part includes a guide rail that extends from the large end inlet to the small end inlet and docks with the positioning guide rail.

[0041] The beneficial effects of this solution are as follows: the guide rail can guide the robotic arm or tool to accurately reach the positioning rail along a predetermined path. Guided by the tapered guide structure, the robotic arm or tool reaches the guide rail and is further precisely guided by it, thus ensuring its accurate positioning within the toolbox.

[0042] In one embodiment of the toolbox disclosed herein, the robotic arm has a snap-fit ​​position for aligning and engaging with the execution tool and a locking position for rotating at a set angle to connect and lock with the execution tool. The guide rail includes a first guide surface and a second guide surface connected at an angle. The first guide surface is configured to guide the robotic arm into the snap-fit ​​position, and the second guide surface is configured to guide the execution tool into the receiving cavity for storage. The receiving cavity is provided with clearance space for the robotic arm to rotate to the locking position.

[0043] The beneficial effects of this solution are as follows: On the one hand, this design can guide both the robotic arm and the execution tool through the integration of the same guide rail, fully considering the continuity of mechanical movement and the rationality of spatial layout. On the other hand, by setting up clearance space, the robotic arm can smoothly rotate to the locking position after reaching the engagement position, avoiding the problem of the robotic arm or execution tool being unable to connect and lock properly due to spatial interference.

[0044] In one embodiment of the toolkit disclosed herein, the positioning guide rail includes a first positioning surface and a second positioning surface. The first positioning surface is configured to position the locking position of the robotic arm, and the second positioning surface is configured to position the locking position of the robotic arm. The first guiding surface is in contact with the first positioning surface, and the second guiding surface is in contact with the second positioning surface.

[0045] The beneficial effects of this solution are as follows: the alignment of the first positioning surface and the first guide surface ensures precise positioning of the robotic arm when it enters the locking position, guaranteeing accurate initial connection with the execution tool; the alignment of the second positioning surface and the second guide surface ensures that the robotic arm remains in the accurate set position after rotating to the locked position, thus ensuring the stability and reliability of the connection between the robotic arm and the execution tool. This helps avoid loosening or misalignment of the connection between the robotic arm and the execution tool due to inaccurate positioning, improving the stability and safety of the entire mechanical system.

[0046] A second aspect of this disclosure is to provide an execution tool assembly for mounting on a robotic arm to perform cleaning operations. The execution tool assembly includes an execution tool and a toolbox as described above, wherein the execution tool can be stored in the toolbox.

[0047] A third aspect of this disclosure is a clean base station that includes the toolkit of any of the above. Attached Figure Description

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

[0049] Figure 1 This is a three-dimensional schematic diagram of the robotic arm connected to the execution tool in the toolbox in one embodiment of the present disclosure;

[0050] Figure 2 This is a sectional front view of one embodiment of the present disclosure after the robotic arm is connected to the execution tool in the toolbox;

[0051] Figure 3 This is a schematic diagram of an execution tool in one embodiment of the present disclosure;

[0052] Figure 4 This is a schematic diagram of a robotic arm in one embodiment of the present disclosure;

[0053] Figure 5 This is a schematic diagram of the execution tool being housed in a toolbox in one embodiment of this disclosure;

[0054] Figure 6 for Figure 2 A cross-sectional view along the MM direction;

[0055] Figure 7 for Figure 2 A cross-sectional view along the NN direction;

[0056] Figure 8 for Figure 2 Enlarged view of region I in the middle;

[0057] Figure 9 This is a three-dimensional schematic diagram of a toolbox in one embodiment of the present disclosure;

[0058] Figure 10 This is a three-dimensional schematic diagram of the toolbox from another perspective in one embodiment of this disclosure;

[0059] Figure 11 This is a front view of the toolbox in one embodiment of this disclosure;

[0060] Figure 12 for Figure 11 Sectional view along the middle AA direction;

[0061] Figure 13 for Figure 11 Sectional view along the BB direction;

[0062] Figure 14 for Figure 2 Enlarged view of region II;

[0063] Figure 15 This is a connection diagram of the floating connection portion in another embodiment of the present disclosure;

[0064] Figure 16 This is a schematic diagram of the installation of the elastic connection portion in another embodiment of the present disclosure;

[0065] Figure 17 This is a schematic diagram of the installation of the floating connection in another embodiment of this disclosure;

[0066] Figure 18 for Figure 17 A sectional view;

[0067] Figure 19 for Figure 18 A magnified view of a portion of region III.

[0068] Component designation explanation:

[0069] 100. Toolbox; 110. Box body; 111. Positioning guide rail; 1111. First positioning surface; 1112. Second positioning surface; 112. Receiving cavity; 113. Opening; 114. Rear wall; 115. First mounting base; 1151. First mounting groove; 1152. First positioning post; 116. Clearance space; 117. Mounting cavity; 118. Cylindrical wall; 119. Ear plate; 1191. Mounting hole; 1192. Second conical hole; 120. Guide section; 121. Gradually narrowing guide structure; 1211. Large end inlet; 1212. Curved surface; 1213. Small end inlet; 122. Guide rail; 1221. Second guide surface; 1222, First guide surface; 130, Housing base; 131, Second mounting base; 1311, Second mounting groove; 1312, Second positioning post; 132, First conical hole; 140, Floating positioning part; 141, Positioning body; 1411, First inclined surface; 1412, Second inclined surface; 142, First elastic element; 150, Floating connecting part; 151, First floating support; 1511, Elastic connecting part; 1512, Rod body; 1513, Second elastic element; 1514, Stop; 1515, First spherical body; 1516, Second spherical body; 152, Second floating support; 160, Spherical bearing;

[0070] 200. Execution tool; 210. Positioning slot;

[0071] 300. Robotic arm;

[0072] 400. Buffer components. Detailed Implementation

[0073] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of this disclosure is for describing specific implementation schemes and not for limiting the scope of protection of this disclosure. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0074] It should be understood that terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity of description and are not intended to limit the scope of this disclosure. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this disclosure. Unless otherwise defined, all technical and scientific terms used in this disclosure, and the knowledge of those skilled in the art and the descriptions in this disclosure, can be implemented using any methods, equipment, and materials similar to or equivalent to the methods, equipment, and materials in the embodiments of this disclosure.

[0075] Please see Figures 1 to 19 This disclosure provides a toolbox, an execution tool assembly including the toolbox, and a cleaning base station. The toolbox can improve the technical problem of low success rate of existing robotic arms when grasping or returning execution tools.

[0076] Please see Figure 2 and Figure 5 The toolbox 100 includes a housing 110 and a guide section 120. The external shape of the housing 110 is not limited; for example, it can be a cuboid, cylindrical, prismatic, or a combination of these shapes. The housing 110 includes a receiving cavity 112 for accommodating an execution tool 200. The shape of the receiving cavity 112 is not limited, but is suitable for accommodating the execution tool 200 and allowing it to enter, be stored, and be retrieved. The execution tool 200 includes, but is not limited to, a vacuum cleaner, a cleaning cloth tray, a mechanical gripper, a magnetic device (for storage), and a human-pet interaction device, including, but not limited to, a cat toy, a bubble machine, and an erasable drawing pen. The receiving cavity 112 has an opening 113 for the execution tool 200 to enter and exit. The guide part 120 is connected to the housing 110. The connection method includes, but is not limited to, integral molding connection, detachable connection, bonding, welding, etc. The guide part 120 guides the robotic arm 300 to enter through the opening 113 and dock with the execution tool 200, and / or guides the execution tool 200 into the receiving cavity 112 for storage. By providing the guide part 120 on the housing 110 of the toolbox 100, the robotic arm 300 can be guided when it enters the opening 113 and docks with the execution tool 200, or the execution tool 200 can be guided when it is placed. Compared with the toolbox 100 structure without the guide part 120, the toolbox 100 of this disclosure can improve the success rate of the robotic arm 300 or the execution tool 200 entering the housing 110.

[0077] It should be noted that the guide part 120 can guide the robotic arm 300 to enter through the opening 113 and dock with the execution tool 200, or guide the execution tool 200 to enter into the receiving cavity 112 for storage. Compared with the structure without the guide part 120, both of these structures can correspondingly reduce the difficulty of entering and aligning the robotic arm 300 or the execution tool 200. In this embodiment, the guide part 120 can guide the robotic arm 300 to enter through the opening 113 and dock with the execution tool 200, and can also guide the execution tool 200 into the receiving cavity 112 for storage, thus having multiple guiding functions.

[0078] Please see Figure 2 and Figure 5 In one embodiment of the toolbox 100 disclosed herein, the toolbox 100 further includes a base 130. The structure and shape of the base 130 are not limited. For example, the base 130 can be a cuboid box 110, a cylindrical box 110, or simply a frame capable of floating the box 110, but this is not a limitation. As an example, this embodiment uses a cuboid box shape. The box 110 is floatingly mounted on the base 130 via a floating connection 150. As long as the position of the box 110 can change at least at the end near the opening 113 to accommodate the entry of the execution tool 200 or the robotic arm 300, the floating form of the box 110 on the base 130 can be various. For example, it can be able to float back and forth along a straight line along a certain axis, or it can be able to float back and forth along a straight line along multiple axes, or it can be able to rotate around a certain axis, or it can be able to float at an angle with respect to a certain axis. In response to pressure applied to the guide portion 120 (e.g., pressure from the tool 200 entering the opening 113, or pressure from the robotic arm 300 entering the opening 113), the housing 110 will change position at least at one end near the opening 113 to accommodate the entry of the tool 200 or robotic arm 300. By floating the housing 110 on the base 130, the housing 110 can automatically adjust its position to match the tool 200 or robotic arm 300 when the tool 200 or robotic arm 300 presses against the guide portion 120. This eliminates the need for a separate position adjustment mechanism on the robotic arm 300 or tool 200 to accommodate the guidance of the guide portion 120, thus reducing the complexity and weight of the robotic arm 300 and tool 200. It should be noted that in other embodiments, the toolbox 100 of this disclosure may not include the base 130 and the floating connection 150, but by providing a position adjustment mechanism on the robotic arm 300, in response to the guidance of the guide 120, the robotic arm 300 or the execution tool 200 can be adapted to the position of the box 110.

[0079] Please see Figure 2In one embodiment of the toolbox 100 disclosed herein, the floating connection 150 includes at least one floating support disposed between the housing 110 and the base 130. The number of floating supports can be one, two, or more. At least one floating support is located at the end of the housing 110 near the opening 113, thereby keeping one side of the opening 113 in a floating position. Thus, when the extrusion guide 120 of the execution tool 200 or the robotic arm 300 enters the opening 113 and interacts with the floating connection 150, the first floating support 151 located near the opening 113 can quickly sense and respond to this external force, and can cause a large deformation at the end of the housing 110 with the opening 113 to match the robotic arm 300 or the execution tool 200.

[0080] Please read Figure 2 In one embodiment of the toolbox 100 disclosed herein, the floating connection portion 150 includes two floating supports, respectively labeled as a first floating support 151 and a second floating support 152. The first floating support 151 is disposed between the housing 110 and the base 130, and is located at the end of the housing 110 near the opening 113. The second floating support 152 is disposed between the housing 110 and the base 130, and is located at the end of the housing 110 away from the opening 113. The first floating support 151 is positioned near the opening 113 and provides rapid and sensitive position adjustment when the tool 200 or robotic arm 300 presses against the guide section 120. The second floating support 152 is located at the end away from the opening 113 and can further adjust the position of the housing 110 away from the opening 113 after the tool 200 enters the receiving cavity 112. Based on the adjustment of the first floating support 151, the overall position of the housing 110 can be optimized. The two working together can reduce the obstruction encountered by the tool 200 or robotic arm 300 during its subsequent movement after entering through the opening 113. Those skilled in the art will understand that, without considering cost, more floating supports can be added to the first floating support 151 and the second floating support 152.

[0081] Please see Figure 15In another embodiment of the toolbox 100 of this disclosure, a first floating support 151 is provided between the box body 110 and the box base 130 near the opening 113. The end of the box body 110 away from the opening 113 does not have a second floating support 152, but is hinged to the box base 130 via a spherical bearing 160. Compared to a fully floating structure mounted via the first floating support 151 and the second floating support 152, this design allows for greater positional fluctuation at the opening 113 to accommodate the entry of the robotic arm 300 or the execution tool 200. Furthermore, it provides relatively stable support at the end farther from the opening 113, ensuring the overall stability of the toolbox 100 when the execution tool 200 is stored. In yet another embodiment of the toolbox 100 of this disclosure, the end of the box body 110 away from the opening 113 is rotatably mounted to the box base 130 via a pivot. In another embodiment of the toolbox 100 disclosed herein, when the required positional adjustment of the opening 113 is small, the end of the box body 110 away from the opening 113 can also be fixed to the box base 130.

[0082] Please see Figure 6 , Figure 7 In one embodiment of the toolbox 100 disclosed herein, both the first floating support 151 and the second floating support 152 include at least one elastic connecting portion 1511. The elastic connecting portion 1511 can achieve elastic connection through various elastic elements, including but not limited to elastic material blocks, bent springs, etc. One end of the elastic connecting portion 1511 along the elastic deformation direction is installed on the housing 110, and the other end of the elastic connecting portion 1511 along the elastic deformation direction is installed on the housing base 130. By using the elastic connecting portion 1511 as part of the floating support, on the one hand, the elastic deformation capability of the elastic connecting portion 1511 can be used for position floating, and on the other hand, the elastic deformation of the elastic element can buffer and absorb impact force, which can reduce vibration during the position floating of the housing 110, and can keep the housing 110 in a relatively stable state. It should be noted that in some other embodiments, one of the first floating support 151 and the second floating support 152 may include the elastic connecting portion 1511, and the other of the first floating support 151 and the second floating support 152 may not include the elastic connecting portion 1511.

[0083] Please see Figures 6 to 8In one embodiment of the toolbox 100 disclosed herein, both the box body 110 and the box base 130 are provided with mounting seats for mounting the elastic connecting part 1511. For ease of labeling, the mounting seat on the box base 130 is named the first mounting seat 115, and the mounting seat on the box body 110 is named the second mounting seat 131. One end of the elastic connecting part 1511 is detachably snapped onto the first mounting seat 115, and the other end of the elastic connecting part 1511 is detachably snapped onto the second mounting seat 131. As long as the detachable installation of the elastic connecting part 1511 can be achieved, the structure and form of the mounting seat are not limited, including but not limited to bolt connection, snap-fit ​​connection, detachable hook connection, etc. It should also be noted that in this disclosure, only the first mounting seat 115 may be provided on the box base 130, or only the second mounting seat 131 may be provided on the box body 110, and it is not necessary to have both the first mounting seat 115 and the second mounting seat 131 simultaneously. The flexible connecting part 1511 is connected to the housing 110 or the housing base 130 by a detachable snap-fit ​​method. When the flexible connecting part 1511 is worn or damaged, it can be quickly replaced, reducing maintenance costs and equipment downtime.

[0084] Please see Figures 6 to 8 In one embodiment of the toolbox 100 disclosed herein, the floating connection portion 150 includes a spring. A mounting groove is provided on the housing 110 and / or the base 130, and a positioning post is provided within the mounting groove. The end of the spring is located within the mounting groove and fitted onto the positioning post. Specifically, in this embodiment, a first mounting groove 1151 is provided on the base 130, and a first positioning post 1152 is provided within the first mounting groove 1151. A second mounting groove 1311 is provided on the housing 110, and a second positioning post 1312 is provided within the second mounting groove 1311. One end of the spring is located within the first mounting groove 1151 and fitted onto the first positioning post 1152, while the other end of the spring is located within the second mounting groove 1311 and fitted onto the second positioning post 1312. On the one hand, springs, as commonly used elastic elements, possess excellent elastic properties and cost-effectiveness. On the other hand, by providing mounting grooves and positioning posts on the housing 110 and the base 130, the accurate installation position of the spring can be ensured, while limiting the direction of spring movement, allowing it to work along the expected elastic deformation direction, thus improving the stability and reliability of the elastic connection. This structure can also prevent the spring from shifting or twisting during operation, extending its service life. It should be noted that in this disclosure, mounting grooves and positioning posts can also be provided only on one of the housing 110 and the base 130, allowing one end of the spring to be installed in the mounting groove and the mounting post, while the other end of the spring is fixed to the other of the housing 110 and the base 130.

[0085] Please see Figure 7In one embodiment of the toolbox 100 disclosed herein, the floating connection portion 150 includes a plurality of elastic connection portions 1511. A portion of the plurality of elastic connection portions 1511 undergoes elastic deformation along a first direction (Z-axis direction), and another portion of the plurality of elastic connection portions 1511 undergoes elastic deformation along a second direction (Y-axis direction). The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are perpendicular to the direction in which the execution tool 200 enters the receiving cavity 112. Figure 2 The X-axis direction is perpendicular to the x-axis direction. Multiple elastic connecting parts 1511 undergo elastic deformation along two perpendicular directions, both of which are perpendicular to the entry direction of the actuator 200, enabling the housing 110 to flexibly float and adjust in multiple dimensions. This multi-directional adjustment capability is particularly important in complex working conditions. The elastic deformation in multiple directions can simultaneously correct the position of the housing 110 in different dimensions, ensuring accurate docking with the actuator 200 or the robotic arm 300, thus improving the adaptability and precision of the equipment.

[0086] Please see Figure 16 In one embodiment of the toolbox 100 disclosed herein, with Figure 7 The difference in the proposed solution is that the housing 110 includes a cylindrical wall 118, and the floating connection 150 includes multiple elastic connection parts 1511. These elastic connection parts 1511 are arranged circumferentially around the outer periphery of the cylindrical wall 118. Each elastic connection part 1511 undergoes elastic deformation radially around the cylindrical wall 118. One end of each elastic connection part 1511 along the direction of elastic deformation is connected to the cylindrical wall 118, and the other end is connected to the housing base 130. Arranging multiple elastic connection parts 1511 circumferentially around the outer periphery of the cylindrical wall 118 and allowing them to undergo radial elastic deformation enables the uniform distribution of external forces. This allows the position adjustment of the housing 110 to be no longer limited to one or two dimensions, achieving 360-degree omnidirectional elastic adjustment along the circumference of the cylindrical wall 118.

[0087] Please see Figures 17 to 19In one embodiment of the toolbox 100 disclosed herein, the floating connection 150 includes a rod 1512, a second elastic element 1513, and a stop 1514. The housing 110 includes an ear plate 119 with a mounting hole 1191. One end of the rod 1512 is floatingly mounted on the housing base 130, and the other end of the rod 1512 passes downward through the mounting hole 1191 and connects to the stop 1514. The second elastic element 1513 is fitted onto the rod 1512 and clamped between the ear plate 119 and the stop 1514. This floating connection 150, through the floating connection between the rod 1512 and the housing base 130 and the elastic element providing elastic support, can achieve relatively precise position adjustment and elastic buffering in the axial direction of the rod 1512. On the one hand, the stop 1514 can limit the floating range of the housing 110, preventing excessive displacement from causing equipment damage. On the other hand, the rod 1512 is a rigid structure that can transmit a certain torque or moment, ensuring that the box 110 maintains a stable mechanical state during the adjustment process, thereby improving the reliability and accuracy of the floating connection.

[0088] Please see Figures 18 to 19 In one embodiment of the toolbox 100 disclosed herein, a ball-cone fit is formed between the rod 1512 and the base 130 and / or between the rod 1512 and the ear plate 119. Specifically, the floating connection 150 further includes a first spherical body 1515, which is installed at the end where the rod 1512 connects to the base 130. The installation method is not limited, including but not limited to integral connection. The base 130 is provided with a first conical hole 132. Under the pulling force of the base 110, the first spherical body 1515 abuts against the hole wall of the first conical hole 132, thereby forming a ball-cone fit at the mating position between the rod 1512 and the base 130. The ball-cone joint between the first spherical body 1515 and the first conical hole 132 can achieve multi-degree-of-freedom floating adjustment. When the execution tool 200 or the robotic arm 300 comes into contact with the housing 110, the first spherical body 1515 can rotate or swing freely in the first conical hole 132, thereby driving the housing 110 to make displacement adjustment.

[0089] Please see Figures 18 to 19In one embodiment of the toolbox 100 disclosed herein, the floating connection portion 150 further includes a second spherical body 1516, and the mounting hole 1191 includes a second conical hole 1192, with the larger end of the second conical hole 1192 facing the stop member 1514. The second spherical body 1516 is fitted onto the rod body 1512, forming a ball-cone fit pair between the rod body 1512 and the ear plate 119. The second elastic member 1513 is clamped between the second spherical body 1516 and the stop member 1514. The ball-cone fit pair between the second spherical body 1516 and the second conical hole 1192 further increases the flexibility and adjustability of the floating connection. The second spherical body 1516 works in conjunction with the first spherical body 1515, enabling the housing 110 to float and adjust along the axial direction of the rod body 1512, further improving the self-adaptive capability and motion accuracy of the housing 110.

[0090] Please see Figure 2 and Figure 8 In one embodiment of the toolbox 100 disclosed herein, the toolbox 100 further includes a buffer 400. The box body 110 includes a rear wall 114 disposed opposite to the opening 113, and the buffer 400 is clamped between the rear wall 114 and the box base 130. The buffer 400 can be a spring, an elastic material block, etc., but is not limited thereto. A buffer mounting seat for mounting the buffer 400 is provided on the rear wall 114 and / or the box base 130. If the buffer 400 is a spring, the buffer mounting seat can also adopt the structure of the first mounting seat 115 or the second mounting seat 131 in this disclosure. Specifically, in this embodiment, the buffer 400 is an elastic material block, and the buffer mounting seat is a groove disposed on the rear wall 114 or the box base 130, with both ends of the elastic material block installed in the groove. The buffer 400 is clamped between the rear wall 114 of the housing 110 and the housing base 130. It effectively absorbs impact energy when the tool 200 or robotic arm 300 collides with the housing 110 during entry, protecting the tools and equipment inside the toolbox 100 from damage. The buffer mounting base ensures accurate and stable installation of the buffer 400, facilitating its installation and replacement.

[0091] Please see Figure 2In one embodiment of the toolbox 100 disclosed herein, a floating positioning part 140 for positioning the execution tool 200 is further provided on the box body 110. The floating positioning part 140 extends to position the execution tool 200 and retracts to avoid the execution tool 200 from passing in response to the squeezing of the execution tool 200. The floating positioning part 140 can automatically extend to position or retract to avoid the execution tool 200 when it enters or leaves the toolbox 100, thereby achieving rapid and accurate guidance and positioning of the execution tool 200. This floating positioning structure improves the docking accuracy and efficiency between the toolbox 100 and the execution tool 200, reduces operational errors caused by positional deviations, and ensures the normal use of the toolbox 100 and the rapid access of tools.

[0092] The floating positioning part 140 in this disclosure can take various forms, including but not limited to floating positioning structures such as spring positioning pins and spring balls. Please refer to [link / reference]. Figure 2 and Figure 14 In one embodiment of the toolbox 100 disclosed herein, the execution tool is provided with a positioning groove 210, and the housing 110 is provided with a mounting cavity 117. The floating positioning part 140 includes a positioning body 141 and a first elastic member 142. The positioning body 141 is slidably installed in the mounting cavity 117 and can partially extend out of the mounting cavity 117. The first elastic member 142 is disposed in the mounting cavity 117 and is located between the positioning body 141 and the bottom wall of the mounting cavity 117. When the positioning body 141 is aligned with the positioning groove 210, the first elastic member 142 drives the positioning body 141 to extend into the positioning groove 210, thereby limiting the execution tool 200. The positioning body 141 is slidably installed on the housing 110, and the first elastic member 142 provides elastic support, enabling it to automatically extend and maintain the limiting of the execution tool 200.

[0093] Please see Figure 2 and Figure 14 In one embodiment of the toolbox 100 disclosed herein, a first inclined surface 1411 is provided on the side of the positioning body 141 near the opening 113, and a second inclined surface 1412 is provided on the other side of the positioning body 141 away from the opening 113. In response to the extrusion tool 200 pressing against the first inclined surface 1411, the positioning body 141 retracts to allow the extrusion tool 200 to enter. In response to the extrusion tool 200 pressing against the second inclined surface 1412, the positioning body 141 retracts to allow the extrusion tool 200 to exit. By making the first inclined surface 1411 correspond to the entry of the extrusion tool 200, and the second inclined surface 1412 correspond to the exit of the extrusion tool 200, the positioning body 141 can accurately retract to avoid the extrusion in both states, improving the adaptability and reliability of the floating positioning part 140.

[0094] Please see Figure 10In one embodiment of the toolbox 100 disclosed herein, the guide section 120 includes a tapered guide structure 121. The tapered guide structure 121 includes a large-end inlet 1211 and a small-end inlet 1213. The small-end inlet 1213 is connected to the opening 113. The large-end inlet 1211 is located on the side of the small-end inlet 1213 opposite to the opening 113 and is connected to the small-end inlet 1213 by a curved surface 1212. The curved surface 1212 includes, but is not limited to, a conical surface, an elliptical parabola, etc. This tapered guide structure 121 can act like a trumpet, effectively guiding the robotic arm 300 or the execution tool 200 smoothly into the opening 113 of the toolbox 100. When the robotic arm 300 or the execution tool 200 approaches the toolbox 100, the tapered shape can gradually converge their movement trajectories to the opening 113, improving the success rate of docking between the execution tool 200 and the toolbox 100 or between the robotic arm 300 and the execution tool 200.

[0095] Please see Figure 10 In one embodiment of the toolbox 100 disclosed herein, the curved surface 1212 includes at least a portion of a frustum-shaped inner wall. The height direction of the frustum-shaped inner wall is consistent with the extension direction of the receiving cavity 112, and the small end of the frustum-shaped inner wall is connected to the inner wall of the opening 113. Similar to the conical guide structure, the tapering characteristic of the frustum-shaped inner wall allows for gradual guidance and positioning as the robotic arm 300 or the execution tool 200 enters along the guide portion 120. This ensures that the robotic arm 300 or the execution tool 200 maintains a stable direction of movement during entry and automatically centers as it approaches the small end inlet 1213.

[0096] Please see Figure 9 In one embodiment of the toolbox 100 disclosed herein, a positioning guide rail 111 for positioning the execution tool 200 and / or the robotic arm 300 is provided inside the box body 110. The guiding part 120 includes a guide rail 122, which extends from the large end inlet 1211 to the small end inlet 1213, and the extension direction is parallel to the generatrix direction of the frustum-shaped inner wall. One end of the guide rail 122 is connected to the large end inlet 1211, and the other end of the guide rail 122 is connected to the positioning guide rail 111. The guide rail 122 can guide the robotic arm 300 or the execution tool 200 to accurately reach the positioning guide rail 111 along a predetermined path. The robotic arm 300 or the execution tool 200 reaches the guide rail 122 under the guidance of the tapered guiding structure, and is further precisely guided by the guide rail 122, thereby ensuring that their position within the toolbox 100 is accurate.

[0097] Please see Figure 2 , Figure 7 and Figure 9In one embodiment of the toolbox 100 disclosed herein, the robotic arm 300 has a snap-fit ​​position for aligning and snapping with the execution tool 200 and a locking position for rotating at a set angle to connect and lock with the execution tool 200. The guide rail 122 includes a first guide surface 1222 and a second guide surface 1221 connected at an angle. The first guide surface 1222 is configured to guide the robotic arm 300 into the snap-fit ​​position, and the second guide surface 1221 is configured to guide the execution tool 200 into the receiving cavity 112 for storage. The receiving cavity 112 is provided with a clearance space 116 for the robotic arm 300 to rotate to the locking position. This design, on the one hand, integrates the guidance of the robotic arm 300 and the execution tool 200 through the same guide rail 122, fully considering the continuity of mechanical movement and the rationality of spatial layout. On the other hand, by setting the clearance space 116, the robotic arm 300 can smoothly rotate to the locked position after reaching the engagement position, avoiding the problem of the robotic arm 300 or the execution tool 200 failing to connect and lock properly due to spatial interference.

[0098] Please see Figure 2 , Figure 7 and Figure 9 In one embodiment of the toolbox 100 disclosed herein, the positioning guide rail 111 includes a first positioning surface 1111 and a second positioning surface 1112. The first positioning surface 1111 is configured to position the robotic arm 300 in a snap-fit ​​position, and the second positioning surface 1112 is configured to position the robotic arm 300 in a locked position. A first guide surface 1222 abuts against the first positioning surface 1111, and a second guide surface 1221 abuts against the second positioning surface 1112. The abutment between the first positioning surface 1111 and the first guide surface 1222 ensures accurate positioning of the robotic arm 300 when it enters the snap-fit ​​position, ensuring accurate initial connection with the execution tool 200. The abutment between the second positioning surface 1112 and the second guide surface 1221 ensures that the robotic arm 300 remains in the accurate set position after rotating to the locked position, thereby ensuring the stability and reliability of the connection between the robotic arm 300 and the execution tool 200. This helps to avoid loosening or misalignment of the connection between the robotic arm 300 and the execution tool 200 due to inaccurate positioning, thus improving the stability and safety of the entire mechanical system.

[0099] The second aspect of this disclosure is to provide an execution tool 200 assembly for mounting on a robotic arm 300 to perform cleaning operations. The execution tool 200 assembly includes an execution tool 200 and a toolbox 100 as described above, wherein the execution tool 200 can be stored within the toolbox 100. The execution tool 200 includes a vacuum cleaner, a cloth tray, a mechanical gripper, a magnetic device (for storage), and a human-pet interaction device, including but not limited to a cat toy, a bubble machine, and an erasable drawing pen.

[0100] A third aspect of this disclosure is a cleaning base station for working with a cleaning robot to clean or store the robot. The cleaning robot includes a robotic arm 300 and at least one execution tool 200 detachably mounted on the robotic arm 300. The cleaning base station includes a toolbox 100 as described above, which is used to store the execution tool 200.

[0101] This invention discloses a toolbox, execution tool assembly, and cleaning base station. By providing a guide section on the toolbox body, it guides the robotic arm when it enters the opening to dock with the execution tool, or guides the entry of the execution tool when it is placed. Compared to toolbox structures without a guide section, this invention improves the success rate of the robotic arm or execution tool entering the box. Therefore, this invention effectively overcomes some practical problems in related technologies, thus possessing high utilization value and practical significance.

[0102] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.

Claims

1. A toolbox, characterized in that, include: The housing includes a receiving cavity for accommodating an execution tool, the receiving cavity having an opening for the execution tool to enter and exit; The guide section is connected to the housing and guides the robotic arm to enter through the opening and dock with the execution tool, and / or guides the execution tool into the receiving cavity for storage.

2. The toolbox according to claim 1, characterized in that, The toolbox also includes a base, and the toolbox body is floatingly mounted on the base via a floating connection. In response to pressure applied to the guide portion, the toolbox body floats at least at the end closest to the opening.

3. The toolbox according to claim 2, characterized in that, The floating connection includes at least one floating support, which is disposed between the housing and the housing base, with at least one of the floating supports located at one end of the housing near the opening.

4. The toolbox according to claim 2, characterized in that, The floating connection includes a floating support, and the floating support includes at least one elastic connection. One end of the elastic connection along the elastic deformation direction is installed on the housing, and the other end of the elastic connection along the elastic deformation direction is installed on the housing base.

5. The toolbox according to claim 4, characterized in that, The housing and / or the housing base are provided with a mounting base for installing the elastic connecting part, and the end of the elastic connecting part can be detachably snapped onto the mounting base.

6. The toolbox according to claim 2, characterized in that, The floating connection includes a spring, and the housing and / or the housing base are provided with a mounting groove. A positioning post is provided in the mounting groove, and the end of the spring is located in the mounting groove and fitted onto the positioning post.

7. The toolbox according to claim 2, characterized in that, The floating connection includes multiple elastic connection parts. A portion of the multiple elastic connection parts undergoes elastic deformation along a first direction, and another portion of the multiple elastic connection parts undergoes elastic deformation along a second direction. The first direction and the second direction are perpendicular to each other. Both the first direction and the second direction are perpendicular to the direction in which the actuating tool enters the receiving cavity.

8. The toolbox according to claim 2, characterized in that, The housing includes a cylindrical wall, and the floating connection includes multiple elastic connection parts. The multiple elastic connection parts are arranged in a circumferential direction around the outer periphery of the cylindrical wall. The elastic connection parts undergo elastic deformation in the radial direction of the cylindrical wall, and one end of the elastic connection part along the elastic deformation direction is connected to the cylindrical wall, and the other end along the elastic deformation direction is connected to the housing base.

9. The toolbox according to claim 2, characterized in that, The end of the housing away from the opening is fixed to the housing base; or the end of the housing away from the opening is hinged to the housing base via a spherical bearing; or the end of the housing away from the opening is rotatably mounted on the housing base.

10. The toolbox according to claim 2, characterized in that, The floating connection includes a rod, a second elastic element, and a stop. The housing includes an ear plate with a mounting hole. One end of the rod is floatingly mounted on the housing base, and the other end of the rod passes through the mounting hole and is connected to the stop. The second elastic element is fitted onto the rod and clamped between the ear plate and the stop.

11. The toolbox according to claim 10, characterized in that, A ball-cone mating pair is formed between the rod and the housing and / or between the rod and the ear plate.

12. The toolbox according to claim 2, characterized in that, The toolbox also includes a buffer, and the box body includes a rear wall disposed opposite to the opening, with the buffer clamped between the rear wall and the box base.

13. The toolbox according to any one of claims 1 to 12, characterized in that, The housing is also provided with a floating positioning part for positioning the execution tool. The floating positioning part extends to position the execution tool and retracts to avoid the execution tool from passing in response to the squeezing of the execution tool.

14. The toolbox according to claim 13, characterized in that, The floating positioning part includes a positioning body and a first elastic element. The positioning body is slidably mounted on the housing. The first elastic element is disposed between the positioning body and the housing and extends the positioning body to limit the movement of the execution tool.

15. The toolbox according to claim 14, characterized in that, The positioning body has a first inclined surface on the side near the opening and a second inclined surface on the other side away from the opening. In response to the extrusion tool pressing against the first inclined surface, the positioning body retracts to allow the extrusion tool to enter; in response to the extrusion tool pressing against the second inclined surface, the positioning body retracts to allow the extrusion tool to exit the chamber.

16. The toolbox according to any one of claims 1 to 12, characterized in that, The guide portion includes a tapered guide structure, which includes a large end inlet and a small end inlet. The small end inlet is connected to the opening, and the large end inlet is located on the side of the small end inlet opposite to the opening, and is connected to the small end inlet by a curved surface.

17. The toolbox according to claim 16, characterized in that, The curved surface includes at least a portion of a frustum-shaped inner wall, the height direction of which is consistent with the extension direction of the receiving cavity, and the small end of the frustum-shaped inner wall is connected to the inner wall of the opening.

18. The toolbox according to claim 16, characterized in that, The housing is provided with a positioning guide rail for positioning the execution tool and / or the robotic arm. The guiding part includes a guide rail that extends from the large end inlet to the small end inlet and docks with the positioning guide rail.

19. The toolbox according to claim 18, characterized in that, The robotic arm has a snap-fit ​​position for aligning and engaging with the execution tool and a locking position for rotating at a set angle to connect and lock with the execution tool. The guide rail includes a first guide surface and a second guide surface connected at an angle. The first guide surface is configured to guide the robotic arm into the snap-fit ​​position, and the second guide surface is configured to guide the execution tool into the receiving cavity for storage. The receiving cavity is provided with clearance space for the robotic arm to rotate to the locking position.

20. The toolbox according to claim 19, characterized in that, The positioning guide rail includes a first positioning surface and a second positioning surface. The first positioning surface is configured to position the robotic arm at a snap-fit ​​position, and the second positioning surface is configured to position the robotic arm at a locked position. The first guiding surface is in contact with the first positioning surface, and the second guiding surface is in contact with the second positioning surface.

21. An execution tool assembly for mounting on a robotic arm to perform cleaning operations, characterized in that, It includes an execution tool and a toolbox as described in any one of claims 1 to 20, wherein the execution tool can be housed within the toolbox.

22. A clean base station, characterized in that, The toolbox included in any one of claims 1 to 20.

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