A cleaning system

Abstract

The utility model provides a kind of cleaning system, the cleaning system includes: base station, cleaning equipment and crawl attachment;Base station has accommodating cavity, accommodating cavity has opening;Cleaning equipment can independently travel on working surface;Crawl attachment can be combined with cleaning equipment to form combination, and make cleaning equipment realize the passage under specific obstacle;Wherein, combination can enter accommodating cavity by the opening of accommodating cavity, or combination can drive out from accommodating cavity by the opening of accommodating cavity.The utility model can improve the technical problem that cleaning equipment cannot cross barrier and limit the application range and application scenario of cleaning equipment.

Description

Technical Field

[0001] This utility model relates to the field of cleaning technology, and specifically to a cleaning system. Background Technology

[0002] Currently, indoor cleaning equipment faces certain limitations in practical applications. While these devices can move flexibly and complete cleaning tasks on flat surfaces, they often struggle to overcome obstacles of considerable height, such as stairs, steps, or ditches. This issue significantly restricts the applicability and application scenarios of indoor cleaning equipment, hindering its effectiveness in complex home environments. Utility Model Content

[0003] This invention provides a cleaning system to solve the technical problem in the prior art where the cleaning equipment is limited in its scope of application and application scenarios because it cannot cross obstacles.

[0004] This utility model provides a cleaning system, which includes: a base station, a cleaning device, and a crawling attachment; the base station has a receiving cavity with an opening; the cleaning device can autonomously move on a working surface; the crawling attachment can be combined with the cleaning device to form a combination, enabling the cleaning device to pass through specific obstacles; wherein, the combination can enter the receiving cavity through the opening of the receiving cavity, or the combination can drive out of the receiving cavity through the opening of the receiving cavity.

[0005] The advantages of this configuration are as follows: Because the cleaning system is equipped with a crawling attachment, which can combine with the cleaning equipment to form a combined unit, enabling the cleaning equipment to pass through specific obstacles, this configuration expands the applicability and application scenarios of the cleaning equipment. Simultaneously, since the combined unit can enter the receiving cavity through its opening, when the cleaning equipment returns to the base station after completing its cleaning task, the combined unit will also enter the receiving cavity through its opening, thus completing the storage of the cleaning equipment and crawling attachment within the base station. This eliminates the need for additional storage space for the crawling attachment, thereby reducing the overall storage space of the cleaning system. Furthermore, since the combined unit can exit the receiving cavity through its opening, it can exit the receiving cavity when the cleaning equipment needs to perform a cleaning task. This configuration allows the cleaning equipment to quickly combine with the crawling attachment within the receiving cavity without needing to travel to another location after receiving a cleaning task, thus improving the response speed of the cleaning equipment and enhancing cleaning efficiency.

[0006] In one embodiment of the present invention, a power interface and a clean water supply interface are provided in the receiving cavity, and a charging interface and a clean water replenishment interface are provided in the cleaning device. After the assembly enters the receiving cavity through the opening, the charging interface is electrically connected to the power interface, and the clean water replenishment interface is connected to the clean water supply interface.

[0007] The advantages of this design are as follows: After the assembly enters the receiving cavity through the opening, the charging interface can be electrically connected to the power interface, and the clean water replenishment interface can be connected to the clean water supply interface. Therefore, once the assembly enters the receiving cavity, charging and water replenishment operations for the cleaning equipment can be performed. This not only expands the functionality of the assembly within the receiving cavity but also avoids the cumbersome process of separate charging and water replenishment operations required in traditional methods. Consequently, the standby time of the cleaning equipment can be shortened, thereby improving its cleaning efficiency.

[0008] In one embodiment of the present invention, a cleaning tank is further provided inside the receiving cavity, and the cleaning device includes a wet cleaning component. After the assembly enters the receiving cavity through the opening of the receiving cavity, the wet cleaning component is located in the cleaning tank to achieve cleaning of the wet cleaning component.

[0009] The advantages of this design are as follows: By incorporating a cleaning tank within the receiving cavity, the assembly can clean wet cleaning components after entering the cavity through its opening. This design further expands the functionality of the assembly within the receiving cavity, utilizing the assembly's residence time to complete the cleaning of wet cleaning components. Therefore, it helps to further shorten the standby time of the cleaning equipment and further improve its cleaning efficiency.

[0010] In one embodiment of the present invention, the base station is provided with a first accommodating cavity and a second accommodating cavity, and both the first accommodating cavity and the second accommodating cavity are open toward the side wall of the base station; a first sewage tank is detachably installed in the first accommodating cavity, and a first clean water tank is detachably installed in the second accommodating cavity; the inlet of the first sewage tank is connected to the sewage outlet of the cleaning tank; the outlet of the first clean water tank is connected to the clean water supply interface, and / or, the outlet of the first clean water tank is connected to the clean water inlet of the cleaning tank.

[0011] The advantages of this design are as follows: By installing clean water and wastewater tanks on the base station, the base station's over-reliance on external water sources and sewage systems can be reduced, thus improving the flexibility of base station placement. Simultaneously, the detachable design of the clean water and wastewater tanks allows users to easily clean and maintain them, facilitating the keeping of the base station clean. Furthermore, since both the first and second receiving cavities open towards the side wall of the base station, this design eliminates the need to reserve space above the base station for the installation and removal of the first wastewater and first clean water tanks, thereby reducing the overall installation height of the base station.

[0012] In one embodiment of the present invention, the cleaning equipment further includes a second clean water tank and a second wastewater tank. The second clean water tank is used to supply water to the wet cleaning component, and the second wastewater tank is used to collect wastewater generated during the operation of the wet cleaning component. The clean water replenishment interface is configured as the inlet of the second clean water tank. After the assembly enters the receiving cavity through the opening of the receiving cavity, the drain outlet of the second wastewater tank is connected to the cleaning tank.

[0013] The advantages of this configuration are as follows: Since the cleaning equipment is positioned above the cleaning tank within the receiving cavity, and the drain outlet of the second wastewater tank is typically located at its bottom, connecting the drain outlet of the second wastewater tank to the cleaning tank allows the wastewater to automatically flow into the cleaning tank under gravity, thus reducing energy consumption during the wastewater discharge process. Furthermore, because the cleaning equipment can automatically complete the discharge process after returning to the base station, its maintenance burden is reduced. Moreover, since there is no need to allocate additional time for separately discharging wastewater from the second wastewater tank, the standby time of the cleaning equipment is shortened, thereby improving its cleaning efficiency.

[0014] In one embodiment of this utility model, the cleaning device includes a second clean water tank and a second wastewater tank. The second clean water tank is used to supply water to the wet cleaning component, and the second wastewater tank is used to collect wastewater generated during the operation of the wet cleaning component. The clean water replenishment interface is configured as the inlet of the second clean water tank. A sludge extraction port is also provided in the receiving cavity. After the assembly enters the receiving cavity through the opening of the receiving cavity, the sludge extraction port is connected to the discharge port of the second wastewater tank to extract the wastewater in the second wastewater tank.

[0015] The advantages of this design are as follows: In this embodiment, the suction force generated by the suction port located within the receiving cavity enables the discharge of sewage from the second sewage tank. This design allows for rapid discharge of sewage from the second sewage tank, improving discharge efficiency. Simultaneously, it reduces restrictions on the placement of the suction port and the discharge port of the second sewage tank, allowing for more flexible placement and facilitating internal structure design. Furthermore, since the cleaning equipment can automatically complete the discharge process after returning to the base station, the need for manual maintenance is reduced. Moreover, because the discharge process can be performed simultaneously with other operations returning to the base station (such as cleaning, charging, and water replenishment of cleaning components), this further shortens the standby time of the cleaning equipment, thereby further improving its cleaning efficiency.

[0016] In one embodiment of this utility model, the cleaning device is equipped with a sensing system, and the crawling attachment is equipped with a walking control system. The walking control system is communicatively connected to the sensing system, and the assembly achieves autonomous walking function through the coordinated action of the sensing system and the walking control system.

[0017] The advantages of this design are as follows: the combined unit can achieve autonomous movement through the coordinated operation of the sensing system on the cleaning equipment and the walking control system of the crawling attachment. This design allows the crawling attachment and the cleaning equipment to share the same sensing system, eliminating the need for additional sensing systems on the crawling attachment and thus reducing its manufacturing cost. Simultaneously, this design improves the reliability and stability of the overall cleaning system control, thereby reducing the impact of control errors arising from different sensing systems on the moving accuracy of the combined unit.

[0018] In one embodiment of the present invention, the crawling attachment and the cleaning device are provided with a snap-fit ​​structure, and the cleaning device is combined with the crawling attachment through the snap-fit ​​structure.

[0019] The beneficial effects of this design are as follows: By setting up a snap-fit ​​structure, the cleaning equipment and the crawling attachment can be tightly connected after assembly, preventing separation due to vibration or external force during the operation of the assembly, thereby improving the stability of the assembly when passing through specific obstacles.

[0020] In one embodiment of the present invention, the snap-fit ​​structure includes a snap-fit ​​groove and a snap-fit ​​block that can snap into each other. The snap-fit ​​groove and the snap-fit ​​block are respectively disposed on the inner side wall of the crawling attachment and the circumferential side wall of the cleaning device. When the crawling attachment and the cleaning device are combined, the snap-fit ​​block can slide into the snap-fit ​​groove and achieve positioning with the crawling attachment in the height direction and circumferential direction of the cleaning device.

[0021] The advantages of this design are as follows: By incorporating a locking block and a locking slot, the locking block slides into the locking slot, simultaneously achieving positioning in both the height and circumferential directions of the cleaning equipment. This effectively prevents the crawling attachment from loosening or shifting during movement, ensuring a secure connection between the cleaning equipment and the crawling attachment. Furthermore, the sliding insertion of the locking block in conjunction with the locking slot simplifies the assembly and fixing of the crawling attachment to the cleaning equipment, eliminating the need for additional tools and improving maintenance and replacement efficiency.

[0022] In one embodiment of the present invention, the charging interface and the clean water replenishment interface are located at the tail of the cleaning device, and the crawling attachment is provided with a first avoidance area. After the cleaning device and the crawling attachment are combined, the tail of the cleaning device is exposed through the first avoidance area.

[0023] The advantages of this design are as follows: By setting a first clearance zone on the crawling attachment, and ensuring that the tail of the cleaning device is exposed through this zone after the cleaning device and the crawling attachment are combined, it is easy to establish an electrical connection between the charging port at the tail of the cleaning device and the power port inside the housing cavity, as well as a connection between the clean water replenishment port and the clean water supply port inside the housing cavity, when the combined unit is located inside the housing cavity. Simultaneously, this design allows for more flexible combination of the cleaning device and the crawling attachment, with minimal impact on the structure and function of the crawling attachment.

[0024] In one embodiment of the present invention, the cleaning device further includes a dry cleaning component, and the bottom of the crawling attachment is provided with a second avoidance area, which is capable of avoiding at least the wet cleaning component and / or the dry cleaning component.

[0025] The beneficial effects of this design are as follows: By providing a second clearance zone that can accommodate both wet and / or dry cleaning components, the wet cleaning component can be exposed at the bottom of the crawling attachment after the assembly enters the receiving cavity. This allows it to contact the cleaning tank located below the crawling attachment, enabling cleaning within the tank. Simultaneously, during assembly movement, the wet cleaning component, exposed through the second clearance zone, can perform wet cleaning of the working surface. Similarly, the dry cleaning component, exposed through the second clearance zone, can perform vacuum cleaning of the working surface.

[0026] In one embodiment of the present invention, the bottom of the cleaning device is provided with a walking system, and the cleaning device also includes a chassis, which has a raised state and a lowered state. The bottom of the crawling attachment is provided with a second avoidance area. When the chassis is in the lowered state, the crawling attachment is in contact with the working surface. When the chassis is in the raised state, the cleaning device drives the crawling attachment to lift away from the working surface, and the walking system of the cleaning device passes through the second avoidance area and contacts the working surface.

[0027] The beneficial effects of this design are as follows: Through the coordination between the lifting chassis and the second avoidance zone on the crawling attachment, the assembly can intelligently switch between different walking modes. When the chassis is raised, the crawling attachment detaches from the working surface, and the cleaning equipment's walking system (drive wheels, casters) contacts the ground through the second avoidance zone. This walking mode fully utilizes the steering advantages of the wheeled structure on flat ground. When the assembly needs to overcome obstacles, by controlling the chassis to lower, the crawling attachment can contact the working surface, enabling passage over specific obstacles. This dual-mode intelligent switching design retains the obstacle-crossing capability of the crawling attachment while solving the problem of inconvenient steering on flat ground, thereby improving the assembly's terrain adaptability and operational flexibility.

[0028] In one embodiment of the present invention, the crawling attachment includes a support mechanism and a crawling mechanism. The support mechanism is disposed on the crawling mechanism and is used to support the cleaning equipment. The crawling mechanism is used to move on the working surface.

[0029] The benefits of this design are as follows: By separating the support mechanism and the crawling mechanism, the crawling mechanism can be designed with modular functionality. This design allows the support and crawling mechanisms to be independently designed and optimized according to their respective functional requirements. The support mechanism can focus on providing stable support, ensuring that the cleaning equipment does not tip over or shake when traversing complex terrain or obstacles. The crawling mechanism, on the other hand, can focus on achieving efficient movement and obstacle-crossing capabilities, enabling the assembly to easily handle various complex terrains. Furthermore, this independent design approach increases the product's design flexibility, allowing it to better meet the usage needs of different scenarios.

[0030] In one embodiment of this utility model, two sets of crawling mechanisms are provided, and a support mechanism is provided between the two sets of crawling mechanisms.

[0031] The beneficial effects of this design are as follows: By placing the support mechanism between the two sets of crawling mechanisms, the crawling mechanisms on both sides can provide relatively stable and reliable support to the support mechanism, thereby improving the stability of the support mechanism for the cleaning equipment. This structural design can improve the stability of the assembly when passing through certain obstacles and reduce the risk of the cleaning equipment tilting or swaying.

[0032] In one embodiment of the present invention, the crawling mechanism includes a first crawling component and a second crawling component, wherein the second crawling component is rotatably connected to one end of the first crawling component in the length direction.

[0033] The advantages of this design are as follows: By using a first crawling component and a second crawling component, with the second crawling component rotatably connected to one end of the first crawling component along its length, the crawling mechanism can better adapt to various complex terrains. For example, when encountering a high obstacle, the second crawling component can rotate to adjust its angle, working in conjunction with the first crawling component to provide stronger obstacle-crossing capability. Simultaneously, the rotatable connection design of the second crawling component makes the crawling attachment more flexible when turning. Compared to a single crawling component, this dual-component structure can achieve a smaller turning radius, especially in confined spaces or scenarios requiring frequent turning, where the crawling attachment can adjust its direction more flexibly.

[0034] In one embodiment of the present invention, two second crawling components are provided, one of which is rotatably connected to one end of the first crawling component along its length, and the other is rotatably connected to the other end of the first crawling component along its length.

[0035] The advantages of this design are as follows: By rotatably connecting a second crawling component to each end of the first crawling component, the two second crawling components provide dual-point support at both ends along the length of the first crawling component during operation. Compared to the single-point support of a single crawling component, dual-point support significantly improves the stability of the crawling mechanism when traversing specific obstacles (stairs). Simultaneously, the independent rotation design of the two second crawling components makes the crawling mechanism more flexible when turning. Compared to a single crawling component, this structure allows for a smaller turning radius, especially in confined spaces or scenarios requiring frequent turning, where the crawling attachment can adjust its direction more flexibly.

[0036] In one embodiment of the present invention, the crawling mechanism has an extended working state and a retracted working state. In the extended working state, the first crawling component and the second crawling component work together to realize the crawling of the crawling attachment. In the retracted working state, the second crawling component retracts to the side of the first crawling component so that the first crawling component contacts the working surface and the second crawling component disengages from the working surface.

[0037] The advantages of this design are as follows: Because the crawling mechanism has both extended and retracted working states, switching between these two states allows it to better adapt to different working environments and task requirements. In the extended state, both the first and second crawling components can simultaneously contact the working surface, achieving coordinated drive and thus providing greater driving force and improving operational stability. This state is particularly suitable for traversing flat or complex terrains (such as stairs, steps, etc.). In the retracted state, the second crawling component retracts to the side of the first crawling component, making the overall structure more compact and facilitating passage in narrow spaces. It also facilitates the storage of the crawling components, reducing the storage space they occupy.

[0038] In one embodiment of the present invention, the first crawling component includes a first track, and the first crawling component achieves crawling action through contact between the first track and the working surface; the second crawling component includes a second track, and the second crawling component achieves crawling action through contact between the second track and the working surface.

[0039] The advantages of this design are as follows: Due to the large contact area between the tracks and the working surface, both the first crawling component and the second crawling component achieve a larger support contact area when they contact the working surface of the first track, resulting in better stability of the crawling attachment during crawling. Compared to wheeled crawling components, tracked crawling components can better distribute pressure on uneven working surfaces, reducing the risk of slippage or overturning, thus ensuring smooth passage in complex environments. Furthermore, the continuous movement of the first and second tracks maintains stable power output, avoiding power interruptions or sudden speed changes, enabling the crawling attachment to complete its passage tasks more efficiently and improving overall passage efficiency.

[0040] In one embodiment of the present invention, the first crawling component includes a first driving pulley and a first driven pulley, and the first track is tensioned on the first driving pulley and the first driven pulley; the second crawling component includes a second driving pulley and a second driven pulley, and the second track is tensioned on the second driving pulley and the second driven pulley, and the second driving pulley is coaxially and fixedly connected to the first driven pulley or the first driving pulley; the crawling mechanism further includes a first driving component, which drives the first driving pulley to rotate or drives the second driven pulley to rotate.

[0041] The beneficial effects of this configuration are as follows: By coaxially and fixedly connecting the second driving pulley to the first driven pulley or the first driving pulley, the first drive assembly can simultaneously drive the first and second tracks to rotate. This configuration reduces the number of drive assemblies, lowers the complexity of the crawler mechanism's design, and consequently reduces the manufacturing cost of the crawler attachment, while also improving the structural compactness of the crawler mechanism. Furthermore, it enables synchronous rotation of the first and second tracks, ensuring consistency in their speed and direction of movement, avoiding operational swaying or instability caused by inconsistent track speeds, thereby improving the operating efficiency and stability of the crawler attachment.

[0042] In one embodiment of the present invention, the first crawling component further includes a first bracket, a first driving pulley rotatably connected to one end of the first bracket, and a first driven pulley rotatably connected to the other end of the first bracket; the second crawling component further includes a second bracket, a second driving pulley rotatably connected to one end of the second bracket, and a second driven pulley rotatably connected to the other end of the second bracket; the crawling mechanism further includes a second driving component, the second driving component being fixedly connected to the first bracket, and the second driving component being used to drive the second crawling component to rotate relative to the first crawling component, so as to adjust the included angle between the second crawling component and the first crawling component.

[0043] The beneficial effects of this design are as follows: By incorporating a second drive component, the second crawling component can rotate relative to the first crawling component. This design allows the second crawling component to flexibly adjust its angle with the first crawling component according to different working environments and task requirements. When traversing specific obstacles (such as steps, stairs, ditches, etc.), adjusting the rotation angle of the second crawling component relative to the first crawling component enables the two components to work synergistically, forming a stable support structure and improving the stability of the crawling attachment when traversing specific obstacles. Furthermore, in narrow spaces or scenarios requiring frequent turning, adjusting the rotation angle of the second crawling component allows it to fold towards the side of the first crawling component, resulting in a more compact overall structure and easier passage.

[0044] In one embodiment of the present invention, the second driving component is fixedly connected to the first bracket, and the second driving component has a rotation output end for driving the second bracket to rotate relative to the first bracket.

[0045] The advantages of this design are as follows: Since the first crawling component remains relatively fixed to the support mechanism during operation, fixing the second drive component to the first support, rather than mounting the first crawling component to the second support, improves the stability of the second drive component's installation position, thus ensuring its reliable and stable operation. Simultaneously, the inclusion of a rotating output end simplifies the force transmission path of the second drive component, reduces mechanical losses, and improves power transmission efficiency, thereby enhancing the accuracy of adjusting the rotation angle of the second support relative to the first support.

[0046] In one embodiment of the present invention, the rotation axis of the second bracket is coaxial with the rotation axis of the second drive pulley.

[0047] The advantages of this design are as follows: By adopting the coaxial arrangement in the above structure, the rotation center of the second support can be made to coincide with the rotation center of the second drive pulley, avoiding the need to occupy additional offset space to accommodate the pulley or other transmission components. Therefore, it is beneficial to reduce the design dimensions of the first support in the length or height direction, thus improving the overall structural compactness of the crawling attachment.

[0048] In one embodiment of the present invention, a mounting through hole is provided at the position of the rotation axis of the second bracket and the first bracket. The second drive assembly also includes a connecting shaft, which forms a rotating output end. The connecting shaft is rotatably connected to the mounting through hole and fixedly connected to the second bracket.

[0049] The advantages of this design are as follows: By using a connecting shaft, torque transmission and a fixed connection between the rotary output end and the second bracket can be achieved simultaneously. This design reduces the number of parts and simplifies assembly. Furthermore, the direct connection between the rotary output end and the second bracket via the connecting shaft eliminates intermediate connection points, ensuring connection stability and torque transmission efficiency. This, in turn, improves the response speed and adjustment accuracy of the second bracket's rotation angle control.

[0050] In one embodiment of the present invention, the second driving assembly includes a driving member, a worm gear, and a worm. The driving member drives the worm to rotate, the worm gear drives the worm wheel to rotate, and the worm wheel is fixedly connected to the connecting shaft.

[0051] The advantages of this design are as follows: Because the worm gear drive has a self-locking function, the rotation angle of the second crawling component can be locked when the drive component stops rotating or is de-energized. This reduces the risk of accidental slippage or falling due to changes in the rotation angle of the second crawling component during operation. Furthermore, since the worm gear mechanism allows for orthogonal transmission (i.e., the axes of the worm and worm wheel are at 90°), this transmission structure facilitates arrangement and installation in limited spaces. Therefore, using a worm gear mechanism also helps improve the structural compactness of the crawling attachment.

[0052] In one embodiment of the present invention, the upper surface of the cleaning device is provided with an object placement area for carrying objects to be transported; when the crawling attachment drives the cleaning device to pass under specific obstacles, the cleaning device can carry and transport objects to be transported through the object placement area.

[0053] The benefits of this design are that by setting up an object placement area on the upper surface of the cleaning equipment, the equipment can not only perform cleaning tasks but also transport items, thereby expanding the functionality of the cleaning system and making it suitable for more application scenarios.

[0054] In one embodiment of the present invention, the cleaning device is further provided with a robotic arm, the end of which is detachably equipped with a cleaning accessory; the cleaning accessory includes a vacuuming component or a scrubbing component; when the crawling attachment drives the cleaning device to move along a specific obstacle, the robotic arm can adjust the position of the cleaning accessory to clean the surface of the specific obstacle to be cleaned.

[0055] The advantages of this design are as follows: By detachably connecting cleaning accessories to the end of the robotic arm, the multi-degree-of-freedom operation of the robotic arm allows for flexible adjustment of the position and angle of the cleaning accessories. When the crawling attachment propels the cleaning equipment along a specific obstacle, the cleaning accessories can precisely clean the surface of that obstacle. Therefore, this design not only enriches the functionality of the crawling attachment, making it applicable to more application scenarios, but also allows the robotic arm to flexibly select different cleaning accessories according to different cleaning tasks and environments, thereby better meeting the cleaning requirements of different surfaces and ensuring better cleaning results. Attached Figure Description

[0056] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0057] In the attached diagram:

[0058] Figure 1 A schematic diagram of the structure of a cleaning device and a crawling attachment housed within a base station, according to an embodiment of the present invention;

[0059] Figure 2 This is a schematic diagram of the structure of a base station provided in one embodiment of the present invention;

[0060] Figure 3 This is a schematic diagram of the structure of a base station provided in one embodiment of the present invention, which has a power interface and a clean water supply interface inside its housing cavity.

[0061] Figure 4 This is a schematic diagram of the structure of a cleaning device provided in one embodiment of the present invention, which is equipped with a charging interface and a clean water replenishment interface;

[0062] Figure 5 This is a schematic diagram of the installation position of the cleaning equipment with a chassis and a walking system provided in one embodiment of the present invention;

[0063] Figure 6 This is a schematic diagram of the combined structure of the cleaning device and the crawling attachment provided in one embodiment of the present invention;

[0064] Figure 7 This is a top view of the assembly formed by the cleaning device and the crawling attachment provided in one embodiment of the present invention;

[0065] Figure 8This is a side view of the assembly formed by the cleaning device and the crawling attachment provided in one embodiment of the present invention;

[0066] Figure 9 This is a bottom view of the assembly formed by the cleaning device and the crawling attachment provided in one embodiment of the present invention;

[0067] Figure 10 This is a three-dimensional schematic diagram of the overall structure of the crawling attachment provided in one embodiment of the present invention;

[0068] Figure 11 This is a side view of the overall structure of the crawling attachment provided in one embodiment of the present invention;

[0069] Figure 12 This is a schematic diagram of the crawling mechanism provided in one embodiment of the present invention;

[0070] Figure 13 This is a schematic diagram of the crawling mechanism provided in one embodiment of the present invention after removing the first track and the second track;

[0071] Figure 14 for Figure 13 A magnified view of a portion of region A in the middle;

[0072] Figure 15 This is a schematic diagram of a structure in one embodiment of the present invention, showing a second drive pulley connected to a first crawling component.

[0073] Figure 16 This is a top view of the crawling mechanism provided in one embodiment of the present invention;

[0074] Figure 17 for Figure 16 Cross-sectional view along the BB direction;

[0075] Figure 18 This is a schematic diagram showing a snap-fit ​​structure between the cleaning device and the crawling attachment provided in one embodiment of the present invention;

[0076] Figure 19 for Figure 18 A magnified view of a portion of region C in the middle;

[0077] Figure 20 This is a schematic diagram of a cleaning device with a snap-fit ​​groove provided in one embodiment of the present invention;

[0078] Figure 21 for Figure 20 A magnified view of a portion of region E in the middle;

[0079] Figure 22 This is a schematic diagram of a crawling attachment with a snap-fit ​​block provided in one embodiment of the present invention;

[0080] Figure 23 for Figure 22 A magnified view of a portion of region D in the middle;

[0081] Figure 24 This is a schematic diagram of the crawling attachment provided in one embodiment of the present invention in a flattened working state;

[0082] Figure 25 This is a schematic diagram of the crawling attachment provided in one embodiment of the present invention passing through a specific obstacle;

[0083] Figure 26 This is a schematic diagram illustrating another state of the crawling attachment provided in one embodiment of the present invention passing through a specific obstacle;

[0084] Figure 27 This is a schematic diagram illustrating another state of the crawling attachment provided in one embodiment of the present invention passing through a specific obstacle.

[0085] The attached figures are labeled as follows:

[0086] 100. Cleaning system; 10. Base station; 101. First mounting cavity; 102. Second mounting cavity; 11. Receiving cavity; 111. Power interface; 112. Clean water supply interface; 113. Opening; 114. Cleaning tank; 115. Sewage outlet; 12. First sewage tank; 13. First clean water tank; 20. Cleaning equipment; 201. Object placement area; 21. Charging interface; 22. Clean water replenishment interface; 23. Wet cleaning component; 24. Chassis; 25. Walking system; 251. Drive wheel; 252. Caster wheel; 26. Body; 27. Anti-collision plate; 30. Crawling attachment; 301. Mounting through hole; 31. First clearance area; 32. Second clearance area; 33. Support mechanism; 34. Crawling mechanism; 341. First crawling... 3411, First track; 3412, First drive assembly; 3413, First drive pulley; 34131, Tooth; 34132, Shaft; 3414, First driven pulley; 3415, First support; 342, Second crawling assembly; 3421, Second track; 3422, Second drive pulley; 3423, Second driven pulley; 3424, Second support; 3425, Second drive assembly; 34251, Rotary output end; 34252, Drive element; 34253, Worm; 34254, Worm wheel; 3426, Connecting shaft; 3427, Slewing bearing; 3428, Connector; 40, Assembly; 50, Snap-fit ​​structure; 51, Snap-fit ​​groove; 52, Snap-fit ​​block; 60, Specific obstacle. Detailed Implementation

[0087] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0088] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0089] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present invention.

[0090] Please see Figures 1 to 27 This invention provides a cleaning system 100, which includes a crawling attachment 30. The crawling attachment 30 can be combined with a cleaning device 20 to form a composite body 40, enabling the cleaning device 20 to pass through specific obstacles 60. Therefore, the applicability and application scenarios of the cleaning device 20 can be expanded. Simultaneously, since the composite body 40 can enter and exit the receiving cavity 11 through the opening 113, the crawling attachment 30 can be stored within the receiving cavity 11, saving storage space.

[0091] Please see Figures 1 to 4 The cleaning system 100 provided in one embodiment of the present invention includes: a base station 10, a cleaning device 20, and a crawling attachment 30.

[0092] Base station 10 has a receiving cavity 11, which is disposed on the side wall of base station 10 and near the bottom of base station 10. One side of the receiving cavity 11 has an opening 113, and the opening 113 extends through the width direction of base station 10 (e.g., ...). Figure 2 The wall on one side (as shown by the X-axis) and the other side of the receiving cavity 11 extend along the width direction of the base station 10 into the interior of the base station 10. It should be noted that the base station 10 may also include conventional components found on existing base stations 10, such as an energy system, a negative pressure suction system, a sewage tank, and a clean water tank, which will not be described in detail here.

[0093] The cleaning device 20 is capable of autonomously moving across the work surface. In this embodiment, the cleaning device 20 can be a floor scrubber, sweeper, cleaning robot, etc., but is not limited to these. Taking a cleaning robot as an example, to perform its cleaning function, the cleaning device 20 at least includes a body 26 and cleaning components. The cleaning components are installed on the body 26 for cleaning the surface to be cleaned. The cleaning components can be disc-shaped cloths, roller cloths, conveyor belt cloths, etc. To improve the cleaning effect of the cleaning device 20, the cleaning components typically have a wet cleaning function.

[0094] Please see Figure 6 The crawling attachment 30 can be combined with the cleaning equipment 20 to form a combination 40, enabling the cleaning equipment 20 to pass under specific obstacles 60. The specific obstacle 60 can be any one or more of stairs, steps, or ditches. The structural form of the crawling attachment 30 is not limited; for example, it can be a tracked crawling structure. When the crawling attachment 30 is combined with the cleaning equipment 20, when facing obstacles such as stairs, steps, or ditches, the tracked crawling structure can use the gripping and supporting force of its tracks to propel the cleaning equipment 20 smoothly up or across the obstacles. The crawling attachment 30 can also be a multi-wheeled crawling structure. After the cleaning equipment 20 is combined with the multi-wheeled crawling structure, the flexible adjustment and drive of the wheels allow it to smoothly pass over obstacles of different heights and shapes.

[0095] It should be noted that, under the condition of meeting the combination requirements between the cleaning device 20 and the crawling attachment 30, in one embodiment, the cleaning device 20 can automatically walk to the position of the crawling attachment 30 and automatically combine with the crawling attachment 30 to form a combination body 40. In another embodiment, the cleaning device 20 can also achieve the combination with the crawling attachment 30 to form the combination body 40 through manual intervention or intervention of other assembly devices. To improve the automation level of the cleaning system 100, optionally, in this embodiment, the cleaning device 20 can automatically walk to the position of the crawling attachment 30 and automatically combine with the crawling attachment 30. At the same time, the operation of the cleaning device 20 can also achieve automatic separation from the crawling attachment 30, so as to facilitate the cleaning device 20 to perform cleaning operations.

[0096] In one embodiment, the assembly 40 can enter the receiving cavity 11 through the opening 113. In another embodiment, the assembly 40 can exit the receiving cavity 11 through the opening 113. In this embodiment, the assembly 40 can both enter and exit the receiving cavity 11 through the opening 113.

[0097] In this embodiment, the cleaning system 100 is equipped with a crawling attachment 30, which can combine with the cleaning device 20 to form a combined body 40, enabling the cleaning device 20 to pass through specific obstacles 60. Therefore, this configuration expands the applicability and application scenarios of the cleaning device 20. Simultaneously, since the combined body 40 can enter the receiving cavity 11 through the opening 113, when the cleaning device 20 completes its cleaning task and returns to the base station 10, the combined body 40 will enter the receiving cavity 11 through the opening 113, thus completing the storage of the cleaning device 20 and the crawling attachment 30 within the base station 10. This eliminates the need for additional storage space for the crawling attachment 30, thereby reducing the overall storage space of the cleaning system 100. Furthermore, since the combined body 40 can exit the receiving cavity 11 through the opening 113, when the cleaning device 20 needs to perform a cleaning task, the combined body 40 can also exit the receiving cavity 11 through the opening 113. With this configuration, when the cleaning device 20 receives a cleaning task, it does not need to travel to other locations to combine with the crawling attachment 30. The cleaning device 20 and the crawling attachment 30 can be quickly combined within the receiving cavity 11. Therefore, the response speed of the cleaning device 20 can be improved, which is beneficial to improving cleaning efficiency.

[0098] It should be noted that when the cleaning device 20 needs to perform routine cleaning tasks, i.e., when there are no specific obstacles 60 in the path of the cleaning device 20, the cleaning device 20 can exit from the housing cavity 11 independently, while the crawling attachment 30 remains inside the housing cavity 11. Under this condition, the cleaning device 20 can enter and exit the housing cavity 11 normally and perform its cleaning tasks normally. At the same time, it avoids unnecessary exposure of the crawling attachment 30, reducing its wear and tear and the risk of accidental damage.

[0099] Please see Figure 3 and Figure 4 In one embodiment of this utility model, a power interface 111 and a clean water supply interface 112 are provided inside the receiving cavity 11. The power interface 111 and the clean water supply interface 112 can be provided on either side wall of the receiving cavity 11. Optionally, in order to facilitate the installation of the power interface 111 and the clean water supply interface 112 on the base station 10, in this embodiment, the power interface 111 and the clean water supply interface 112 are provided on the wall of the receiving cavity 11 on the side opposite to the opening 113.

[0100] The cleaning device 20 is equipped with a charging interface 21 and a clean water refill interface 22. After the assembly 40 enters the receiving cavity 11 through the opening 113, the charging interface 21 is electrically connected to the power interface 111, and the clean water refill interface 22 is connected to the clean water supply interface 112. Specifically, the charging interface 21 and the clean water refill interface 22 are located at the rear of the cleaning device 20. After the assembly 40 enters the receiving cavity 11 through the opening 113, the rear of the cleaning device 20 is positioned near the wall of the receiving cavity 11 on the side opposite the opening 113, thereby achieving the electrical connection between the charging interface 21 and the power interface 111, and the connection between the clean water refill interface 22 and the clean water supply interface 112.

[0101] In this embodiment, after the assembly 40 enters the receiving cavity 11 through the opening 113, the charging interface 21 is electrically connected to the power interface 111, and the clean water replenishment interface 22 is connected to the clean water supply interface 112. This configuration allows for charging and water replenishment of the cleaning device 20 immediately after the assembly 40 enters the receiving cavity 11. This not only expands the functionality of the assembly 40 within the receiving cavity 11 but also avoids the cumbersome process of step-by-step charging and water replenishment required in traditional methods. Therefore, the standby time of the cleaning device 20 can be shortened, thereby improving its cleaning efficiency.

[0102] Please see Figure 2 and Figure 4 In one embodiment of this utility model, a cleaning tank 114 is further provided inside the receiving cavity 11. The cleaning device 20 includes a wet cleaning component 23. After the assembly 40 enters the receiving cavity 11 through the opening 113, the wet cleaning component 23 is located in the cleaning tank 114 to achieve cleaning of the wet cleaning component 23. The number of cleaning tanks 114 is consistent with the number of wet cleaning components 23, and the position of the cleaning tanks 114 is consistent with the position of the wet cleaning components 23. The wet cleaning component 23 can be a disc cloth, a roller cloth, or a conveyor belt cloth, etc. Optionally, in this embodiment, the wet cleaning component 23 is a disc cloth. Two disc cloths are provided, and correspondingly, two cleaning tanks 114 are also provided. One disc cloth corresponds to one cleaning tank 114. The disc cloth contacts the cleaning part of the cleaning tank 114 to achieve cleaning of the disc cloth.

[0103] It should be noted that the specific structure of the cleaning tank 114 can refer to the existing structure of the cleaning tank 114 on the base station 10, and will not be described in detail here.

[0104] In this embodiment, by providing a cleaning tank 114 within the receiving cavity 11, the assembly 40 can enter the receiving cavity 11 through the opening 113, thereby enabling the cleaning of the wet cleaning component 23. This arrangement further expands the functional application of the assembly 40 within the receiving cavity 11, allowing the cleaning of the wet cleaning component 23 to be completed during the residence time of the assembly 40 within the receiving cavity 11. Therefore, it helps to shorten the standby time of the cleaning equipment 20 and further improve the cleaning efficiency of the cleaning equipment 20.

[0105] Please see Figure 2 In one embodiment of this utility model, the base station 10 is provided with a first mounting cavity 101 and a second mounting cavity 102, and both the first mounting cavity 101 and the second mounting cavity 102 open toward the side wall of the base station 10. Specifically, the first mounting cavity 101 and the second mounting cavity 102 may both open toward the same side wall of the base station 10, or they may open toward different side wall directions. Optionally, in this embodiment, the first mounting cavity 101 and the second mounting cavity 102 both open toward the same side wall of the base station 10, and the opening direction of the first mounting cavity 101 and the second mounting cavity 102 is consistent with the opening direction of the receiving cavity 11. The first mounting cavity 101 and the second mounting cavity 102 may be arranged vertically along the height direction of the base station 10, or they may be arranged along the length direction of the base station 10 (e.g., ...). Figure 2 The first mounting cavity 101 and the second mounting cavity 102 are arranged horizontally along the length of the base station 10, as shown in the Y-axis direction. Optionally, in this embodiment, both the first mounting cavity 101 and the second mounting cavity 102 are disposed above the receiving cavity 11 and are arranged horizontally along the length of the base station 10.

[0106] A first wastewater tank 12 is detachably installed in the first mounting cavity 101, and a first clean water tank 13 is detachably installed in the second mounting cavity 102. The inlet of the first wastewater tank 12 is connected to the drain outlet of the cleaning tank 114 for extracting wastewater from the cleaning tank 114. The outlet of the first wastewater tank 12 can be connected to an indoor sewage pipe or to another external wastewater tank for wastewater discharge. Alternatively, the first wastewater tank 12 can be disconnected from the outside. When wastewater needs to be emptied, the user removes the first wastewater tank 12 from the first mounting cavity 101, manually emptys the wastewater, and then reinstalls it into the first mounting cavity 101. The inlet of the first clean water tank 13 can be connected to a tap water pipe or to another clean water supply device for clean water replenishment. Furthermore, the first clean water tank 13 can be disconnected from the outside. When clean water needs to be replenished, the user removes the first clean water tank 13 from the second mounting cavity 102 and manually replenishes it with clean water. After replenishment, the user then inserts the first clean water tank 13 back into the second mounting cavity 102. The outlet of the first clean water tank 13 can be connected to the clean water supply interface 112, the clean water inlet of the cleaning tank 114, or both the clean water supply interface 112 and the clean water inlet of the cleaning tank 114.

[0107] By installing a first clean water tank 13 and a first wastewater tank 12 on the base station 10, the base station 10's over-reliance on external water sources and sewage systems can be reduced, thus improving the flexibility of the base station 10's placement. Simultaneously, the detachable design of the first clean water tank 13 and the first wastewater tank 12 allows users to easily clean and maintain them, facilitating the cleanliness of the base station 10. Furthermore, since both the first mounting cavity 101 and the second mounting cavity 102 open towards the side wall of the base station 10, this design eliminates the need to reserve space above the base station 10 for replacing the first wastewater tank 12 and the first clean water tank 13, thereby reducing the overall installation height of the base station 10.

[0108] It should be noted that in other embodiments, the base station 10 may not have a first sewage tank 12 or a first clean water tank 13. Instead, the clean water supply interface 112 located in the receiving cavity 11 is directly connected to the tap water pipe, and the sewage outlet of the cleaning tank 114 is connected to the indoor sewage pipe. In this way, the base station 10 can also have clean water intake and sewage discharge.

[0109] Please see Figure 2 and Figure 4In one embodiment of this utility model, the cleaning device 20 further includes a second clean water tank (not shown in the figure) and a second wastewater tank (not shown in the figure). The second clean water tank is used to supply water to the wet cleaning component 23, and the second wastewater tank is used to collect wastewater generated during the operation of the wet cleaning component 23. The clean water supply interface 22 is configured as the inlet of the second clean water tank. The second clean water tank and the second wastewater tank can be detachably connected to the cleaning device 20 or non-detachably connected; this embodiment does not limit this. When the assembly 40 enters the receiving cavity 11, the drain outlet of the second wastewater tank communicates with the cleaning tank 114.

[0110] With this configuration, since the cleaning device 20 is located above the cleaning tank 114 when it is inside the receiving cavity 11, and the drain outlet of the second wastewater tank is usually located at the bottom of the second wastewater tank, connecting the drain outlet of the second wastewater tank to the cleaning tank 114 allows the wastewater in the second wastewater tank to be automatically discharged into the cleaning tank 114, thereby reducing energy consumption during the wastewater discharge process. Simultaneously, since the cleaning device 20 can automatically complete the discharge operation after returning to the base station 10, the maintenance burden of the cleaning device 20 can be reduced. Furthermore, since there is no need to set aside additional time to separately discharge the wastewater from the second wastewater tank, this further shortens the standby time of the cleaning device 20, thus contributing to a further improvement in the cleaning efficiency of the cleaning device 20.

[0111] It should be noted that in other embodiments, the cleaning device 20 may only have a second clean water tank and not a second wastewater tank. That is, during operation, the cleaning device 20 only needs the second clean water tank to supply clean water to the cleaning components, and does not need to collect the wastewater generated during the cleaning process.

[0112] Please see Figure 3 and Figure 4 In one embodiment of this utility model, the cleaning device 20 includes a second clean water tank and a second wastewater tank. The second clean water tank is used to supply water to the wet cleaning component 23, and the second wastewater tank is used to collect wastewater generated during the operation of the wet cleaning component 23. The clean water supply interface 22 is configured as the inlet of the second clean water tank. A sludge suction port 115 is also provided in the receiving cavity 11. After the assembly 40 enters the receiving cavity 11 through the opening 113, the sludge suction port 115 is connected to the discharge port of the second wastewater tank to extract the wastewater from the second wastewater tank. The sludge suction port 115 can generate a suction effect on the discharge port of the second wastewater tank, thereby extracting the wastewater from the second wastewater tank. There are various ways to generate the suction effect. Optionally, in this embodiment, a vacuum pump can be provided at the sludge suction port 115. By operating the vacuum pump, a negative pressure is generated at the sludge suction port 115, thereby drawing the wastewater out of the second wastewater tank through the pressure difference.

[0113] In this embodiment, the sewage in the second sewage tank can be discharged through the suction force generated by the sewage suction port 115 located in the receiving cavity 11. This arrangement enables rapid discharge of sewage from the second sewage tank, improving sewage discharge efficiency. Simultaneously, it reduces restrictions on the placement of the sewage suction port 115 and the sewage tank discharge port, allowing for more flexible placement and facilitating internal structure design. Furthermore, since the cleaning device 20 can automatically complete sewage discharge after returning to the base station 10, the need for manual maintenance can be reduced. Moreover, since the sewage discharge process can be performed simultaneously with other operations returning to the base station 10 (such as cleaning, charging, and water replenishment of cleaning components), the standby time of the cleaning device 20 can be further shortened, thereby further improving the cleaning efficiency of the cleaning device 20.

[0114] In one embodiment of this utility model, the cleaning device 20 is equipped with a sensing system, and the crawling attachment 30 is equipped with a walking control system. The walking control system is communicatively connected to the sensing system. The assembly 40 achieves autonomous walking through the coordinated action of the sensing system and the walking control system. The sensing system enables the cleaning device 20 to perceive the environment and navigate during its movement, thus enabling the cleaning device 20 to walk autonomously along a planned path. The sensing system can have various structural forms, such as lidar, visual cameras, infrared sensors, and ultrasonic sensors. The walking control system of the crawling attachment 30 can include any system related to the walking control of the crawling attachment 30, such as a motor drive module, a motion controller, and a displacement sensing system. In this embodiment, the communicative connection between the walking control system and the sensing system specifically means that the walking control system can use the sensing signals generated by the sensor system to control the walking status of the crawling attachment 30, such as walking direction, walking distance, and walking speed.

[0115] In this embodiment, the assembly 40 achieves autonomous walking by coordinating the sensing system on the cleaning device 20 and the walking control system of the crawling attachment 30. This configuration allows the crawling attachment 30 and the cleaning device 20 to share a sensing system, eliminating the need for additional sensing systems on the crawling attachment 30 and thus reducing its manufacturing cost. Furthermore, this design improves the overall reliability and stability of the cleaning system 100's control, thereby reducing the impact of control errors between different sensing systems on the walking accuracy of the assembly 40.

[0116] Please see Figure 18In one embodiment of this utility model, the cleaning device 20 and the crawling attachment 30 are provided with a snap-fit ​​structure 50, through which the cleaning device 20 is combined with the crawling attachment 30. The snap-fit ​​structure 50 can have various structural forms; in one embodiment, it is a mechanical snap-fit ​​structure. Specifically, the cleaning device 20 and the crawling attachment 30 are respectively provided with protrusions and grooves. When they approach each other, the protrusions can be embedded in the grooves to achieve quick snap-fit, thus realizing the combination of the cleaning device 20 and the crawling attachment 30. In another embodiment, the snap-fit ​​structure 50 is an elastic snap-fit ​​element. Specifically, the crawling attachment 30 is provided with elastic claws, and the cleaning device 20 is provided with corresponding slots. When the crawling attachment 30 approaches the cleaning device 20, the elastic claws can automatically extend into the slots and lock, realizing the combination of the cleaning device 20 and the crawling attachment 30. It should be noted that the number of snap-fit ​​structures 50 can be one or more, specifically determined to meet the combination and fixing requirements between the cleaning device 20 and the crawling attachment 30. Optionally, in this embodiment, two snap-fit ​​structures 50 are provided, and the two snap-fit ​​structures 50 are respectively provided in the width direction of the crawling attachment 30 (e.g., Figure 18 On both sides (as shown in the X1 direction), when the cleaning device 20 and the crawling attachment 30 are combined, the two snap-fit ​​structures 50 fix the cleaning device 20 on both sides of the width direction of the crawling attachment 30.

[0117] In this embodiment, the snap-fit ​​structure 50 can ensure that the cleaning device 20 and the crawling attachment 30 are tightly and fixedly connected after assembly, avoiding separation of the two due to vibration or external force during the operation of the assembly 40, thereby improving the stability of the assembly 40 in passing under specific obstacles 60.

[0118] Please see Figures 18 to 23 In one embodiment of this utility model, the snap-fit ​​structure 50 includes a snap-fit ​​groove 51 and a snap-fit ​​block 52 that can snap together. The snap-fit ​​groove 51 and the snap-fit ​​block 52 are respectively disposed on the inner side wall of the crawling attachment 30 and the circumferential side wall of the cleaning device 20. When the crawling attachment 30 is combined with the cleaning device 20, the snap-fit ​​block 52 can slide into the snap-fit ​​groove 51 and achieve positioning between the cleaning device 20 and the crawling attachment 30 in the height direction and circumferential direction. The front end of the cleaning device 20 is provided with a bumper plate 27, which is elastically connected to the body 26.

[0119] Please see Figures 20 to 23In this embodiment, the snap-fit ​​groove 51 is disposed on the circumferential sidewall of the cleaning device 20. Specifically, the opening of the snap-fit ​​groove 51 is located near the anti-collision plate 27. The snap-fit ​​block 52 is disposed on the inner side of the support mechanism 33, that is, on the side of the support mechanism 33 facing the cleaning device 20. During the process of the crawling attachment 30 assembling with the cleaning device 20, the anti-collision plate 27 of the cleaning device 20 first contacts the snap-fit ​​block 52. Under the abutment action of the snap-fit ​​block 52, the anti-collision plate 27 moves towards a position closer to the body 26 to expose the opening of the snap-fit ​​groove 51, making it easier for the snap-fit ​​block 52 to slide into the snap-fit ​​groove 51. When the snap-fit ​​block 52 is inserted into the snap-fit ​​groove 51, along the height direction of the cleaning device 20, the upper and lower sidewalls of the snap-fit ​​groove 51 abut against the upper and lower sidewalls of the snap-fit ​​block 52, respectively. At least partially, the circumferential sidewall of the snap-fit ​​groove 51 abuts against the circumferential sidewall of the snap-fit ​​block 52. This allows the cleaning device 20 to be positioned relative to the crawling attachment 30 in both the height and circumferential directions after the snap-fit ​​block 52 is inserted into the snap-fit ​​groove 51. In other embodiments, the snap-fit ​​block 52 may be disposed on the circumferential sidewall of the cleaning device 20, and the snap-fit ​​groove 51 may be disposed on the inner sidewall of the support mechanism 33.

[0120] By setting the snap-fit ​​block 52 and the snap-fit ​​slot 51, the snap-fit ​​block 52 can be slidably inserted into the snap-fit ​​slot 51, and positioning can be achieved simultaneously in the height direction and circumferential direction of the cleaning device 20. This effectively prevents the crawling attachment 30 from loosening or shifting during movement, and ensures a stable connection between the cleaning device 20 and the crawling attachment 30.

[0121] Please see Figure 4 , Figure 6 and Figure 10 In one embodiment of this utility model, the charging interface 21 and the clean water replenishment interface 22 are disposed at the tail of the cleaning device 20, and the crawling attachment 30 is provided with a first clearance area 31. After the cleaning device 20 and the crawling attachment 30 are combined, the tail of the cleaning device 20 is exposed through the first clearance area 31. The first clearance area 31 can be designed as a groove or a notch, the shape and size of which match the interface area of ​​the tail of the cleaning device 20. Optionally, in this embodiment, the position of the crawling attachment 30 corresponding to the tail of the cleaning device 20 is open, that is, the entire tail of the cleaning device 20 can be completely exposed. It should be noted that the tail of the cleaning device 20 being exposed through the first clearance area 31 means that when the assembly 40 is located inside the receiving cavity 11, the charging interface 21 of the tail of the cleaning device 20 can be electrically connected to the power interface 111 inside the receiving cavity 11, and the clean water replenishment interface 22 can be connected to the clean water supply interface 112 inside the receiving cavity 11.

[0122] By providing a first clearance area 31 on the crawling attachment 30, and ensuring that the tail of the cleaning device 20 is exposed through the clearance area 31 after the cleaning device 20 and the crawling attachment 30 are combined, it is possible to facilitate the electrical connection of the charging port 21 at the tail of the cleaning device 20 to the power port 111 inside the housing cavity 11 when the combined body 40 is located inside the housing cavity 11, and the clean water replenishment port 22 to the clean water supply port 112 inside the housing cavity 11. This design also allows for more flexible combination of the cleaning device 20 and the crawling attachment 30, with minimal impact on the structure and function of the crawling attachment 30.

[0123] Please see Figure 8 , Figure 9 and Figure 10 In one embodiment of this utility model, a second clearance area 32 is further provided at the bottom of the crawling attachment 30, which can at least avoid the wet cleaning component 23. The cleaning device 20 is disposed above the crawling attachment 30, and the bottom of the crawling attachment 30 is located below the wet cleaning component 23. The position of the second clearance area 32 corresponds to the placement position of the wet cleaning component 23 on the crawling attachment 30 in the assembly 40 state. The shape and size of the second clearance area 32 are not limited, as long as it ensures that the wet cleaning component 23 can be completely exposed at the bottom of the crawling attachment 30.

[0124] By providing a second clearance zone 32 that allows the wet cleaning component 23 to pass through, the wet cleaning component 23 can be exposed at the bottom of the crawling attachment 30 after the assembly 40 enters the receiving cavity 11, so as to come into contact with the cleaning section of the cleaning tank 114 located below the crawling attachment 30, thereby enabling the wet cleaning component 23 to be cleaned in the cleaning tank 114.

[0125] Please see Figure 5 , Figure 8 and Figure 9 In one embodiment of this utility model, the bottom of the cleaning device 20 is provided with a walking system 25. The walking system 25 may only include drive wheels 251, or it may include drive wheels 251 and casters 252. The cleaning device 20 also includes a chassis 24, which is movably mounted on the body 26 of the cleaning device 20, and the walking system 25 is mounted on the chassis 24. The chassis 24 has a raised state and a lowered state relative to the body 26, and the bottom of the crawling attachment 30 is provided with a second clearance area 32. In the combined state 40, the crawling attachment 30 and the body 26 of the cleaning device 20 are engaged and fixed along the height direction of the cleaning device 20. The engagement and fixing method can be the engagement structure 50 in the above embodiment, or other engagement and fixing structures can be provided, as long as it ensures that the body 26 of the cleaning device 20 can be fixed in the height direction with the crawling attachment 30.

[0126] When the chassis 24 is in the lowered state, the crawling attachment 30 is in contact with the working surface, meaning the walking system 25 is not in contact with the working surface. At this time, the operation of the crawling attachment 30 drives the assembly 40 to move independently. When the chassis 24 is in the raised state, the body 26 of the cleaning equipment 20 lifts the crawling attachment 30 away from the working surface, and the walking system 25 of the cleaning equipment 20 exits from the second avoidance zone 32 and contacts the working surface. At this time, the walking system 25 of the cleaning equipment 20 operates, driving the assembly 40 to move independently.

[0127] In one embodiment, the second clearance zone 32 only allows the dry cleaning component (roller brush) to be exposed at the bottom of the crawling attachment 30. This configuration allows the dry cleaning component to vacuum and clean the working surface after being exposed through the second clearance zone 32 during the movement of the assembly 40.

[0128] In another embodiment, the second clearance zone 32 can simultaneously allow both the wet cleaning component 23 and the dry cleaning component (roller brush) disposed at the bottom of the cleaning device 20 to be exposed on the bottom of the crawling attachment 30. This arrangement allows the wet cleaning component 23 to perform wet cleaning of the work surface after being exposed through the second clearance zone 32 during the movement of the assembly 40. Simultaneously, the dry cleaning component (roller brush) can perform vacuum cleaning of the work surface after being exposed through the second clearance zone 32.

[0129] This embodiment utilizes the cooperation between the lifting chassis 24 and the second avoidance zone 32 on the crawling attachment 30 to achieve intelligent switching between different walking modes for the assembly 40. When the chassis 24 is raised, the crawling attachment 30 detaches from the working surface, and the walking system 25 (drive wheels 251, casters 252) of the cleaning equipment 20 contacts the ground through the second avoidance zone 32. This walking mode fully leverages the steering advantages of the wheeled structure on flat ground. When the assembly 40 needs to overcome obstacles during its movement, the chassis 24 is lowered to allow the crawling attachment 30 to contact the working surface, enabling the assembly 40 to pass under specific obstacles 60. This dual-mode intelligent switching design retains the obstacle-crossing capability of the crawling attachment 30 while solving the problem of inconvenient steering of the crawling attachment 30 on flat ground, thereby improving the terrain adaptability and operational flexibility of the assembly 40.

[0130] Please see Figure 7 and Figure 10In one embodiment of this utility model, the crawling attachment 30 includes a support mechanism 33 and a crawling mechanism 34. The support mechanism 33 is disposed on the crawling mechanism 34 and is used to support the cleaning equipment 20. The crawling mechanism 34 is used to move on the working surface. The structure of the crawling mechanism 34 can be a tracked crawling mechanism, a multi-wheel crawling mechanism, etc. The position of the crawling mechanism 34 relative to the support mechanism 33 is not limited; for example, it can be disposed on both sides of the support mechanism 33 or below the support mechanism 33. The number of crawling mechanisms 34 is also not limited; for example, there can be two sets or one set, as long as the cleaning equipment 20 can pass under the specific obstacle 60.

[0131] In this embodiment, by separating the support mechanism 33 and the crawling mechanism 34, a modular functional design for the crawling mechanism 34 can be achieved. This design allows the support mechanism 33 and the crawling mechanism 34 to be independently designed and optimized according to their respective functional requirements. The support mechanism 33 can focus on providing stable support, ensuring that the cleaning device 20 does not tip over or shake when traversing complex terrain or obstacles. The crawling mechanism 34, on the other hand, can focus on achieving efficient walking and obstacle-crossing capabilities, enabling the assembly 40 to easily handle various complex terrains. This independent design approach further enhances the product's design flexibility, allowing it to better meet the usage needs of different scenarios.

[0132] Please see Figure 7 and Figure 10 In one embodiment of this utility model, two sets of crawling mechanisms 34 are provided, and a support mechanism 33 is disposed between the two sets of crawling mechanisms 34. The two sets of crawling mechanisms 34 can be disposed at intervals at the bottom of the support mechanism 33, or they can be disposed on both sides of the support mechanism 33 in the width direction. Optionally, in this embodiment, the two sets of crawling mechanisms 34 are disposed on both sides of the support mechanism 33 in the width direction, which can increase the spacing between the two sets of crawling mechanisms 34, thereby facilitating better stable support for the support mechanism 33.

[0133] In this embodiment, by placing the support mechanism 33 between the two sets of crawling mechanisms 34, the crawling mechanisms 34 on both sides can provide relatively stable and reliable support for the support mechanism 33, thereby improving the support stability of the support mechanism 33 for the cleaning equipment 20. This arrangement can improve the stability of the assembly 40 when passing under specific obstacles 60, and reduce the risk of the cleaning equipment 20 tilting or shaking.

[0134] Please see Figure 10 In one embodiment of the present invention, the crawling mechanism 34 includes a first crawling component 341 and a second crawling component 342, wherein the second crawling component 342 is rotatably connected to the first crawling component 341 along its length (e.g., ...). Figure 10One end (as shown in the Y1 axis direction). The rotational connection between the first crawling component 341 and the second crawling component 342 is not limited. For example, it can be a rotational connection through a shaft hole or a rotational connection through a slewing bearing. The specific rotational connection method needs to be determined according to the specific structure between the second crawling component 342 and the first crawling component 341.

[0135] By configuring a first crawling component 341 and a second crawling component 342, and rotatably connecting the second crawling component 342 to one end of the first crawling component 341 along its length, the crawling mechanism 34 is configured to better adapt to various complex terrains. For example, as... Figure 25 As shown, when encountering tall obstacles (such as stairs), the second crawling component 342 can rotate to adjust its angle, working in conjunction with the first crawling component 341 to provide stronger obstacle-crossing capability. Simultaneously, the rotating connection design of the second crawling component 342 makes the crawling attachment 30 more flexible when turning. Compared to a single crawling component, this dual-component structure achieves a smaller turning radius, especially in confined spaces or scenarios requiring frequent turning, allowing the crawling attachment 30 to adjust its direction more flexibly.

[0136] Please see Figure 10 In one embodiment of this utility model, two second crawling components 342 are provided. One second crawling component 342 is rotatably connected to one end of the first crawling component 341 along its length, and the other second crawling component 342 is rotatably connected to the other end of the first crawling component 341 along its length. The two second crawling components 342 can be symmetrically arranged at both ends of the first crawling component 341 along its length, or they can be asymmetrically arranged. Optionally, in this embodiment, the two second crawling components 342 are symmetrically arranged at both ends of the first crawling component 341 along its length, and along the width direction of the support mechanism 33, both crawling components are located on the side of the first crawling component 341 away from the support mechanism 33, that is, on the outside of the first crawling component 341. With this arrangement, the two second crawling components 342 can provide more uniform support force at both ends of the first crawling component 341, making the operation of the crawling attachment 30 more stable.

[0137] By rotatably connecting a second crawling component 342 to each end of the first crawling component 341, the two second crawling components 342 provide dual-point support at both ends of the first crawling component 341 along its length during operation. Compared to the single-point support of a single crawling component, the dual-point support significantly improves the stability of the crawling mechanism 34 when traversing a specific obstacle 60 (stairs), such as... Figure 26 and Figure 27As shown. Meanwhile, the independent rotation design of the two second crawling components 342 makes the crawling mechanism 34 more flexible when turning. Compared to a single crawling component, this structure can achieve a smaller turning radius, especially in narrow spaces or scenarios requiring frequent turning, where the crawling attachment 30 can adjust its direction more flexibly.

[0138] In one embodiment of this utility model, the crawling mechanism 34 has an extended working state and a retracted working state. In the extended working state (e.g. Figure 24 As shown, the first crawling component 341 and the second crawling component 342 work together to enable the operation of the crawling attachment 30. It should be noted that in the deployed state, the second crawling component 342 rotates to the outside of the first crawling component 341 along its length and is in the deployed state with the first crawling component 341, and both the first and second crawling components 341 are in contact with the working surface. In the retracted state (as shown...), the second crawling component 342... Figure 25 As shown below, the second crawling component 342 is folded up to the side of the first crawling component 341 so that the first crawling component 341 contacts the working surface and the second crawling component 342 is disconnected from the working surface.

[0139] It should be noted that, in one embodiment, when one end of the first crawling component 341 is connected to the second crawling component 342, the unfolded working state means that the second crawling component 342 is flattened relative to the first crawling component 341. The folded working state means that the second crawling component 342 is folded to the side of the first crawling component 341. In another embodiment, when both ends of the first crawling component 341 are connected to the second crawling component 342, the unfolded working state means that both second crawling components 342 are flattened relative to the first crawling component 341, and the folded working state means that at least one of the two second crawling components 342 can be folded to the side of the first crawling component 341.

[0140] In the above embodiments, since the crawling mechanism 34 has an extended working state and a retracted working state, by switching between these two states, the crawling mechanism 34 can better adapt to different working environments and task requirements. In the extended working state, such as... Figure 24 and Figure 27 As shown, the first crawling component 341 and the second crawling component 342 can simultaneously contact the working surface to achieve coordinated driving, thereby providing greater driving force and improving operational stability. This configuration is particularly suitable for passage in flat or complex terrain (such as obstacle crossing and slope climbing). In the retracted working state, the second crawling component 342 retracts to the side of the first crawling component 341, making the overall structure more compact and facilitating passage in narrow spaces. It also facilitates the storage of the crawling attachment 30, reducing the storage space it occupies.

[0141] Please see Figure 12 In one embodiment of the present invention, the first crawling component 341 includes a first track 3411, and the first crawling component 341 performs crawling action through contact between the first track 3411 and the working surface. The second crawling component 342 includes a second track 3421, and the second crawling component performs crawling action through contact between the second track 3421 and the working surface.

[0142] The first track 3411 and the second track 3421 can have the same width and length, or they can have different widths and lengths, depending on the structural dimensions of the first crawling assembly 341 and the second crawling assembly 342. In one embodiment, the first track 3411 and the second track 3421 can be driven by independent motors. In another embodiment, the first track 3411 and the second track 3421 can also work together through a synchronous drive system, that is, a single motor can simultaneously drive the first track 3411 and the second track 3421 to run synchronously. This design ensures that the first track 3411 and the second track 3421 can always maintain a consistent speed and direction during movement, improving the stability of the crawling mechanism 34.

[0143] Because of the large contact area between the tracks and the working surface, both the first track 3411 and the second track 3421 achieve a large supporting contact area when in contact with the working surface, thus enabling the crawling attachment 30 to have better operational stability during crawling. Compared with wheeled crawling structures, tracked crawling structures can better distribute pressure on uneven working surfaces, reducing the risk of slippage or overturning, thereby ensuring smooth operation in complex environments. Furthermore, the continuous movement of the first track 3411 and the second track 3421 maintains stable power output, avoiding power interruption or sudden speed changes, enabling the crawling attachment 30 to complete passage tasks more efficiently and improving passage efficiency.

[0144] In one embodiment of this utility model, the first crawling assembly 341 includes a first driving pulley 3413 and a first driven pulley 3414, and the first track 3411 is tensioned to the first driving pulley 3413 and the first driven pulley 3414. The second crawling assembly 342 includes a second driving pulley 3422 and a second driven pulley 3423, and the second track 3421 is tensioned to the second driving pulley 3422 and the second driven pulley 3423. The second driving pulley 3422 is coaxially and fixedly connected to either the first driven pulley 3414 or the first driving pulley 3413. Specifically, on the side closer to the first driving pulley 3413, the second driving pulley 3422 is coaxially and fixedly connected to the first driving pulley 3413. On the side closer to the first driven pulley 3414, the second driving pulley 3422 is coaxially and fixedly connected to the first driven pulley 3414. The fixed connection method is not limited; for example, it can be a tight-fit connection between a shaft and a hole, or a keyed connection. The crawling mechanism 34 also includes a first drive assembly 3412, which is disposed on the first crawling assembly 341 and drives the first drive pulley 3413 to rotate. The first drive assembly 3412 can be a motor, which can be directly connected to the first drive pulley 3413. Alternatively, the motor can be connected to the first drive pulley 3413 via a gearbox or other transmission components. Optionally, in this embodiment, the first drive assembly 3412 is a motor.

[0145] The first drive assembly 3412 operates, driving the first drive pulley 3413 to rotate. The rotation of the first drive pulley 3413 drives the second drive pulley 3422, which is fixedly connected to it, to rotate, and simultaneously drives the first track 3411 to rotate. The rotation of the second drive pulley 3422 drives the corresponding second track 3421 to rotate. The rotation of the first track 3411 drives the first driven pulley 3414 to rotate, and the rotation of the first driven pulley 3414 drives the second drive pulley 3422, which is fixedly connected to it, to rotate, and thus drives the corresponding second track 3421 to rotate.

[0146] By coaxially and fixedly connecting the second driving pulley 3422 to the first driven pulley 3414 or the first driving pulley 3413, the operation of the first drive assembly 3412 can simultaneously realize the operation of the first track 3411 and the second track 3421. This arrangement reduces the number of drive assemblies, lowers the complexity of the crawling mechanism 34 design, and thus reduces the manufacturing cost of the crawling attachment 30. It also improves the structural compactness of the crawling mechanism 34. Furthermore, it achieves synchronous rotation of the first track 3411 and the second track 3421, ensuring consistency in their speed and direction of movement, avoiding operational swaying or instability caused by inconsistent track speeds, thereby improving the operating efficiency and stability of the crawling attachment 30.

[0147] Please see Figure 12and Figure 13 In one embodiment of this utility model, the first crawling assembly 341 includes a first driving pulley 3413 and a first driven pulley 3414, and the first track 3411 is tensioned to the first driving pulley 3413 and the first driven pulley 3414. The second crawling assembly 342 includes a second driving pulley 3422 and a second driven pulley 3423, and the second track 3421 is tensioned to the second driving pulley 3422 and the second driven pulley 3423. The second driving pulley 3422 is coaxially and fixedly connected to either the first driven pulley 3414 or the first driving pulley 3413. Specifically, on the side closer to the first driving pulley 3413, the second driven pulley 3423 is coaxially and fixedly connected to the first driving pulley 3413. On the side closer to the first driven pulley 3414, the second driven pulley 3423 is coaxially and fixedly connected to the first driven pulley 3414. The crawling attachment 30 also includes a first drive component 3412, which is disposed on the second crawling component 342. The first drive component 3412 drives the second driven pulley 3423 to rotate.

[0148] It should be noted that there is only one first drive assembly 3412. The first drive assembly 3412 can drive the second driven pulley 3423 near the end of the first driving pulley 3413 to rotate, or it can drive the second driven pulley 3423 near the end of the first driven pulley 3414 to rotate. Further details can be found in the following documentation. Figure 10 In one embodiment, the first drive component 3412 is disposed inside the second crawling component 342. This reduces the space occupied on the outer side of the crawling attachment 30 in the width direction, which is beneficial to the compact design of the crawling attachment 30 structure.

[0149] The first drive assembly 3412 operates, driving the second driven pulley 3423 at the corresponding position to rotate. The rotation of the second driven pulley 3423 drives the corresponding second track 3421 to rotate, the rotation of the second track 3421 drives the second drive pulley 3422 to rotate, the second drive pulley 3422 drives the first drive pulley 3413 fixedly connected to it to rotate, and thus drives the first track 3411 to rotate. The rotation of the first track 3411 drives the first driven pulley 3414 to rotate, the rotation of the first driven pulley 3414 drives the second drive pulley 3422 fixedly connected to it to rotate, and thus drives the corresponding second track 3421 to rotate.

[0150] By coaxially and fixedly connecting the second driving pulley 3422 to the first driven pulley 3414 or the first driving pulley 3413, the first drive assembly 3412 can simultaneously drive the first track 3411 and the second track 3421. This arrangement reduces the number of drive assemblies, lowers the complexity of the crawling mechanism 34 design, and thus reduces the manufacturing cost of the crawling attachment 30, while also improving the structural compactness of the crawling mechanism 34. Furthermore, it achieves synchronous rotation of the first track 3411 and the second track 3421, ensuring consistency in their speed and direction of movement, avoiding operational swaying or instability caused by inconsistent track speeds, thereby improving the operating efficiency and stability of the crawling attachment 30. Additionally, since the first drive assembly 3412 is located within the second crawling assembly 342, this arrangement reduces the installation space occupied by the first drive assembly 3412 in the first crawling assembly 341, which is beneficial for the compact design of the first crawling assembly 341.

[0151] Please see Figure 12 and Figure 13 In one embodiment of this utility model, the first crawling assembly 341 further includes a first bracket 3415, a first driving pulley 3413 rotatably connected to one end of the first bracket 3415, and a first driven pulley 3414 rotatably connected to the other end of the first bracket 3415. The length direction of the first bracket 3415 is consistent with the tensioning direction of the first track 3411. To improve the stability of the tensioning of the first track 3411, multiple support structures can also be provided on the first bracket 3415, with the multiple support structures spaced apart between the first driving pulley 3413 and the second driven pulley 3423. The support structures can be support rollers, support wheels, etc.

[0152] The second crawling assembly 342 also includes a second bracket 3424, with a second driving pulley 3422 rotatably connected to one end of the second bracket 3424 and a second driven pulley 3423 rotatably connected to the other end of the second bracket 3424. The length direction of the second bracket 3424 is consistent with the tensioning direction of the second track 3421. To improve the stability of the tensioning of the second track 3421, multiple support structures can also be provided on the second bracket 3424, with the multiple support structures spaced apart between the second driving pulley 3422 and the second driven pulley 3423. The support structures can be support rollers, support wheels, etc. The crawling attachment 30 also includes a second drive assembly 3425, which can be fixedly connected to the first bracket 3415.

[0153] The second drive assembly 3425 is used to drive the second crawling assembly 342 to rotate relative to the first crawling assembly 341, thereby adjusting the angle between the second crawling assembly 342 and the first crawling assembly 341, that is, adjusting the angle between the second bracket 3424 and the first bracket 3415. The second drive assembly 3425 can be a motor, or a combination of a motor and a reducer, or a combination of a motor, a reducer and a gear assembly, or a combination of a motor, a reducer and a worm gear, etc. It should be noted that the number of second drive assemblies 3425 corresponds to the number of second crawling assemblies 342, that is, one second drive assembly 3425 corresponds to one second crawling assembly 342. Optionally, in this embodiment, there are two second crawling assemblies 342, and two corresponding second drive assemblies 3425. The two second drive assemblies 3425 are respectively located at both ends of the length direction of the first crawling assembly 341, and one second drive assembly 3425 drives a corresponding second crawling assembly 342 to rotate relative to the first crawling assembly 341.

[0154] By providing a second drive component 3425, the second drive component 3425 can drive the second crawling component 342 to rotate relative to the first crawling component 341. This design allows the second crawling component 342 to flexibly adjust the angle between itself and the first crawling component 341 according to different working environments and task requirements. Figures 25 to 27 As shown, when crossing obstacles (such as steps, stairs, ditches, etc.), by adjusting the rotation angle of the second crawling component 342 relative to the first crawling component 341, the second crawling component 342 and the first crawling component 341 can work together to form a stable support structure and improve the stability of passage. Simultaneously, in narrow spaces or scenarios requiring frequent turning, the rotation angle of the second crawling component 342 can be adjusted to allow it to fold towards the side of the first crawling component 341, making the overall structure of the crawling attachment 30 more compact and facilitating passage.

[0155] Please see Figure 10 and Figure 13 In one embodiment of this utility model, the second drive component 3425 is fixedly connected to the first bracket 3415. The fixed position of the second drive component 3425 on the first bracket 3415 is not limited. Optionally, in this embodiment, the second drive component 3425 is fixed to the inner side of the first bracket 3415. This arrangement can reduce the width dimension occupied on the outer side of the crawling attachment 30, which is beneficial to further improve the compact design of the crawling attachment 30 structure.

[0156] Please see Figure 13 , Figure 16 and Figure 17The second drive assembly 3425 has a rotary output end 34251 that drives the second bracket 3424 to rotate relative to the first bracket 3415. The rotary output end 34251 is fixedly connected to the second bracket 3424 to drive the second bracket 3424 to rotate relative to the first bracket 3415. The specific structure of the rotary output end 34251 is not limited; for example, it can be an output shaft, an output flange, an output gear, etc., and needs to be determined according to the structural form of the second drive assembly 3425 during the actual design process. There are various options for the fixed connection between the rotary output end 34251 and the second bracket 3424, such as a snap-fit ​​connection or a bolted connection.

[0157] Since the first crawling component 341 remains relatively fixed to the support mechanism 33 during operation, fixing the second drive component 3425 to the first bracket 3415, rather than mounting the first crawling component 341 to the second bracket 3424, improves the stability of the second drive component 3425's installation position, thus ensuring its reliable and stable operation. Simultaneously, because the rotary output end 34251 is directly and fixedly connected to the second bracket 3424, the transmission path is simplified, mechanical losses are reduced, and power transmission efficiency is improved, which in turn enhances the adjustment accuracy of the second bracket 3424's rotation relative to the first bracket 3415.

[0158] Please see Figure 13 In one embodiment of this utility model, the rotation axis of the second bracket 3424 is coaxially arranged with the rotation axis of the second driving pulley 3422. Since the second driving pulley 3422 is coaxially fixed with either the first driving pulley 3413 or the first driven pulley 3414, the coaxial arrangement of the rotation axis of the second bracket 3424 with the rotation axis of the second driving pulley 3422 indicates that at one end of the first driving pulley 3413, the rotation axes of the second bracket 3424, the second driving pulley 3422, and the first driving pulley 3413 are coaxially arranged. At one end of the first driven pulley 3414, the rotation axes of the second bracket 3424, the second driving pulley 3422, and the first driven pulley 3414 are coaxially arranged.

[0159] By adopting the coaxial arrangement in the above structure, the rotation axis of the second bracket 3424 can be coincided with the rotation axis of the second drive pulley 3422, thereby avoiding the need to occupy additional offset space to accommodate pulleys or other transmission components. Therefore, it is beneficial to reduce the design dimensions of the first bracket 3415 in the length or height direction, thus improving the overall structural compactness of the crawling attachment 30.

[0160] Please see Figure 16 and Figure 17In one embodiment of this utility model, a mounting through hole 301 is provided at the rotation axis position of the second bracket 3424 and the first bracket 3415. The second drive assembly 3425 includes a connecting shaft 3426, which forms a rotary output end 34251. The connecting shaft 3426 is rotatably connected to the mounting through hole 301 and fixedly connected to the second bracket 3424. Specifically, the first drive pulley 3413 includes a toothed portion 34131 and a shaft portion 34132. One end of the shaft portion 34132 is coaxially connected to the toothed portion 34131, and the other end of the shaft portion 34132 passes through the second drive pulley 3422 and is coaxially fixedly connected to the second drive pulley 3422. The first drive pulley 3413 is rotatably connected to the first bracket 3415 via a bearing. The second bracket 3424 is rotatably connected to the first bracket 3415 via a rotary assembly. The rotary assembly can be a rotary bearing or other rotating structures.

[0161] The mounting through hole 301 extends axially through the first bracket 3415, the first drive pulley 3413, and the second bracket 3424. Both ends of the first drive pulley 3413 are equipped with rotary bearings 3427, which are located within the mounting through hole 301. The connecting shaft 3426 is rotatably connected to the mounting through hole 301 via the rotary bearings 3427. A connector 3428 is fixedly mounted on the side of the second bracket 3424 opposite to the first bracket 3415. The connecting shaft 3426 extends away from the rotating output end 34251 toward the connector 3428 and can be fixedly connected to the connector 3428. The fixed connection method includes, but is not limited to, bolt fixing.

[0162] By setting up the connecting shaft 3426, torque transmission and a fixed connection between the rotation output end 34251 and the second bracket 3424 can be achieved simultaneously. This design reduces the number of parts and simplifies assembly. Furthermore, the direct connection between the connecting shaft 3426 and the second bracket 3424 reduces intermediate connection points, thus ensuring connection stability and torque transmission efficiency. This improves the response speed and adjustment accuracy of the rotation angle control of the second bracket 3424.

[0163] Please see Figure 13 , Figure 14 and Figure 17In one embodiment of this utility model, the second driving assembly 3425 further includes a driving member 34252, a worm gear 34254, and a worm 34253. The driving member 34252 drives the worm 34253 to rotate, and the worm gear 34253 drives the worm wheel 34254 to rotate. The worm wheel 34254 is coaxially and fixedly connected to the connecting shaft 3426. The driving member 34252 can be a combination of a motor and a gearbox. Optionally, in this embodiment, the driving member 34252 is a combination structure of a motor and a gearbox. The driving member 34252 is fixed to the first bracket 3415, the worm 34253 is rotatably connected to the first bracket 3415, and the worm gear 34254 is fixedly connected to the end of the connecting shaft 3426 opposite to the second bracket 3424. The output end of the driving member 34252 is fixedly connected to the worm 34253, and the worm 34253 and the worm wheel 34254 mesh and transmit power. The drive component 34252 operates, causing the worm gear 34253 to rotate, which in turn drives the worm wheel 34254 to rotate. The rotation of the worm wheel 34254 drives the connecting shaft 3426 to rotate, which in turn drives the second bracket 3424 to rotate, thereby adjusting the rotation angle of the second bracket 3424 relative to the first bracket 3415.

[0164] Because the worm gear drive has a self-locking function, the rotation angle of the second crawling component 342 can be locked when the drive component 34252 stops rotating or is de-energized. This effectively reduces the risk of accidental slippage or fall of the crawling attachment 30 during operation due to changes in the rotation angle of the second crawling component 342. Simultaneously, the worm gear mechanism can achieve orthogonal transmission, meaning the axes of the worm 34253 and the worm wheel 34254 are at 90°. This transmission structure facilitates arrangement and installation in limited spaces, thereby improving the structural compactness of the crawling attachment 30.

[0165] Please see Figure 6 In one embodiment of this utility model, the upper surface of the cleaning device 20 is provided with an object placement area 201 for carrying objects to be transported. The object placement area 201 can be implemented in various ways. For example, it can be formed directly using the top wall of the body 26 of the cleaning device 20. Alternatively, it can be formed by additional structural components connected to the top wall of the body 26. The structural form of the object placement area 201 can be designed according to actual needs, including various forms such as planar areas and cavity structures. When the crawling attachment 30 propels the cleaning device 20 across specific obstacles, the object placement area 201 can carry and transport the objects to be transported. Specifically, the objects to be transported can be securely placed on the object placement area 201 and complete the obstacle-crossing transport operation together with the cleaning device 20. It should be noted that the objects to be transported in this embodiment cover various items that need to be moved, including but not limited to common transport objects such as express parcels and garbage.

[0166] By setting an object placement area 201 on the upper surface of the cleaning device 20, this design allows the cleaning device 20 to perform cleaning operations while also having the function of transporting items, thereby expanding the functionality of the cleaning system 100 and making it applicable to more application scenarios.

[0167] In one embodiment of this utility model, the cleaning device 20 is further provided with a robotic arm (not shown in the figure), and a cleaning accessory is detachably installed at the end of the robotic arm. The robotic arm adopts a multi-degree-of-freedom joint design, enabling flexible movement in multiple directions, including pitch, lateral, and telescopic movements. In one embodiment, the cleaning accessory is a vacuuming assembly. When the crawling attachment 30 drives the cleaning device 20 to move along a specific obstacle 60, the robotic arm can adjust the position of the vacuuming assembly to vacuum the surface of the specific obstacle 60 to be cleaned. The surface of the specific obstacle 60 to be cleaned can be a stair handrail, railing, step surface, etc. It should be noted that the vacuuming assembly can include various specifications and models. Depending on the shape and position of the surface of the specific obstacle 60 to be cleaned, the end of the robotic arm can be equipped with different specifications and models of vacuuming assemblies. The vacuuming assembly can include a vacuum motor and a multi-stage filtration system. The operation of the vacuuming assembly can effectively remove dust, debris, and fine particles from the surrounding area.

[0168] In another embodiment, the cleaning accessory is a scrubbing assembly. When the crawling attachment 30 moves the cleaning device 20 along the specific obstacle 60, the robotic arm can adjust the position of the scrubbing assembly to scrub the surface of the specific obstacle 60 to be cleaned. The scrubbing assembly can be a flat cloth structure, a cloth tray structure, etc. The scrubbing assembly can be wet scrubbing or dry scrubbing, etc., and this embodiment is not limited in this respect. It should be noted that the scrubbing assembly can also include various specifications and models. Depending on the shape and position of the surface of the specific obstacle 60 to be cleaned, different specifications and models of scrubbing assemblies can be selected for the end of the robotic arm.

[0169] By detachably connecting cleaning accessories to the end of the robotic arm, the multi-degree-of-freedom operation of the robotic arm allows for flexible adjustment of the position and angle of the cleaning accessories. When the crawling attachment 30 moves the cleaning device 20 along a specific obstacle 60, the cleaning accessories can precisely clean the surface of the obstacle 60. Therefore, this design not only enriches the functionality of the crawling attachment 30, making it applicable to more application scenarios, but also allows the robotic arm to flexibly select different cleaning accessories according to different cleaning tasks and environments, thereby better meeting the cleaning requirements of different surfaces and ensuring better cleaning results.

[0170] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A cleaning system, characterized in that, include: A base station having a receiving cavity having an opening; The cleaning equipment is capable of moving autonomously across the work surface; A crawling attachment, which can be combined with the cleaning equipment to form a combination, enabling the cleaning equipment to pass through specific obstacles; The assembly can enter the receiving cavity through the opening of the receiving cavity, or the assembly can exit the receiving cavity through the opening of the receiving cavity.

2. The cleaning system according to claim 1, characterized in that, The receiving cavity is provided with a power interface and a clean water supply interface. The cleaning device is provided with a charging interface and a clean water replenishment interface. After the assembly enters the receiving cavity through the opening, the charging interface is electrically connected to the power interface, and the clean water replenishment interface is connected to the clean water supply interface.

3. The cleaning system according to claim 2, characterized in that, The receiving cavity is also provided with a cleaning tank. The cleaning equipment includes a wet cleaning component. After the assembly enters the receiving cavity through the opening of the receiving cavity, the wet cleaning component is located in the cleaning tank to achieve cleaning of the wet cleaning component.

4. The cleaning system according to claim 3, characterized in that, The base station is provided with a first accommodating cavity and a second accommodating cavity, and both the first accommodating cavity and the second accommodating cavity open toward the side wall of the base station; a first sewage tank is detachably installed in the first accommodating cavity, and a first clean water tank is detachably installed in the second accommodating cavity; the inlet of the first sewage tank is connected to the sewage outlet of the cleaning tank; the outlet of the first clean water tank is connected to the clean water supply interface, and / or, the outlet of the first clean water tank is connected to the clean water inlet of the cleaning tank.

5. The cleaning system according to claim 3, characterized in that, The cleaning equipment also includes a second clean water tank and a second wastewater tank. The second clean water tank is used to supply water to the wet cleaning component, and the second wastewater tank is used to collect wastewater generated during the operation of the wet cleaning component. The clean water supply interface is configured as the inlet of the second clean water tank. After the assembly enters the receiving cavity through the opening of the receiving cavity, the drain outlet of the second sewage tank is connected to the cleaning tank.

6. The cleaning system according to claim 3, characterized in that, The cleaning equipment includes a second clean water tank and a second wastewater tank. The second clean water tank is used to supply water to the wet cleaning unit, and the second wastewater tank is used to collect wastewater generated during the operation of the wet cleaning unit. The clean water supply interface is configured as the inlet of the second clean water tank. A sludge extraction port is also provided in the receiving cavity. After the assembly enters the receiving cavity through the opening of the receiving cavity, the sludge extraction port is connected to the discharge port of the second wastewater tank to extract the wastewater from the second wastewater tank.

7. The cleaning system according to claim 1, characterized in that, The cleaning equipment is equipped with a sensing system, and the crawling attachment is equipped with a walking control system. The walking control system is communicatively connected to the sensing system. The assembly achieves autonomous walking through the coordinated action of the sensing system and the walking control system.

8. The cleaning system according to claim 1, characterized in that, The crawling attachment and the cleaning device are provided with a snap-fit ​​structure, and the cleaning device is combined with the crawling attachment through the snap-fit ​​structure.

9. The cleaning system according to claim 8, characterized in that, The snap-fit ​​structure includes a snap-fit ​​groove and a snap-fit ​​block that can snap into each other. The snap-fit ​​groove and the snap-fit ​​block are respectively disposed on the inner side wall of the crawling attachment and the circumferential side wall of the cleaning device. When the crawling attachment is combined with the cleaning device, the snap-fit ​​block can slide into the snap-fit ​​groove and achieve positioning with the crawling attachment in the height direction and circumferential direction of the cleaning device.

10. The cleaning system according to claim 2, characterized in that, The charging port and the clean water replenishment port are located at the tail of the cleaning device. The crawling attachment is provided with a first avoidance area. After the cleaning device and the crawling attachment are combined, the tail of the cleaning device is exposed through the first avoidance area.

11. The cleaning system according to claim 3, characterized in that, The cleaning equipment also includes a dry cleaning component, and the bottom of the crawling attachment is provided with a second avoidance area, which is capable of avoiding at least the wet cleaning component and / or the dry cleaning component.

12. The cleaning system according to claim 9, characterized in that, The cleaning equipment is equipped with a walking system at the bottom and a chassis. The chassis has a raised state and a lowered state. The bottom of the crawling attachment is provided with a second avoidance zone. When the chassis is in the lowered state, the crawling attachment is in contact with the working surface. When the chassis is in a raised state, the cleaning device drives the crawling attachment to lift away from the working surface, and the walking system of the cleaning device passes through the second avoidance zone and contacts the working surface.

13. The cleaning system according to claim 1, characterized in that, The crawling attachment includes a support mechanism and a crawling mechanism. The support mechanism is disposed on the crawling mechanism and is used to support the cleaning equipment. The crawling mechanism is used to move on the working surface.

14. The cleaning system according to claim 13, characterized in that, The crawling mechanism is provided in two sets, and the support mechanism is located between the two sets of crawling mechanisms.

15. The cleaning system according to claim 14, characterized in that, The crawling mechanism includes a first crawling component and a second crawling component, wherein the second crawling component is rotatably connected to one end of the first crawling component along its length.

16. The cleaning system according to claim 15, characterized in that, The second crawling component is provided in two parts, one of which is rotatably connected to one end of the first crawling component along its length, and the other is rotatably connected to the other end of the first crawling component along its length.

17. The cleaning system according to claim 15, characterized in that, The crawling mechanism has an extended working state and a retracted working state. In the extended working state, the first crawling component and the second crawling component work together to realize the crawling of the crawling attachment. In the retracted working state, the second crawling component retracts to the side of the first crawling component so that the first crawling component contacts the working surface and the second crawling component disengages from the working surface.

18. The cleaning system according to claim 15, characterized in that, The first crawling component includes a first track, and the first crawling component performs crawling action through contact between the first track and the working surface; the second crawling component includes a second track, and the second crawling component performs crawling action through contact between the second track and the working surface.

19. The cleaning system according to claim 18, characterized in that, The first crawling assembly includes a first driving pulley and a first driven pulley, and the first track is tensioned between the first driving pulley and the first driven pulley; The second crawling assembly includes a second driving pulley and a second driven pulley, the second track is tensioned between the second driving pulley and the second driven pulley, and the second driving pulley is coaxially and fixedly connected to the first driven pulley or the first driving pulley; The crawling mechanism further includes a first drive component, which drives the first driving pulley or the second driven pulley to rotate.

20. The cleaning system according to claim 19, characterized in that, The first crawling assembly further includes a first support, the first driving pulley is rotatably connected to one end of the first support, and the first driven pulley is rotatably connected to the other end of the first support; The second crawling assembly further includes a second bracket, with the second driving pulley rotatably connected to one end of the second bracket and the second driven pulley rotatably connected to the other end of the second bracket; The crawling mechanism further includes a second drive component, which is fixedly connected to the first bracket. The second drive component is used to drive the second crawling component to rotate relative to the first crawling component, so as to adjust the angle between the second crawling component and the first crawling component.

21. The cleaning system according to claim 20, characterized in that, The second drive component is fixedly connected to the first bracket, and the second drive component has a rotation output end that drives the second bracket to rotate relative to the first bracket.

22. The cleaning system according to claim 21, characterized in that, The rotation axis of the second bracket is coaxial with the rotation axis of the second drive pulley.

23. The cleaning system according to claim 21, characterized in that, The second bracket is provided with a mounting through hole at the position of the rotation axis of the first bracket. The second drive assembly also includes a connecting shaft, which forms the rotation output end. The connecting shaft is rotatably connected to the mounting through hole and fixedly connected to the second bracket.

24. The cleaning system according to claim 23, characterized in that, The second drive assembly further includes a drive element, a worm gear, and a worm. The drive element drives the worm to rotate, and the worm drives the worm wheel to rotate. The worm wheel is fixedly connected to the connecting shaft.

25. The cleaning system according to claim 1, characterized in that, The upper surface of the cleaning device is provided with an object placement area for carrying objects to be transported; when the crawling attachment drives the cleaning device to pass under specific obstacles, the cleaning device can carry and transport the objects to be transported through the object placement area.

26. The cleaning system according to claim 1, characterized in that, The cleaning equipment is also equipped with a robotic arm, the end of which is detachably fitted with cleaning accessories; the cleaning accessories include a vacuuming component or a scrubbing component; when the crawling attachment drives the cleaning equipment to move along a specific obstacle, the robotic arm can adjust the position of the cleaning accessories to clean the surface of the specific obstacle to be cleaned.

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