Carrying device and cleaning system

Abstract

This application discloses a handling device and a cleaning system. The handling device includes a parking component, a first horizontal module, a first lifting module, a second horizontal module, and a second lifting module. The parking component is used for the cleaning host to dock. The first horizontal module is connected to the parking component and is used to drive the parking component and the first horizontal module to move relative to each other in the front-back direction. The first lifting module is connected to the first horizontal module and is used to drive the first horizontal module and the first lifting module to move relative to each other in the height direction. The second horizontal module is connected to the first lifting module and is used to drive the first lifting module and the second horizontal module to move relative to each other in the front-back direction. The second lifting module is connected to the second horizontal module and is used to drive the second horizontal module and the second lifting module to move relative to each other in the height direction. During the process of climbing or descending stairs, at least two modules of the handling device are supported on two adjacent step surfaces, thereby making the climbing and descending process more stable.

Description

Technical Field

[0001] This application relates to the field of material handling equipment technology, and more particularly to a material handling device and a cleaning system. Background Technology

[0002] Cleaning robots can sweep the ground; however, their obstacle-crossing ability is limited. They cannot climb stairs or other obstacles of a certain height on their own, so users need to move the cleaning robots so that they can perform cleaning operations at different heights. Utility Model Content

[0003] This application provides a handling device and a cleaning system that can solve the problem that cleaning robots have limited obstacle-crossing ability and cannot climb stairs.

[0004] In a first aspect, embodiments of this application provide a handling device, which includes a parking component, a first horizontal module, a first lifting module, a second horizontal module, and a second lifting module. The parking component is used for parking the cleaning host. The first horizontal module is connected to the parking component and is used to drive the parking component and the first horizontal module to move relative to each other in the front-to-back direction. The first lifting module is connected to the first horizontal module and is used to drive the first horizontal module and the first lifting module to move relative to each other in the height direction. The second horizontal module is connected to the first lifting module and is used to drive the first lifting module and the second horizontal module to move relative to each other in the front-to-back direction. The second lifting module is connected to the second horizontal module and is used to drive the second horizontal module and the second lifting module to move relative to each other in the height direction.

[0005] Secondly, embodiments of this application provide a cleaning system, which includes a conveying device and... The cleaning host includes a body and a walking mechanism. The walking mechanism can move the cleaning host so that it can be parked on the parking piece or leave the parking piece.

[0006] Beneficial effects: The transport device of this embodiment has a two-stage horizontal moving mechanism consisting of a first horizontal module and a second horizontal module, as well as a two-stage lifting mechanism consisting of a first lifting module and a second lifting module. The first horizontal module can drive the parking component to move back and forth, the first lifting module can drive the first horizontal module to move up and down, the second horizontal module can drive the first lifting module to move back and forth, and the second lifting module can drive the second horizontal module to move up and down. Thus, it can ultimately drive the parking component to rise and move forward to gradually climb the stairs, or drive the parking component to move backward and descend to gradually descend the stairs. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the cleaning system in one embodiment of this application; Figure 2 This is a schematic diagram of the structure of the transport device climbing stairs in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 5 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 6 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 7 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 8 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 9 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 10 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 11 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 12 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 13 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 14 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 15 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 16 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 17 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 18 This is a schematic diagram of the structure of the transport device climbing stairs in another embodiment of this application; Figure 19 This is a schematic diagram of the structure of the first horizontal module and the parking component in one embodiment of this application; Figure 20 This is a schematic diagram of the structure of the first lifting module and the first horizontal module in one embodiment of this application; Figure 21 This is a schematic diagram of the structure of the second horizontal module and the first lifting module in one embodiment of this application; Figure 22 This is a schematic diagram of the structure of the second lifting module and the second horizontal module in one embodiment of this application.

[0009] Explanation of reference numerals in the attached drawings: 100, conveying device; 110, parking component; 120, first horizontal module; 120a, first accommodating space; 121, first main body component; 122, first linear motion mechanism; 123, second linear motion mechanism; 124, first driving component; 125, first horizontal moving mechanism; 130, first lifting module; 130a, second accommodating space; 131, second main body component; 132, third linear motion mechanism; 133, fourth linear motion mechanism; 134, fifth linear motion mechanism; 135, sixth linear motion mechanism; 136, second driving component; 137, first vertical moving mechanism; 140. Second horizontal module; 141, Third main component; 142, Seventh linear motion mechanism; 143, Eighth linear motion mechanism; 144, Third drive component; 145, Second horizontal moving mechanism; 150, Second lifting module; 150a, Third accommodating space; 151, Fourth main component; 152, Ninth linear motion mechanism; 153, Tenth linear motion mechanism; 154, Eleventh linear motion mechanism; 155, Twelfth linear motion mechanism; 156, Fourth drive component; 157, Second vertical moving mechanism; 200, Cleaning system; 210, Cleaning host; XX, Front-back direction; YY, Left-right direction; ZZ, Height direction. Detailed Implementation

[0010] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0011] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0012] Furthermore, the use of terms such as "first," "second," etc., in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0013] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0014] Furthermore, the technical solutions of the various embodiments of this application can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this application.

[0015] like Figure 1-3 As shown, the first aspect of this application provides a transport device 100 for transporting a cleaning host 210. The transport device 100 has stronger obstacle-crossing capabilities than the cleaning host 210, and can be combined with the cleaning host 210 to drive the cleaning host 210 over obstacles. Obstacles can exemplarily be potholes, steps, stairs, etc.

[0016] The handling device 100 includes a parking component 110, a first horizontal module 120, a first lifting module 130, a second horizontal module 140, and a second lifting module 150.

[0017] The parking member 110 is used for the cleaning unit 210 to dock, and the parking member 110 can be combined with or separated from the cleaning unit 210. For example, the parking member 110 is a plate-like structure that can lift the cleaning unit 210 for transport, and the cleaning unit 210 can drive off the parking member 110 to separate from it. Alternatively, the parking member 110 can be a clamping member that can clamp the cleaning unit 210 for transport.

[0018] The first horizontal module 120 is connected to the parking component 110. The first horizontal module 120 is used to drive the parking component 110 and the first horizontal module 120 to move relative to each other in the front-back direction XX. That is, the parking component 110 may move in the front-back direction XX while the first horizontal module 120 remains stationary, or the parking component 110 may remain stationary while the first horizontal module 120 moves in the front-back direction XX. The front-back direction XX, the left-right direction YY, and the height direction ZZ in this application can be referenced to the handling device 100 or the cleaning host 210.

[0019] The first lifting module 130 is connected to the first horizontal module 120. The first lifting module 130 is used to drive the first horizontal module 120 and the first lifting module 130 to move relative to each other in the height direction ZZ. That is, the first lifting module 130 may move along the height direction ZZ while the first horizontal module 120 remains stationary, or the first lifting module 130 may remain stationary while the first horizontal module 120 moves along the height direction ZZ.

[0020] The second horizontal module 140 is connected to the first lifting module 130. The second horizontal module 140 is used to drive the first lifting module 130 and the second horizontal module 140 to move relative to each other in the front-back direction XX. That is, the second horizontal module 140 may move in the front-back direction XX while the first lifting module 130 remains stationary, or the second horizontal module 140 may remain stationary while the first lifting module 130 moves in the front-back direction XX.

[0021] The second lifting module 150 is connected to the second horizontal module 140. The second lifting module 150 is used to drive the second horizontal module 140 and the second lifting module 150 to move relative to each other in the height direction ZZ. That is, the second lifting module 150 may move along the height direction ZZ while the second horizontal module 140 remains stationary, or the second lifting module 150 may remain stationary while the second horizontal module 140 moves along the height direction ZZ.

[0022] The following details the stair-climbing action of the transport device 100, such as... Figure 2 As shown, the transport device 100 first approaches the step in preparation for climbing, as... Figure 3As shown, the first lifting module 130 raises the first horizontal module 120 to the height of the second step surface, which simultaneously raises the parking component 110 and the cleaning host 210 located on the parking component 110 to the height of the second step surface, as shown. Figure 4 As shown, the first horizontal module 120 drives the parking component 110 to translate so that the parking component 110 reaches the second step surface.

[0023] like Figure 5 As shown, the second lifting module 150 drives the second horizontal module 140 to rise, while the first lifting module 130 drives the mooring component 110 to fall. The lifting speed of the second horizontal module 140 is approximately the same as the falling speed of the mooring component 110, so that the mooring component 110 is always located on or close to the second step surface. The first lifting module 130 is then raised to the height of the second step surface. During this process, since the mooring component 110 is always located on or close to the second step surface, the second lifting module 150 is supported on the first step surface, and the mooring component 110 is supported on the second step surface. Therefore, the second lifting module 150 and the mooring component 110 can form two support modules, and the conveying device 100 is not prone to tilting forward.

[0024] like Figure 6 As shown, the second horizontal module 140 drives the first lifting module 130 to move forward, and the first horizontal module 120 drives the parking component 110 to move backward. The forward movement speed of the second horizontal module 140 is approximately the same as the backward movement speed of the first horizontal module 120, so that the parking component 110 basically does not move in the front-back direction XX, and the first lifting module 130 reaches the second step surface.

[0025] like Figure 7 As shown, the second lifting module 150 is supported on the first step surface, and the first lifting module 130 is supported on the second step surface. The first lifting module 130 lifts the first horizontal module 120 to the height of the third step surface, which simultaneously lifts the parking component 110 and the cleaning host 210 located on the parking component 110 to the height of the third step surface. Figure 8 As shown, the first horizontal module 120 drives the parking component 110 to translate so that the parking component 110 reaches the third step surface.

[0026] like Figure 9 As shown, the first lifting module 130 is supported on the second step surface, and the parking component 110 is supported on the third step surface. The second lifting module 150 raises itself to the height of the second step surface. During this process, because the supporting component is relatively forward, it can balance the weight of the second lifting module 150 and prevent the transport device 100 from tilting backward. Figure 10 As shown, the second horizontal module 140 drives the second lifting module 150 to translate so that the second lifting module 150 reaches the second step surface.

[0027] like Figure 11 As shown, the second lifting module 150 drives the second horizontal module 140 to rise, while the first lifting module 130 drives the mooring component 110 to fall. The lifting speed of the second horizontal module 140 is approximately the same as the falling speed of the mooring component 110, so that the mooring component 110 is always located on or close to the third step surface. The first lifting module 130 is then raised to the height of the third step surface. During this process, since the mooring component 110 is always located on or close to the third step surface, the second lifting module 150 is supported on the second step surface, and the mooring component 110 is supported on the third step surface. Therefore, the second lifting module 150 and the mooring component 110 can form two support modules, and the conveying device 100 is not prone to tilting forward.

[0028] like Figure 12 As shown, the second horizontal module 140 drives the first lifting module 130 to move forward, and the first horizontal module 120 drives the parking component 110 to move backward. The forward movement speed of the second horizontal module 140 is approximately the same as the backward movement speed of the first horizontal module 120, so that the parking component 110 basically does not move in the front-back direction XX, and the first lifting module 130 reaches the third step surface.

[0029] like Figure 13 As shown, the second lifting module 150 is supported on the second step surface, and the first lifting module 130 is supported on the third step surface. The first lifting module 130 lifts the first horizontal module 120 to the height of the fourth step surface, which simultaneously lifts the parking component 110 and the cleaning host 210 located on the parking component 110 to the height of the fourth step surface. Figure 14 As shown, the first horizontal module 120 drives the parking component 110 to translate so that the parking component 110 reaches the fourth step surface.

[0030] By repeating the above steps, the transport device 100 can climb to the top of the stairs, as shown. Figure 14 As shown, the parking component 110 reaches the top step surface. The following explanation uses the fifth step surface as an example of the top step surface. Figure 15 As shown, the first lifting module 130 is supported on the fourth step surface, the parking component 110 is supported on the fifth step surface, and the second lifting module 150 lifts itself to the height of the fourth step surface. During this process, since the supporting component is relatively forward, it can balance the weight of the second lifting module 150 and prevent the transport device 100 from tilting backward. The second horizontal module 140 drives the second lifting module 150 to move horizontally so that the second lifting module 150 reaches the fourth step surface.

[0031] like Figure 16As shown, the second lifting module 150 drives the second horizontal module 140 to rise, while the first lifting module 130 drives the mooring component 110 to fall. The rising speed of the second horizontal module 140 is approximately the same as the falling speed of the mooring component 110, ensuring that the mooring component 110 remains at or close to the fifth step surface. The first lifting module 130 rises to the height of the fifth step surface. During this process, because the mooring component 110 remains at or close to the fifth step surface, and the second lifting module 150 is supported on the fourth step surface, the second lifting module 150 and the mooring component 110 form two supporting modules, preventing the transport device 100 from tilting forward. The second horizontal module 140 drives the first lifting module 130 to move forward, and the first horizontal module 120 drives the mooring component 110 to move backward. The forward movement speed of the second horizontal module 140 is approximately the same as the backward movement speed of the first horizontal module 120, ensuring that the mooring component 110 does not move significantly in the forward-backward direction XX. The first lifting module 130 reaches the fifth step surface.

[0032] like Figure 17 As shown, the first horizontal module 120 drives the parking component 110 to move forward, thereby shifting the center of gravity of the transport device 100 forward. Figure 18 As shown, the second lifting module 150 raises itself to the height of the fifth step. During this process, because the support is relatively forward, it can balance the weight of the second lifting module 150 and prevent the transport device 100 from tilting backward. The second horizontal module 140 drives the second lifting module 150 to move horizontally so that the second lifting module 150 reaches the fifth step, thereby completing the climbing process.

[0033] The descending action of the transport device 100 is the reverse of the climbing action, that is, the transport device 100 starts from... Figure 18 The state is moved to Figure 17 The state, by Figure 17 The state is moved to Figure 16 The state eventually moved to Figure 2 In this state, one can then complete the action of going downstairs.

[0034] The transport device 100 in this embodiment has a two-stage horizontal movement mechanism consisting of a first horizontal module 120 and a second horizontal module 140, as well as a two-stage lifting mechanism consisting of a first lifting module 130 and a second lifting module 150. During the process of climbing or descending stairs, at least two modules of the transport device 100 are supported on two adjacent step surfaces, thereby making the process of climbing and descending stairs more stable. The parking component 110 can basically remain horizontal, and the cleaning robot is less likely to fall off the parking component 110.

[0035] like Figure 19As shown, in some embodiments, the first horizontal module 120 includes a first main body 121, a first horizontal moving mechanism 125, and a first driving member 124.

[0036] The first main body component 121 is connected to the first lifting module 130 and can move relative to the first lifting module 130 in the height direction ZZ. The first lifting module 130 drives the first main body component 121 to rise and fall, thereby driving the first horizontal module 120 to rise and fall. The first main body component 121 can provide stable support and prevent overload deformation. In one embodiment, the first main body component 121 is a frame structure composed of multiple connecting rods, thus having high structural strength and relatively light weight.

[0037] The first horizontal moving mechanism 125 can move in the forward and backward direction (XX) and achieves relatively high moving accuracy. The first horizontal moving mechanism 125 is disposed on the first main body 121 and connected to the mooring component 110. The connection method between the first horizontal moving mechanism 125 and the mooring component 110 can be screwed, welded, bonded, etc.

[0038] The first driving member 124 is disposed on the first main body 121 and is connected to the first horizontal moving mechanism 125 for transmission. The first driving member 124 is used to drive the first horizontal moving mechanism 125 to move so as to drive the parking member 110 and the first main body 121 to move relative to each other in the front-rear direction XX. The first driving member 124 can be an exemplarily a motor.

[0039] like Figure 19 As shown, in some embodiments, the first horizontal moving mechanism 125 includes a first linear motion mechanism 122 and a second linear motion mechanism 123. The first linear motion mechanism 122 is disposed on the first main body 121, and the second linear motion mechanism 123 is disposed on the first main body 121. The first linear motion mechanism 122 and the second linear motion mechanism 123 are respectively connected to the left and right sides of the parking member 110. The first driving member 124 is driven to both the first linear motion mechanism 122 and the second linear motion mechanism 123, and can drive the first linear motion mechanism 122 and the second linear motion mechanism 123 to move together, so as to jointly drive the parking member 110 and the first main body 121 to move relative to each other in the front-back direction XX. This makes the force on the left and right sides of the parking member 110 or the first horizontal module 120 more uniform when moving back and forth, and the movement is smoother and less prone to jamming. The first driving member 124 can achieve synchronous transmission connection with the first linear motion mechanism 122 and the second linear motion mechanism 123 through a synchronous belt or gear and other transmission components.

[0040] Both the first linear motion mechanism 122 and the second linear motion mechanism 123 are used to convert rotational motion into linear motion. The first linear motion mechanism 122 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The second linear motion mechanism 123 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The first horizontal moving mechanism 125 may contain one, three, or four linear motion mechanisms, not limited to two, and is not limited herein.

[0041] In some other embodiments, there are two first drive members 124. The first linear motion mechanism 122 and the second linear motion mechanism 123 can be connected to the two first drive members 124 respectively, so that even if one of the first drive members 124 is damaged, the other first drive member 124 can still work normally. That is, one of the first linear motion mechanism 122 and the second linear motion mechanism 123 can still be used normally.

[0042] like Figure 20 As shown, in some embodiments, the first lifting module 130 includes a second main body 131, a first vertical moving mechanism 137, and a second driving component 136.

[0043] The second main body component 131 is connected to the second horizontal module 140. The second main body component 131 can move relative to the second horizontal module 140 in the front-back direction XX. The second horizontal module 140 drives the first lifting module 130 to move back and forth by driving the second main body component 131 to move back and forth. The second main body component 131 can provide stable support and prevent overload deformation. In one embodiment, the second main body component 131 is a frame structure composed of multiple connecting rods, thus achieving high structural strength and relatively light weight.

[0044] The first vertical moving mechanism 137 can move ZZ along the height direction, resulting in relatively high moving accuracy. The first vertical moving mechanism 137 is disposed on the second main body 131 and connected to the first horizontal module 120. The connection method between the first vertical moving mechanism 137 and the first horizontal module 120 can be screwed, welded, or bonded.

[0045] The second driving member 136 is disposed on the second main body 131 and is connected to the first vertical moving mechanism 137 in a transmission manner. The second driving member 136 is used to drive the first vertical moving mechanism 137 to move, so as to drive the first horizontal module 120 and the second main body 131 to move relative to each other in the height direction ZZ. The second driving member 136 can be a motor, for example.

[0046] like Figure 20As shown, in some embodiments, the first vertical moving mechanism 137 includes a third linear motion mechanism 132, a fourth linear motion mechanism 133, a fifth linear motion mechanism 134, and a sixth linear motion mechanism 135.

[0047] A third linear motion mechanism 132 is disposed on the second main body 131, and a fourth linear motion mechanism 133 is disposed on the second main body 131. The third linear motion mechanism 132 and the fourth linear motion mechanism 133 are respectively connected to the left and right sides of the first horizontal module 120. A fifth linear motion mechanism 134 is disposed on the second main body 131 and is spaced apart from the third linear motion mechanism 132 in the front-rear direction XX. A sixth linear motion mechanism 135 is disposed on the second main body 131 and is spaced apart from the fourth linear motion mechanism 133 in the front-rear direction XX. The fifth linear motion mechanism 134 and the sixth linear motion mechanism 135 are respectively connected to the left and right sides of the first horizontal module 120. In one embodiment, the third linear motion mechanism 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135 are respectively connected to the four corners of the first main body 121.

[0048] Two linear motion modules located on the same side, one in front and one behind, can move synchronously via a timing belt or similar means. Similarly, two linear motion modules located at the rear, one on the left and one on the right, can move synchronously via a linkage or similar means. In other words, the third linear motion mechanism 132 and the fifth linear motion mechanism 134 can move synchronously via a timing belt or similar means; the fourth linear motion mechanism 133 and the sixth linear motion mechanism 135 can move synchronously via a timing belt or similar means; and the fifth linear motion mechanism 134 and the sixth linear motion mechanism 135 can move synchronously via a linkage or similar means.

[0049] The second drive unit 136 is connected to the third linear motion mechanism 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135, and can drive these mechanisms to move together, thereby jointly driving the first horizontal module 120 and the second main body 131 to move relative to each other in the height direction ZZ. This ensures that the force on the left and right sides and the front and rear sides of the first horizontal module 120 or the first lifting module 130 is more even during lifting, resulting in smoother movement and less likelihood of jamming. The second drive unit 136 can achieve synchronous transmission connection with the third linear motion mechanism 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135 through synchronous belts or gears.

[0050] The third linear motion mechanism 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135 are all used to convert rotational motion into linear motion. The third linear motion mechanism 132 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The fourth linear motion mechanism 133 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The fifth linear motion mechanism 134 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The sixth linear motion mechanism 135 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The first vertical movement mechanism 137 may contain one, two, three, or five linear motion mechanisms, etc., and is not limited herein.

[0051] In some other embodiments, there are two second drive members 136. Two of the third linear motion mechanisms 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135 are simultaneously connected to one second drive member 136, and the other two of the third linear motion mechanisms 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135 are simultaneously connected to another second drive member 136. Thus, even if one of the second drive members 136 is damaged, the other second drive member 136 can still work normally. That is, at least two of the third linear motion mechanisms 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135 can still be used normally.

[0052] Alternatively, there may be four second drive components 136. The third linear motion mechanism 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135 may be connected to the four second drive components 136 respectively. Thus, even if one of the second drive components 136 is damaged, the other three second drive components 136 may still work normally. That is, at least three of the third linear motion mechanism 132, the fourth linear motion mechanism 133, the fifth linear motion mechanism 134, and the sixth linear motion mechanism 135 may still be used normally.

[0053] like Figure 21 As shown, in some embodiments, the second horizontal module 140 includes a third main body 141, a second horizontal moving mechanism 145, and a third driving member 144.

[0054] The third main component 141 is connected to the second lifting module 150, and the third main component 141 can move relative to the second lifting module 150 in the height direction ZZ. The second lifting module 150 drives the second horizontal module 140 to rise and fall by driving the third main component 141. The third main component 141 can provide stable support and prevent overload deformation. In one embodiment, the third main component 141 is a frame structure composed of multiple connecting rods, thus having high structural strength and relatively light weight.

[0055] The second horizontal moving mechanism 145 can move in the forward and backward direction (XX) and achieves relatively high moving accuracy. The second horizontal moving mechanism 145 is disposed on the third main body 141 and connected to the second lifting module 150. The connection method between the second horizontal moving mechanism 145 and the second lifting module 150 can be screwed, welded, or bonded.

[0056] The third driving member 144 is disposed on the third main body 141 and is connected to the second horizontal moving mechanism 145 for transmission. The third driving member 144 is used to drive the second horizontal moving mechanism 145 to move, so as to drive the second lifting module 150 and the third main body 141 to move relative to each other in the front-back direction XX. The third driving member 144 can be a motor, for example.

[0057] like Figure 21 As shown, in some embodiments, the second horizontal moving mechanism 145 includes a seventh linear motion mechanism 142 and an eighth linear motion mechanism 143. The seventh linear motion mechanism 142 is disposed on the third main body 141, and the eighth linear motion mechanism 143 is disposed on the third main body 141. The seventh linear motion mechanism 142 and the eighth linear motion mechanism 143 are respectively connected to the left and right sides of the first lifting module 130. The third driving member 144 is drivenly connected to both the seventh linear motion mechanism 142 and the eighth linear motion mechanism 143, and can drive the seventh linear motion mechanism 142 and the eighth linear motion mechanism 143 to move together, so as to jointly drive the first lifting module 130 and the third main body 141 to move relative to each other in the front-back direction XX. This makes the force on the left and right sides of the second horizontal module 140 or the second lifting module 150 more uniform when moving back and forth, and the movement is smoother and less prone to jamming. The third driving member 144 can achieve synchronous transmission connection with the seventh linear motion mechanism 142 and the eighth linear motion mechanism 143 through synchronous belts or gears and other transmission components.

[0058] The third driving component 144 can be, exemplarily, a motor. Both the seventh linear motion mechanism 142 and the eighth linear motion mechanism 143 are used to convert rotational motion into linear motion. The seventh linear motion mechanism 142 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The eighth linear motion mechanism 143 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The second horizontal moving mechanism 145 may contain one, three, four, or other linear motion mechanisms, not limited here.

[0059] In some other embodiments, there are two third drive members 144. The seventh linear motion mechanism 142 and the eighth linear motion mechanism 143 can be connected to the two third drive members 144 respectively, so that even if one of the third drive members 144 is damaged, the other third drive member 144 can still work normally. That is, one of the seventh linear motion mechanism 142 and the eighth linear motion mechanism 143 can still be used normally.

[0060] like Figure 22 As shown, in some embodiments, the second lifting module 150 includes a fourth main body 151, a second vertical moving mechanism 157, and a fourth driving component 156.

[0061] The fourth main component 151 provides stable support and prevents deformation under overload. In one embodiment, the fourth main component 151 is a frame structure composed of multiple connecting rods, resulting in high structural strength and relatively light weight.

[0062] The second vertical moving mechanism 157 can move ZZ along the height direction, resulting in relatively high moving accuracy. The second vertical moving mechanism 157 is disposed on the fourth main body 151 and connected to the second horizontal module 140. The connection method between the second vertical moving mechanism 157 and the second horizontal module 140 can be screwed, welded, or bonded.

[0063] The fourth driving member 156 is disposed on the fourth main body 151 and is connected to the second vertical moving mechanism 157 in a transmission manner. The fourth driving member 156 is used to drive the second vertical moving mechanism 157 to move so as to drive the second horizontal module 140 and the fourth main body 151 to move relative to each other in the height direction ZZ. The fourth driving member 156 can be a motor, for example.

[0064] like Figure 22 As shown, in some embodiments, the second vertical movement mechanism 157 includes a ninth linear motion mechanism 152, a tenth linear motion mechanism 153, an eleventh linear motion mechanism 154, and a twelfth linear motion mechanism 155.

[0065] A ninth linear motion mechanism 152 is disposed on the fourth main body 151, and a tenth linear motion mechanism 153 is disposed on the fourth main body 151. The ninth linear motion mechanism 152 and the tenth linear motion mechanism 153 are respectively connected to the left and right sides of the second horizontal module 140. An eleventh linear motion mechanism 154 is disposed on the fourth main body 151 and is spaced apart from the ninth linear motion mechanism 152 in the front-rear direction XX. A twelfth linear motion mechanism 155 is disposed on the fourth main body 151 and is spaced apart from the tenth linear motion mechanism in the front-rear direction XX. The eleventh linear motion mechanism 154 and the twelfth linear motion mechanism 155 are respectively connected to the left and right sides of the second horizontal module 140. In one embodiment, the ninth linear motion mechanism 152, the tenth linear motion mechanism 153, the eleventh linear motion mechanism 154, and the twelfth linear motion mechanism 155 are respectively connected to the four corners of the third main body 141.

[0066] Two linear motion modules located on the same side, one in front and one behind, can achieve synchronous movement through a timing belt or similar means. Similarly, two linear motion modules located at the rear, one on the left and one on the right, can achieve synchronous movement through a linkage or similar means. That is, the ninth linear motion mechanism 152 and the eleventh linear motion mechanism 154 can achieve synchronous movement through a timing belt or similar means; the tenth linear motion mechanism 153 and the twelfth linear motion mechanism 155 can achieve synchronous movement through a timing belt or similar means; and the eleventh linear motion mechanism 154 and the twelfth linear motion mechanism 155 can achieve synchronous movement through a linkage or similar means.

[0067] The fourth drive unit 156 is connected to the ninth linear motion mechanism 152, the tenth linear motion mechanism 153, the eleventh linear motion mechanism 154, and the twelfth linear motion mechanism 155, and can drive these mechanisms to move together, thereby jointly driving the second horizontal module 140 and the fourth main body 151 to move relative to each other in the height direction ZZ. This ensures that the second horizontal module 140 or the second lifting module 150 experiences more even force on its left and right sides and front and rear sides during lifting, resulting in smoother movement and less likelihood of jamming. The fourth drive unit 156 can achieve synchronous transmission connection with the tenth linear motion mechanism 153, the eleventh linear motion mechanism 154, and the twelfth linear motion mechanism 155 through synchronous belts or gears.

[0068] The fourth driving component 156 can be, exemplarily, a motor. The ninth linear motion mechanism 152, tenth linear motion mechanism 153, eleventh linear motion mechanism 154, and twelfth linear motion mechanism 155 are all used to convert rotational motion into linear motion. The ninth linear motion mechanism 152 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The tenth linear motion mechanism 153 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The eleventh linear motion mechanism 154 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The twelfth linear motion mechanism 155 can be, exemplarily, a lead screw and nut mechanism, a gear and rack mechanism, a worm gear mechanism, etc., and is not limited herein. The second vertical movement mechanism 157 may contain one, two, three, or five linear motion mechanisms, etc., and is not limited herein.

[0069] In some other embodiments, there are two fourth drive members 156. Two of the ninth linear motion mechanism 152, tenth linear motion mechanism 153, eleventh linear motion mechanism 154, and twelfth linear motion mechanism 155 are simultaneously connected to one fourth drive member 156, and the other two of the ninth linear motion mechanism 152, tenth linear motion mechanism 153, eleventh linear motion mechanism 154, and twelfth linear motion mechanism 155 are simultaneously connected to the other fourth drive member 156. Thus, even if one of the fourth drive members 156 is damaged, the other fourth drive member 156 can still work normally. That is, at least two of the ninth linear motion mechanism 152, tenth linear motion mechanism 153, eleventh linear motion mechanism 154, and twelfth linear motion mechanism 155 can still be used normally.

[0070] Alternatively, there may be four fourth drive components 156. The ninth linear motion mechanism 152, the tenth linear motion mechanism 153, the eleventh linear motion mechanism 154, and the twelfth linear motion mechanism 155 may be connected to the four fourth drive components 156 respectively. Thus, even if one of the fourth drive components 156 is damaged, the other three fourth drive components 156 may still work normally. That is, at least three of the ninth linear motion mechanism 152, the tenth linear motion mechanism 153, the eleventh linear motion mechanism 154, and the twelfth linear motion mechanism 155 may still be used normally.

[0071] In some embodiments, the conveying device 100 further includes a first sensor disposed on the parking member 110. The first sensor is used to detect whether the parking member 110 is in contact with the step tread. The first sensor can be, exemplarily, a pressure sensor disposed at the bottom of the parking member 110. By detecting the pressure of the pressure sensor, it is determined whether the parking member 110 is in contact with the step tread. Alternatively, the first sensor can be, exemplarily, a distance sensor. By detecting the distance between the parking member 110 and the step tread, it is determined whether the parking member 110 is in contact with the step tread.

[0072] When the parking component 110 comes into contact with the step tread, the first lifting module 130 can stop driving the first horizontal module 120 to lower, which means that the parking component 110 stops descending.

[0073] In some embodiments, the conveying device 100 further includes a second sensor disposed on the parking member 110. The second sensor is used to detect whether the parking member 110 is in contact with the step riser. The second sensor can be, exemplarily, a pressure sensor disposed at the front end of the parking member 110. By detecting the pressure of the pressure sensor, it is determined whether the parking member 110 is in contact with the step riser. Alternatively, the first sensor can be, exemplarily, a distance sensor. By detecting the distance between the parking member 110 and the step riser, it is determined whether the parking member 110 is in contact with the step tread.

[0074] When the parking component 110 comes into contact with the step riser, the first horizontal module 120 can stop driving the parking component 110 to move forward.

[0075] In one embodiment, the first lifting module 130 drives the parking component 110 to rise to a first preset height, which is higher than the typical step height. The first horizontal module 120 then drives the parking component 110 to contact the step riser. Finally, the first lifting module 130 drives the parking component 110 to descend until it contacts the step tread. By raising and lowering the parking component 110 first, it is not necessary for it to rise to the same height as the step tread, thus reducing the accuracy requirements of the step detection sensors.

[0076] In some embodiments, the conveying device 100 further includes a third sensor disposed on the first lifting module 130, which is used to detect whether the first lifting module 130 is in contact with the step tread. The second sensor can exemplarily be a pressure sensor disposed at the bottom of the second main body 131, which determines whether the first lifting module 130 is in contact with the step tread by detecting the pressure of the pressure sensor. Alternatively, the first sensor can exemplarily be a distance sensor, which determines whether the first lifting module 130 is in contact with the step tread by detecting the distance between the first lifting module 130 and the step tread.

[0077] When the first lifting module 130 comes into contact with the step surface, the second lifting module 150 can stop driving the second horizontal module 140 to lower, which means that the first lifting module 130 stops descending.

[0078] In some embodiments, the conveying device 100 further includes a fourth sensor disposed on the first lifting module 130. The fourth sensor is used to detect whether the first lifting module 130 is in contact with the step riser. The fourth sensor can be, exemplarily, a pressure sensor disposed at the front end of the second main body 131. By detecting the pressure of the pressure sensor, it is determined whether the first lifting module 130 is in contact with the step riser. Alternatively, the fourth sensor can be, exemplarily, a distance sensor. By detecting the distance between the first lifting module 130 and the step riser, it is determined whether the first lifting module 130 is in contact with the step tread.

[0079] When the parking component 110 comes into contact with the step riser, the second horizontal module 140 can stop driving the first lifting module 130 to move forward.

[0080] It should be noted that the conveying device 100 may include one or more of the first sensor, the second sensor, the third sensor and the fourth sensor, and the specific selection can be made according to actual needs, which is not limited here.

[0081] In some other embodiments, the handling device 100 has a vision sensor, a TOF sensor, etc., which can obtain the size of the staircase and thus determine the stroke of the first horizontal module 120, the first lifting module 130, the second horizontal module 140 and the second lifting module 150.

[0082] Generally, the cleaning host 210 is equipped with vision sensors, TOF sensors, etc., to facilitate the cleaning host 210 in planning the path. In one embodiment, the cleaning host 210 can obtain the size of the stairs through its built-in sensors and send it to the transport device 100. The transport device 100 determines the stroke of the first horizontal module 120, the first lifting module 130, the second horizontal module 140 and the second lifting module 150 based on the received size data.

[0083] In one embodiment, the second lifting module 150 drives the first lifting module 130 to rise to a second preset height, which is higher than the typical step height. The second horizontal module 140 then drives the first lifting module 130 to contact the step riser. Finally, the second lifting module 150 drives the first lifting module 130 to descend until it contacts the step tread. By raising and then lowering the module, the first lifting module 130 does not need to rise to the same height as the step tread, thus reducing the accuracy requirements of the step detection sensor.

[0084] In some embodiments, the conveying device 100 further includes a first guide member and a first slider member slidably disposed on the first guide member. One of the parking member 110 and the first horizontal module 120 is connected to the first guide member, and the other of the parking member 110 and the first horizontal module 120 is connected to the first slider member. The number of first guide members can be one or more, and the number of first slider members corresponds one-to-one with the number of first guide members. By providing the first guide member and the first slider member, the structural strength between the parking member 110 and the first horizontal module 120 can be improved, and the sliding becomes smoother and more precise.

[0085] The conveying device 100 also includes a second guide member and a second sliding member slidably disposed on the second guide member. One of the first horizontal module 120 and the first lifting module 130 is connected to the second guide member, and the other of the first horizontal module 120 and the first lifting module 130 is connected to the second sliding member. The number of second guide members can be one or more, and the number of second sliding members corresponds one-to-one with the number of second guide members. By setting the second guide member and the second sliding member, the structural strength between the first horizontal module 120 and the first lifting module 130 can be improved, and the sliding becomes smoother and more precise.

[0086] The conveying device 100 also includes a third guide member and a third sliding member slidably disposed on the third guide member. One of the first lifting module 130 and the second horizontal module 140 is connected to the third guide member, and the other of the first lifting module 130 and the second horizontal module 140 is connected to the third sliding member. There can be one or more third guide members, and the number of third sliding members corresponds one-to-one with the number of third guide members. By setting the third guide member and the third sliding member, the structural strength between the first lifting module 130 and the second horizontal module 140 can be improved, and the sliding becomes smoother and more precise.

[0087] The conveying device 100 also includes a fourth guide member and a fourth sliding member slidably disposed on the fourth guide member. One of the second horizontal module 140 and the second lifting module 150 is connected to the fourth guide member, and the other of the second horizontal module 140 and the second lifting module 150 is connected to the fourth sliding member. The number of fourth guide members can be one or more, and the number of fourth sliding members corresponds one-to-one with the number of fourth guide members. By setting the fourth guide member and the fourth sliding member, the structural strength between the second horizontal module 140 and the second lifting module 150 can be improved, and the sliding becomes smoother and more precise.

[0088] like Figure 19As shown, in some embodiments, the first horizontal module 120 has a first receiving space 120a for accommodating the berthing member 110, which can be stored in the first receiving space 120a, thereby making the transport device 100 occupy less space when idle.

[0089] like Figure 20 As shown, in some embodiments, the first lifting module 130 has a second accommodating space 130a for accommodating the first horizontal module 120. Both the parking component 110 and the first horizontal module 120 can be housed in the second accommodating space 130a, thereby making the transport device 100 occupy less space when idle.

[0090] like Figure 22 As shown, in some embodiments, the second lifting module 150 has a third accommodating space 150a for accommodating the second horizontal module 140 and the first lifting module 130. The parking component 110, the first horizontal module 120, the first lifting module 130 and the second horizontal module 140 can all be housed in the third accommodating space 150a, thereby making the transport device 100 occupy less space when idle.

[0091] It should be noted that the first accommodating space 120a, the second accommodating space 130a and the third accommodating space 150a mentioned above can be set up separately or coexist. The specific choice can be made according to actual needs, and no limitation is made here.

[0092] In some embodiments, the conveying device 100 further includes a cleaning module disposed in the first lifting module 130, and the cleaning component is communicatively connected to the suction port of the cleaning host 210. When the cleaning host 210 is started, it can suction the cleaning module, thereby providing negative pressure to the cleaning component, which can then clean the step risers and treads. The cleaning module can be exemplarily a suction head.

[0093] In some other embodiments, the cleaning unit 210 can be close to the riser and tread of the step, thereby directly cleaning the riser and tread of the step. For example, the parking member 110 is equipped with a robotic arm that is connected to the cleaning unit 210. The robotic arm can move the cleaning unit 210 to be close to the riser and tread of the step, and can also move the cleaning unit 210 along the riser and tread of the step.

[0094] In some embodiments, when the transport device 100 and the cleaning host 210 are combined, the cleaning host 210 can be configured to charge the transport device 100. The cleaning host 210 typically begins cleaning when its battery is high, and when the transport device 100's battery is low, the transport device 100 can utilize the power of the cleaning host 210 to operate, thus eliminating the need for the transport device 100 to recharge and improving work efficiency. In one embodiment, the transport device 100 may not require a battery; it can utilize the power of the cleaning host 210 entirely for obstacle crossing, further reducing the cost of the transport device 100.

[0095] Alternatively, when the transport device 100 and the cleaning host 210 are combined, the transport device 100 can be configured to charge the cleaning host 210. The transport device 100 can replenish the cleaning host 210's power when its battery is low, thereby improving the cleaning host 210's battery life. For example, if the cleaning host 210's base station is located on the first floor, and the transport device 100 transports the cleaning host 210 to the second floor for cleaning operations, when the cleaning host 210 is about to finish cleaning the second floor and its battery is low, it can be charged in conjunction with the transport device 100 without having to return to the base station for charging.

[0096] In some embodiments, the transport device 100 further includes a limiting module disposed on the parking member 110. The limiting module can limit and fix the cleaning host 210, thereby enabling the transport device 100 to be combined and fixed with the cleaning host 210, so that the relative position of the transport device 100 and the cleaning host 210 does not change during subsequent movement, thus preventing the cleaning host 210 from falling off the transport device 100 when the transport device 100 transports the cleaning host 210. It should be noted that when the limiting module can limit and fix the cleaning host 210, it can also correct the relative position between the cleaning host 210 and the limiting module. Of course, the limiting module can also release the limiting of the cleaning host 210, at which time the cleaning host 210 can be separated from the transport device 100, and the cleaning host 210 can move freely relative to the transport device 100 to complete the cleaning work independently.

[0097] In some embodiments, the limiting module includes at least one clamping member that can clamp and fix the cleaning host 210, thereby preventing relative movement between the cleaning host 210 and the conveying device 100.

[0098] In one embodiment, there are two clamping members, both of which are slidably disposed on the parking member 110, and the two clamping members move in opposite directions, thereby enabling the two clamping members to clamp or release the cleaning unit 210. The two clamping members can approach each other to clamp the side wall surface of the cleaning unit 210, and can move away from each other to release the cleaning unit 210. Since the cleaning unit 210 has side wall surfaces, the clamping members can be used for limiting cooperation with cleaning units 210 of different brands and models, thereby making the handling device 100 more compatible.

[0099] In one embodiment, the surface of the clamping member that abuts against the cleaning unit 210 is an arc surface. Since most of the sides of the cleaning unit 210 are arc surfaces, the clamping member is set to an arc surface, which can effectively fit with the sides of most of the cleaning units 210.

[0100] like Figure 1 As shown, a second aspect of this application provides a cleaning system 200, which includes a conveying device 100 and a cleaning host 210. The cleaning host 210 includes a body and a walking mechanism, which can drive the cleaning host 210 to move so that the cleaning host 210 can be parked on a parking member 110 or move away from the parking member 110. The walking mechanism may exemplarily include a walking motor and rollers connected to the walking motor.

[0101] The transport device 100 enables the cleaning unit 210 to climb stairs. Cleaning units 210 of different structures and brands are compatible with the transport device 100. The transport device 100 is an independent module that can be assembled and disassembled with the cleaning unit 210. When climbing stairs is required, the cleaning unit 210 docks on the docking component 110, and the cleaning unit 210 and transport device 100 combine to perform the stair-climbing action. During the stair-climbing process, the transport device 100 can utilize the processor, sensors, and other devices of the cleaning unit 210 through contact or non-contact communication to better complete the climbing action. Upon reaching a different floor, the cleaning unit 210 leaves the docking component 110, and the cleaning unit 210 and transport device 100 can separate and complete the cleaning work on that floor. When the work on that floor is finished, the cleaning unit 210 can locate and return to the transport device 100, reassemble with the transport device 100, and climb the stairs back to the maintenance device or placement point or proceed to other floors in the combined form. After all work is completed, the transport device 100 can carry the cleaning unit 210 back to the maintenance device or placement point to wait for the next job.

[0102] The cleaning host 210 is a cleaning robot that can move autonomously on the ground and clean the ground. The types of cleaning robots include, but are not limited to, indoor mopping robots, indoor sweeping robots, and indoor sweeping and mopping robots.

[0103] The cleaning host 210 is a device for automatically cleaning the ground. It mainly includes a body, a moving component mounted on the body that enables the body to move on the ground, and a cleaning component for cleaning the ground. The cleaning component includes sweeping components such as a sweeping roller brush, a negative pressure fan, and a dust collection box, and mopping and sweeping components such as a mop, a water tank, and a water pump. All these components are mounted on the body. The moving component includes rollers mounted on the bottom of the body and a motor that drives the rollers to rotate. This allows the cleaning host 210 to complete a series of ground cleaning tasks such as sweeping and mopping, and it can also autonomously return to the base station.

[0104] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A conveying device, characterized in that, The transport device is used for moving the cleaning unit, and includes: A parking fixture for docking the cleaning unit; A first horizontal module is connected to the mooring component and is used to drive the mooring component to move relative to the first horizontal module in the front-to-back direction. A first lifting module is connected to the first horizontal module and is used to drive the first horizontal module and the first lifting module to move relative to each other in the height direction. The second horizontal module is connected to the first lifting module and is used to drive the first lifting module and the second horizontal module to move relative to each other in the front-back direction. The second lifting module is connected to the second horizontal module and is used to drive the second horizontal module and the second lifting module to move relative to each other in the height direction.

2. The conveying device according to claim 1, characterized in that, The first horizontal module includes: The first main component is connected to the first lifting module; A first horizontal moving mechanism is disposed on the first main body and connected to the mooring component; A first driving member is disposed on the first main body and is connected to the first horizontal moving mechanism for transmission. The first driving member is used to drive the first horizontal moving mechanism to move so as to drive the parking member and the first main body to move relative to each other in the front-back direction.

3. The conveying device according to claim 2, characterized in that, The first horizontal movement mechanism includes a first linear motion mechanism and a second linear motion mechanism. The first linear motion mechanism and the second linear motion mechanism are respectively connected to the left and right sides of the parking member. The first drive member is connected to both the first linear motion mechanism and the second linear motion mechanism and can drive the first linear motion mechanism and the second linear motion mechanism to move together.

4. The conveying device according to claim 1, characterized in that, The first lifting module includes: The second main component is connected to the second horizontal module; The first vertical moving mechanism is disposed on the second main body and connected to the first horizontal module; The second driving member is disposed on the second main body and is connected to the first vertical moving mechanism for transmission. The second driving member is used to drive the first vertical moving mechanism to move so as to drive the first horizontal module and the second main body to move relative to each other in the height direction.

5. The conveying device according to claim 4, characterized in that, The first vertical moving mechanism includes a third linear motion mechanism, a fourth linear motion mechanism, a fifth linear motion mechanism, and a sixth linear motion mechanism. The third linear motion mechanism and the fourth linear motion mechanism are respectively connected to the left and right sides of the first horizontal module. The fifth linear motion mechanism and the sixth linear motion mechanism are respectively connected to the left and right sides of the first horizontal module. The fifth linear motion mechanism and the third linear motion mechanism are spaced apart in the front-back direction. The sixth linear motion mechanism and the fourth linear motion mechanism are also spaced apart in the front-back direction. The second driving member is connected to the third, fourth, fifth, and sixth linear motion mechanisms, and is capable of driving the third, fourth, fifth, and sixth linear motion mechanisms to move together.

6. The conveying device according to claim 1, characterized in that, The second level module includes: The third main component is connected to the second lifting module; The second horizontal moving mechanism is disposed on the third main body and connected to the first lifting module; The third driving component is disposed on the third main body and is connected to the second horizontal moving mechanism for transmission. The third driving component is used to drive the second horizontal moving mechanism to move so as to drive the first lifting module and the third main body to move relative to each other in the front-back direction.

7. The conveying device according to claim 6, characterized in that, The second horizontal moving mechanism includes a seventh linear motion mechanism and an eighth linear motion mechanism. The seventh linear motion mechanism and the eighth linear motion mechanism are respectively connected to the left and right sides of the first lifting module. The third driving member is connected to both the seventh linear motion mechanism and the eighth linear motion mechanism and can drive the seventh linear motion mechanism and the eighth linear motion mechanism to move together.

8. The conveying device according to claim 1, characterized in that, The second lifting module includes: Fourth main component; The second vertical moving mechanism is disposed on the fourth main body and connected to the second horizontal module; A fourth driving member is disposed on the fourth main body and is connected to the second vertical moving mechanism for transmission. The fourth driving member is used to drive the second vertical moving mechanism to move so as to drive the second horizontal module and the fourth main body to move relative to each other in the height direction.

9. The conveying device according to claim 8, characterized in that, The second vertical movement mechanism includes a ninth linear motion mechanism, a tenth linear motion mechanism, an eleventh linear motion mechanism, and a twelfth linear motion mechanism. The ninth and tenth linear motion mechanisms are respectively connected to the left and right sides of the second horizontal module, and the eleventh and twelfth linear motion mechanisms are respectively connected to the left and right sides of the second horizontal module. The eleventh linear motion mechanism and the ninth linear motion mechanism are spaced apart in the front-back direction, and the twelfth linear motion mechanism and the tenth linear motion mechanism are spaced apart in the front-back direction. The fourth driving component is connected to the ninth, tenth, eleventh, and twelfth linear motion mechanisms, and is capable of driving the ninth, tenth, eleventh, and twelfth linear motion mechanisms to move together.

10. The conveying device according to claim 1, characterized in that, The conveying device further includes a first sensor disposed on the parking component, the first sensor being used to detect whether the parking component abuts against the step tread; and / or The conveying device further includes a second sensor disposed on the parking member, the second sensor being used to detect whether the parking member abuts against the step riser; and / or The conveying device further includes a third sensor, which is disposed on the first lifting module. The third sensor is used to detect whether the first lifting module abuts against the step tread; and / or The conveying device further includes a fourth sensor, which is disposed on the first lifting module and is used to detect whether the first lifting module abuts against the step riser.

11. The conveying device according to claim 1, characterized in that, The first horizontal module has a first receiving space for accommodating the berthing component; and / or The first lifting module has a second accommodating space for accommodating the first horizontal module; and / or The second lifting module has a third accommodating space for accommodating the second horizontal module and the first lifting module.

12. A cleaning system, characterized in that, include: The conveying device as described in any one of claims 1-11; and The cleaning unit includes a body and a walking mechanism, which can drive the cleaning unit to move so that the cleaning unit can be parked on the parking piece or leave the parking piece.

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