Carrying device and cleaning system

Abstract

Embodiments of the present application disclose a carrying device and a cleaning system, which are used for carrying a cleaning host. The carrying device comprises a main body, a first lifting assembly, a translation assembly, a second lifting assembly and a lifting assembly. The first lifting assembly is arranged on the main body. The translation assembly is arranged on the main body. The second lifting assembly is connected with the translation assembly. The translation assembly can drive the second lifting assembly to move horizontally, so that the second lifting assembly is close to or away from the first lifting assembly. The lifting assembly is movably connected with the main body. The lifting assembly can be moved to abut against the ground to support the main body, or be moved to be spaced from the ground. The first lifting assembly and the second lifting assembly are configured to move together to lift the main body, and are also configured to move relatively between each other. The carrying device can move through the first lifting assembly, the second lifting assembly and the lifting assembly, so that the structure is relatively simple.

Description

Technical Field

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

[0002] Cleaning robots can sweep the ground, saving manpower to some extent. However, cleaning robots have limited obstacle-crossing ability and can only move on relatively flat ground. They can usually only cross low steps such as thresholds, but cannot climb higher steps such as stairs. 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 high steps.

[0004] In a first aspect, embodiments of this application provide a handling device for handling a cleaning host. The handling device includes a main body, a first lifting component, a translation component, a second lifting component, and a lifting component. The main body is used to combine with or separate from the cleaning host. The first lifting component is disposed on the main body. The translation component is disposed on the main body. The second lifting component is connected to the translation component, and the translation component can drive the second lifting component to move horizontally relative to the main body, so that the second lifting component moves closer to or further away from the first lifting component. The lifting component is movably connected to the main body, and the lifting component can move to abut against the ground to support the main body, or move to a distance from the ground. The first lifting component and the second lifting component are configured to move together to lift the main body, and are also configured to move relative to each other.

[0005] Secondly, embodiments of this application provide a cleaning system, which includes a conveying device and a cleaning host, wherein the cleaning host can be combined with or separated from the main body.

[0006] Beneficial Effects: In this embodiment, the first lifting component and the second lifting component can jointly lift the main body, allowing it to rise to be level with or slightly above the first step surface. Since the translation component can drive the second lifting component to move horizontally relative to the main body, by fixing the second lifting component relative to the ground, the translation component can drive the main body to move horizontally, allowing the main body to move and be supported on the first step surface. At this time, the second lifting component can retract, and the translation component can drive the second lifting component to move to the first step surface. Similarly, the first and second lifting components can raise the main body to be level with or slightly above the second step surface, and the translation component can drive the main body to move to the second step surface. Then, by moving the lifting component to be supported on the first step surface, the first lifting component can retract, and the translation component can drive the main body to move horizontally, and the first lifting component moves to the first step surface. Thus, the entire transport device rises one step. By repeating the above-described movements of raising and translating the main body, the transport device can continue to climb upwards, thereby achieving stair climbing. 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 structure of the conveying device in one embodiment of this application; Figure 2 This is a schematic diagram of the transport device in another embodiment of this application; Figure 3 This is a schematic diagram of the conveying device in another embodiment of this application; Figure 4 This is a schematic diagram of the conveying device in another embodiment of this application; Figure 5 This is a schematic diagram of the structure of the transport device climbing stairs in one 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 9This 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 in one embodiment of the present application, showing that both the first lifting component and the second lifting component swing back and forth. Figure 18 This is a schematic diagram of the structure in another embodiment of this application, showing that both the first lifting component and the second lifting component swing back and forth. Figure 19 This is a schematic diagram of the structure in one embodiment of the present application, showing only the first lifting component swinging back and forth. Figure 20 This is a schematic diagram of a structure in another embodiment of the present application in which only the first lifting component swings back and forth. Figure 21 This is a schematic diagram of the structure in one embodiment of the present application, showing only the second lifting component swinging back and forth. Figure 22 This is a schematic diagram of a structure in another embodiment of the present application in which only the second lifting component swings back and forth. Figure 23 This is a schematic diagram of the conveying device rotating to the left in one embodiment of this application; Figure 24 This is a schematic diagram of the conveying device rotating to the right in one embodiment of this application; Figure 25 This is a schematic diagram of the second lifting component rotating to the left in one embodiment of this application; Figure 26 This is a schematic diagram of the structure of the second lifting component rotating to the right in one embodiment of this application; Figure 27 This is a schematic diagram of the cleaning system in one embodiment of this application.

[0009] Explanation of reference numerals in the attached drawings: 100, conveying device; 110, main body component; 110a, receiving cavity; 110b, opening; 111, main frame; 112, third rolling component; 120, first lifting assembly; 121, first lifting member; 122, second lifting member; 130, translation assembly; 140, second lifting assembly; 141, third lifting member; 142, fourth lifting member; 150, lifting assembly; 151, first lifting member; 152, second lifting member; 155, first rolling component; 156, second rolling component; 160, swing assembly; 170, limiting assembly; 200, cleaning system; 210, cleaning main unit. 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 1-4 As shown, a first aspect of this application provides a transport device 100 for transporting a cleaning unit 210. The transport device 100 has stronger obstacle-crossing capabilities than the cleaning unit 210, and the transport device 100 can be combined with the cleaning unit 210 to drive the cleaning unit 210 over obstacles. Obstacles may exemplarily be potholes, steps, stairs, etc.

[0016] The conveying device 100 includes a main body 110, a first lifting component 120, a translation component 130, a second lifting component 140, and a lifting component 150.

[0017] The main body 110 is used to be combined with or separated from the cleaning host 200. The main body 110 is equipped with the first lifting component 120, the translation component 130, the second lifting component 140 and the lifting component 150.

[0018] A first lifting component 120 is disposed on the main body 110, and a translation component 130 is disposed on the main body 110. A second lifting component 140 is connected to the translation component 130. The translation component 130 can drive the second lifting component 140 to move horizontally relative to the main body 110, so that the second lifting component 140 moves closer to or further away from the first lifting component 120. That is, when the second lifting component 140 is fixed relative to the ground, the translation component 130 can drive the main body 110 to move horizontally, and when the main body 110 is fixed relative to the ground, the translation component 130 can drive the second lifting component 140 to move horizontally.

[0019] The lifting assembly 150 is movably connected to the main body 110. The lifting assembly 150 can move to contact the ground to support the main body 110, or move to a distance from the ground. When the first lifting assembly 120 needs to be retracted, the lifting assembly 150 can replace the first lifting assembly 120 and provide temporary support.

[0020] The first lifting assembly 120 and the second lifting assembly 140 are configured to move together to lift the main body 110, and the first lifting assembly 120 and the second lifting assembly 140 are also configured to move relative to each other.

[0021] In this embodiment, the first lifting component 120 and the second lifting component 140 can jointly lift the main body 110, allowing it to rise to be flush with or slightly above the first step surface. Since the translation component 130 can drive the second lifting component 140 to move horizontally relative to the main body 110, by fixing the second lifting component 140 relative to the ground, the translation component 130 can drive the main body 110 to move horizontally, allowing the main body 110 to move and be supported on the first step surface. At this time, the second lifting component 140 can retract, and the translation component 130 can drive the second lifting component 140 to move to the first step surface. Similarly, the first lifting component 120 and the second lifting component 140 can raise the main body 110 to be flush with or slightly above the second step surface. The translation component 130 can drive the main body 110 to move to the second step surface. Then, by moving the lifting component 150 to support the first step surface, the first lifting component 120 can be retracted. The translation component 130 can drive the main body 110 to move horizontally and move the first lifting component 120 to the first step surface. Thus, the conveying device 100 is raised by one step. By repeating the above-mentioned movements of raising and translating the main body 110, the conveying device 100 can continue to climb upwards, thereby achieving stair climbing.

[0022] In addition, the first lifting component 120 and the second lifting component 140 can support the transport device 100. The lifting component 150 plays a supporting role when the first lifting component 120 is retracted, and the main body 110 plays a supporting role when the second lifting component 140 is retracted. That is, the lifting component 150 and the main body 110 can also support the transport device 100. The transport device 100 can climb stairs through the three sets of support legs of the first lifting component 120, the second lifting component 140 and the lifting component 150. The structure of the transport device 100 is relatively simple.

[0023] For example, the specific stair-climbing action of the conveying device 100 is as follows: Figure 5 As shown, the transport device 100 first approaches the step in preparation for climbing. The wheels of the transport device 100 that are in contact with the ground can be the end wheels or rubber pads of the second lifting component 140 and the end wheels or rubber pads of the first lifting component 120, or they can be the wheels under the main body 110.

[0024] like Figure 6 As shown, the first lifting assembly 120 and the second lifting assembly 140 can jointly lift the main body 110 so that the main body 110 is spaced apart from the ground. Figure 7As shown, when the main body 110 rises to the first step surface, the lifting assembly 150 can descend to near the ground. It should be noted that the lifting assembly 150 can also descend until the first lifting assembly 120 needs to retract, i.e., as... Figure 12 As shown, it moves until it touches the ground to provide temporary support.

[0025] like Figure 8 As shown, the translation component 130 moves, causing the second lifting component 140 to gradually approach the first lifting component 120. By moving the main body component 110, the main body component 110 can be placed on the first step surface. It should be noted that the main body component 110 may also not be placed on the first step surface, but may be suspended on the first step surface. This can be achieved by shifting the center of gravity of the transport device 100 backward. In this case, the lifting component 150 and the first lifting component 120 provide support for the main body component.

[0026] like Figure 9 As shown, the second lifting component 140 moves back into the main body 110, and the translation component 130 moves to move the second lifting component 140 to the front of the main body 110, and the second lifting component 140 moves to the first step surface.

[0027] like Figure 10 As shown, the main body 110 is raised by one step. At this time, the second lifting component 140 and the first lifting component 120 move together, causing the main body 110 to rise again. When the main body 110 rises to the second step surface, the movement stops. Figure 11 As shown, the translation component 130 moves to drive the second lifting component 140 to gradually approach the first lifting component 120, so that the main body 110 overlaps the second step surface.

[0028] like Figure 12 As shown, at this time, the second lifting component 140 retracts into the main body 110, and the translation component 130 moves, causing the second lifting component 140 to move to the front of the main body 110. Figure 13 As shown, the first lifting component 120 retracts until it is higher than the first step surface, as... Figure 14 As shown, the translation component 130 moves, causing the second lifting component 140 to gradually approach the first lifting component 120, so that the first lifting component 120 moves forward a certain distance and contacts the first step. At this time, the conveying device 100 is raised by one step.

[0029] like Figure 15 As shown, the second lifting assembly 140 and the first lifting assembly 120 move together, causing the conveying device 100 to rise again. The movement stops when the main body 110 rises to the third step surface. Figure 16As shown, the translation component 130 moves to drive the second lifting component 140 to gradually approach the first lifting component 120, at which point the main body 110 overlaps the third step surface.

[0030] Repeat the above steps to ascend each subsequent step. Descending the steps is the reverse of the climbing process.

[0031] In some embodiments, the translation component 130 is also connected to the main body 110, and the translation component 130 is used to drive the main body 110 to move horizontally relative to the second lifting component 140, thereby driving the lifting component 150 and the first lifting component 120 to move horizontally.

[0032] The friction between the first lifting component 120 and the ground is adjustable, as is the friction between the second lifting component 140 and the ground. When the second lifting component 140 moves horizontally, the main body 110 can be fixed by increasing the friction between the first lifting component 120 and the ground. When the main body 110 moves horizontally, the second lifting component 140 can be fixed by increasing the friction between it and the ground. Optionally, increasing the friction can be achieved by increasing the downward pressure on the ground, or by increasing the contact area or roughness with the ground.

[0033] In some embodiments, the maximum lifting height of the first lifting component 120 is greater than the maximum lifting height of the second lifting component 140. This allows the main body 110 to remain horizontal when the first lifting component 120 and the second lifting component 140 are located on different step surfaces. Furthermore, since the first lifting component 120 and the second lifting component 140 can be located on different step surfaces, it can accommodate steps with relatively large spacing, such as steps with a spacing of 220 mm.

[0034] In some other embodiments, when the maximum lifting height of both the first lifting component 120 and the second lifting component 140 is large, it is sufficient to cover the entire working stroke. In this case, the maximum lifting height of the first lifting component 120 may be less than or equal to the maximum lifting height of the second lifting component 140.

[0035] In some embodiments, the lifting assembly 150 is disposed between the first lifting assembly 120 and the second lifting assembly 140, the second lifting assembly 140 is disposed in front of the first lifting assembly 120, and the direction from the first lifting assembly 120 to the second lifting assembly 140 is consistent with the forward direction of the conveying device 100.

[0036] The lifting assembly 150 and the first lifting assembly 120 can be located on different step surfaces. That is, when the first lifting assembly 120 is located on the lower step surface, the lifting assembly 150 can be supported on the upper step surface, allowing the first lifting assembly 120 to retract. Conversely, when the first lifting assembly 120 is located on the upper step surface, the lifting assembly 150 can be supported on the lower step surface, allowing the first lifting assembly 120 to retract. Optionally, the lifting assembly 150 can be closer to the first lifting assembly 120, meaning the distance between the lifting assembly 150 and the second lifting assembly 140 can be relatively large, thus making the lifting assembly 150 and the second lifting assembly 140 more stable when supported.

[0037] In some other embodiments, the position of the lifting assembly 150 can be determined based on the center of gravity of the conveying device 100. When the center of gravity of the conveying device 100 is biased towards the first lifting assembly 120, the lifting assembly 150 is closer to the first lifting assembly 120. When the center of gravity of the conveying device 100 is biased towards the second lifting assembly 140, the lifting assembly 150 is closer to the second lifting assembly 140. When the center of gravity of the conveying device 100 is located exactly between the first lifting assembly 120 and the second lifting assembly 140, the lifting assembly 150 is located exactly between the first lifting assembly 120 and the second lifting assembly 140.

[0038] In some embodiments, the lifting assembly 150 is movably disposed between the first lifting assembly 120 and the second lifting assembly 140, so that regardless of whether the center of gravity of the conveying device 100 is forward or backward, the lifting assembly 150 can be quickly moved to a stable position when needed.

[0039] In some embodiments, the first lifting assembly 120 includes a first driving member, a first lifting member 121 and a second lifting member 122. The first lifting member 121 and the second lifting member 122 are disposed opposite to each other on the left and right sides of the main body 110. The first driving member is connected to the first lifting member 121 and the second lifting member 122 in a transmission connection and is used to drive the first lifting member 121 and the second lifting member 122 to move synchronously.

[0040] Optionally, the first lifting member 121 and the second lifting member 122 are respectively disposed on the left and right sides of the front end of the main body 110, so that the front end of the conveying device 100 is less obstructed, which is conducive to the combination of the cleaning host 210 and the conveying device 100.

[0041] Optionally, the first lifting component 120 can extend or retract to change its height. For example, the first lifting component 121 can be a three-section telescopic rod, or a two-section telescopic rod, a four-section telescopic rod, or more. The first lifting component 121 can also be other mechanisms with extension and retraction functions, such as a lead screw mechanism, a linear module mechanism, a timing belt mechanism, a gear mechanism, a linkage mechanism, etc.

[0042] The second lifting member 122 can be exactly the same as the first lifting member 121, or it can be slightly different from the first lifting member 121, but the function is the same, and both can achieve extension and retraction.

[0043] The second lifting member 122 can be lifted synchronously with the first lifting member 121 to the same height, or to a different height.

[0044] The second lifting assembly 140 includes a second driving member, a third lifting member 141, and a fourth lifting member 142. The third lifting member 141 and the fourth lifting member 142 are disposed opposite to each other on the left and right sides of the main body 110. The second driving member is connected to the third lifting member 141 and the fourth lifting member 142 and is used to drive the third lifting member 141 and the fourth lifting member 142 to move synchronously. The second lifting component 140 can extend or retract to change its height.

[0045] The third lifting member 141 and the fourth lifting member 142 can be referred to as the first lifting member 121 and the second lifting member 122 respectively, and will not be described again here.

[0046] In some embodiments, the bottom of the main body 110 defines a receiving cavity 110a for receiving the cleaning host 210. The front end or rear end of the main body 110 is provided with an opening 110b communicating with the receiving cavity 110a. The opening 110b allows the cleaning host 210 to enter and exit the receiving cavity 110a, making it easier to combine the cleaning host 210 with the transport device 100. In some embodiments, the lifting assembly 150 can be retracted and extended by lifting or rotating. The lifting assembly 150 is slidably connected to the main body 110 along the height direction of the conveying device 100, or the lifting assembly 150 is rotatably connected to the main body 110.

[0047] like Figure 3 As shown, exemplarily, the lifting assembly 150 includes a first lifting member 151 and a second lifting member 152, which are respectively disposed on the left and right sides of the main body 110, thereby minimizing obstruction at the front and rear ends of the conveying device 100. Optionally, the first lifting member 151 and the second lifting member 152 are slidably connected to the main body 110 along the height direction of the conveying device 100. Alternatively, as... Figure 4 As shown, the first lifting member 151 and the second lifting member 152 are respectively rotatably disposed on the left and right sides of the main body 110.

[0048] like Figure 4As shown, in some embodiments, the lifting assembly 150 further includes a first rolling element 155, a second rolling element 156, a third driving element, and a fourth driving element. The first rolling element 155 and the second rolling element 156 are respectively disposed at the free end of the first lifting element 151 and the free end of the second lifting element 152. The free end is relative to the end connected to the main body 110.

[0049] The third driving member is disposed on the first lifting member 151 and can drive the first rolling member 155 to roll. The fourth driving member is disposed on the second lifting member 152 and can drive the second rolling member 156 to roll. By making the rolling speed of the first rolling member 155 and the second rolling member 156 different, or the rolling direction different, or both the rolling speed and the rolling direction different, a speed difference is created between the first rolling member 155 and the second rolling member 156. The orientation of the conveying device 100 can be changed by the speed difference between the first rolling member 155 and the second rolling member 156, thereby realizing the turning of the conveying device 100.

[0050] In some embodiments, the conveying device 100 further includes a swing assembly 160, which is disposed on the main body 110. The swing assembly 160 is used to drive the first lifting assembly 120 and / or the second lifting assembly 140 to move, thereby enabling the conveying device 100 to rotate. The swing assembly 160 is connected to the main body 110 and the first lifting assembly 120 to drive the first lifting assembly 120 to rotate left and right relative to the main body 110. And / or, the swing assembly 160 is connected to the main body 110 and the second lifting assembly 140 to drive the second lifting assembly 140 to rotate left and right relative to the main body 110. That is, the swing assembly 160 can drive the first lifting assembly 120 to swing alone, or drive the second lifting assembly 140 to swing alone, or drive the first lifting assembly 120 and the second lifting assembly 140 to swing simultaneously. Through the movement of the swing assembly 160, the conveying device 100 can rotate clockwise or counterclockwise.

[0051] like Figure 17 and Figure 18 As shown, the swing assembly 160 is connected to both the first lifting assembly 120 and the second lifting assembly 140, so as to drive the first lifting member 121 and the second lifting member 122 of the first lifting assembly 120 to swing in the front and back directions respectively, and to drive the third lifting member 141 and the fourth lifting member 142 of the second lifting assembly 140 to swing in the front and back directions respectively.

[0052] like Figure 19 and Figure 20 As shown, the swing assembly 160 is connected to the first lifting assembly 120 to drive the first lifting member 121 and the second lifting member 122 of the first lifting assembly 120 to swing in the front and back directions respectively.

[0053] like Figure 21 and Figure 22 As shown, the swing assembly 160 is connected to the second lifting assembly 140 to drive the third lifting member 141 and the fourth lifting member 142 of the second lifting assembly 140 to swing in the front and back directions respectively.

[0054] In some embodiments, the second lifting component 140 is stationary, while the swing component 160 can drive the first lifting component 120 to rotate relative to the main body 110.

[0055] like Figure 23 and Figure 24 As shown, the swing assembly 160 is connected to the second lifting assembly 140 to drive the second lifting assembly 140 to rotate in the left and right directions.

[0056] like Figure 25 and Figure 26 As shown, the lifting assembly 150 can change the orientation of the conveying device 100 by the speed difference between the first rolling element 155 and the second rolling element 156, thereby realizing the turning of the conveying device 100.

[0057] like Figure 7 As shown, in some embodiments, the conveying device 100 further includes a limiting component 170, which is disposed on the main body 110 and is used to limit the cleaning unit 210. The limiting component 170 fixes the cleaning unit 210 so that the cleaning unit 210 is firmly connected to the conveying device 100.

[0058] For example, the limiting component 170 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 transport device 100.

[0059] Optionally, there are two clamping members, both of which are slidably disposed on the main body 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 or front and rear wall 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 or front and rear wall, 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.

[0060] Optionally, the surface of the clamping member that abuts against the cleaning unit 210 is a curved surface. Most cleaning units 210 have curved sides or front and rear walls, so the clamping member is set to be curved so that it can effectively fit the sides of most cleaning units 210.

[0061] Optionally, the part of the clamping member that abuts against the cleaning unit 210 is called the abutment part. The abutment part is elastic, so that it can deform to fit tightly against the cleaning unit 210. The abutment part can be a cushioning pad, which can effectively fix and clamp the surface of the cleaning unit 210 to prevent it from loosening, and also protect its surface from various damages and scratches.

[0062] In some embodiments, the limiting component 170 includes a bottom support that is movably disposed relative to the main body 110 and is capable of supporting the bottom surface of the cleaning unit 210.

[0063] In some embodiments, the limiting component 170 includes a plug rod that is movably disposed relative to the main body 110. The top surface of the cleaning host 210 is provided with a plug hole, and the plug rod can be limited and engaged with the plug hole. For example, after the plug rod is inserted into the plug hole, it can be limited and engaged with the limiting hole by rotating 90 degrees.

[0064] In some embodiments, the clamping assembly can simultaneously raise or lower the cleaning host 210, allowing the cleaning host 210 to be adjusted in multiple sizes above the ground.

[0065] In some embodiments, clamping components may not be provided; instead, there may simply be a platform for placing the cleaning host 210, as long as the cleaning host 210 does not fall out of the transport device 100 during operation.

[0066] In some embodiments, when the transport device 100 and the cleaning host 210 are combined, one of the transport device 100 and the cleaning host 210 charges the other.

[0067] For example, when the transport device 100 and the cleaning unit 210 are combined, the cleaning unit 210 can be configured to charge the transport device 100. The cleaning unit 210 typically begins cleaning when its battery is high, and when the transport device 100's battery is low, it can utilize the power of the cleaning unit 210 to operate, thus eliminating the need for the transport device 100 to recharge and improving work efficiency. Optionally, the transport device 100 may not require a battery; it can utilize the power of the cleaning unit 210 entirely for obstacle crossing, further reducing the cost of the transport device 100.

[0068] 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, 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 together with the transport device 100, without having to go through the trouble of returning to the base station on the first floor to charge.

[0069] In some embodiments, the main body 110 includes a main frame 111 and a third rolling element 112 disposed at the bottom of the main frame 111. A first lifting assembly 120, a translation assembly 130, and a lifting assembly 150 are all disposed on the main frame 111. The third rolling element 112 reduces the resistance of the main body 110 when moving on a step, and the translation assembly 130 can easily drive the main body 110 to move. Optionally, the third rolling element 112 is disposed on both sides and the middle of the front end of the main frame 111, so that when the transport device 100 turns, at least one third rolling element 112 remains in contact with the step surface. Optionally, the third rolling element 112 is disposed on both sides of the rear end of the main frame 111, which facilitates the movement of the transport device 100 on the ground.

[0070] In some embodiments, the first lifting component 120, the translation component 130, the second lifting component 140, and the lifting component 150 may each contain a corresponding motor drive mechanism. The motor drive mechanism may be driven by a single motor or multiple motor drive modules to cause the first lifting component 120 and the second lifting component 140 to extend and retract, to cause the translation component 130 to translate or extend and retract, and to cause the lifting component 150 to lift or swing.

[0071] Alternatively, each motor drive mechanism may consist of only a single motor and transmission module, thereby reducing the number of power modules required in this application.

[0072] It should be noted that the term "motor" as used above refers to any object that provides unidirectional driving force, including but not limited to stepper motors, servo motors, DC motors, or various transmission module mechanisms. The position of the motor is determined based on actual use and is not limited to the position shown in the figure. Transmission modules include but are not limited to various transmission mechanisms such as gear drives, synchronous pulley drives, lead screw drives, and linkage drives; any mechanism that enables its mechanical transmission mechanism to move is acceptable. The drive component mounting plate or mounting shell is not limited to the shape, position, and structure shown in the figure; it is only for functional illustration. Any component that can fix the transmission module mechanism can be called a drive component mounting plate or mounting shell.

[0073] In some embodiments, during the walking, lifting or lowering and subsequent actions of the conveying device 100, its obstacle avoidance system, navigation system, sensing module, communication module, power module, and processing module will perform corresponding processing. Their arrangement is not limited to the shape, position, and structure shown in the figure, as long as the relevant functions can be realized.

[0074] In some embodiments, the conveying device 100 is provided with a sensing module, and the second lifting component 140, the first lifting component 120, and the lifting component 150 can adaptively adjust the amount of movement according to the height of each step, so it can adapt to stairs with steps of various heights and has good adaptability in multiple occasions.

[0075] In some embodiments, the handling device 100 may directly utilize the obstacle avoidance system, navigation system, sensing module, communication module, power module, and processing module on the cleaning host 210. In some instances, the handling device 100 may not utilize the systems or modules on the cleaning host 210.

[0076] like Figure 27 As shown, a second aspect of the present application provides a cleaning system 200, which includes a conveying device 100 and a cleaning host 210, the cleaning host 210 being able to be combined with or separated from the main body 110.

[0077] The transport device 100 enables the cleaning unit 210 to climb stairs. It can be adjusted according to the corresponding structure, and cleaning units 210 of different structures and brands can be adapted to the transport device 100. The transport device 100 is manufactured as an independent module, which can be autonomously assembled and disassembled with the cleaning unit 210. When climbing stairs is required, the cleaning unit 210 and the transport device 100 autonomously dock and combine, performing the stair-climbing action in a combined form. 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 different floors, the cleaning unit 210 and the transport device 100 can autonomously separate and complete the cleaning work on each floor. When the work on a floor is finished, the cleaning unit 210 can locate and return to the transport device 100, re-dock and combine with it, and climb the stairs back to the maintenance device or placement point or proceed to other floors in a 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.

[0078] The cleaning host 210 is a cleaning robot that can move autonomously on the ground and clean the floor. Types of cleaning robots include, but are not limited to, indoor mopping robots, indoor sweeping robots, and indoor sweeping and mopping robots. Most of these cleaning robots are equipped with laser rangefinders on their tops to detect surrounding environmental information, build an environmental map, and determine their own coordinates.

[0079] 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.

[0080] 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 handling device, characterized in that The transport device is used for moving the cleaning unit, and includes: Main body component, used to be combined with or separated from the cleaning host; A first lifting component is disposed on the main body component; Translation component, disposed on the main body; The second lifting component is connected to the translation component, and the translation component is capable of driving the second lifting component to move horizontally relative to the main body, so that the second lifting component moves closer to or further away from the first lifting component; A lifting assembly is movably connected to the main body, and the lifting assembly can move to contact the ground to support the main body, or move to be spaced apart from the ground; The first lifting component and the second lifting component are configured to move together to lift the main body, and are also configured to move relative to each other.

2. The handling device of claim 1, wherein The translation component is also connected to the main body component, and the translation component is used to drive the main body component to move horizontally relative to the second lifting component, thereby driving the lifting component and the first lifting component to move horizontally.

3. The conveying device according to claim 1, characterized in that, The maximum lifting height of the first lifting component is greater than the maximum lifting height of the second lifting component.

4. The handling device according to any of claims 1-3, characterized in that The lifting assembly is disposed between the first lifting assembly and the second lifting assembly, the second lifting assembly is disposed in front of the first lifting assembly, and the direction from the first lifting assembly to the second lifting assembly is consistent with the forward direction of the conveying device.

5. The handling device of claim 1, wherein The first lifting assembly includes a first driving member, a first lifting member, and a second lifting member. The first lifting member and the second lifting member are disposed opposite to each other on the left and right sides of the main body. The first driving member is connected to the first lifting member and the second lifting member in a transmission manner and is used to drive the first lifting member and the second lifting member to move synchronously. The second lifting assembly includes a second driving member, a third lifting member, and a fourth lifting member. The third lifting member and the fourth lifting member are disposed opposite to each other on the left and right sides of the main body. The second driving member is connected to the third lifting member and the fourth lifting member in a transmission manner and is used to drive the third lifting member and the fourth lifting member to move synchronously.

6. The handling device of claim 1, wherein The first lifting component can extend or retract to change the height of the first lifting component, and / or, The second lifting component can extend or retract to change the height of the second lifting component.

7. The handling device of claim 1, wherein The lifting assembly is slidably connected to the main body along the height direction of the conveying device, or the lifting assembly is rotatably connected to the main body.

8. The handling device of claim 1, wherein, The lifting assembly includes a first lifting member, a first rolling member, a third driving member, a second lifting member, a second rolling member, and a fourth driving member. The first lifting member and the second lifting member are disposed opposite to each other on the left and right sides of the main body. The third driving member is disposed on the first lifting member and drives the first rolling member to roll. The fourth driving member is disposed on the second lifting member and drives the second rolling member to roll.

9. The handling device of claim 1, wherein, The conveying device also includes a swing component; The swing assembly is connected to the main body and the first lifting assembly to drive the first lifting assembly to rotate in a left-right direction relative to the main body; and / or The swing assembly is connected with the main body and the second lifting assembly to drive the second lifting assembly to rotate relative to the main body in left and right directions.

10. A cleaning system characterized by, Comprising: The handling device according to any one of claims 1-9; And A cleaning main machine capable of being combined with or separated from the main body.

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