Housing assembly and cleaning apparatus

Abstract

Provided in the present application are a housing assembly and a cleaning apparatus. The housing assembly comprises a base body and a door body, the base body being provided with a mounting chamber, and the mounting chamber being provided with a chamber opening. The cleaning apparatus comprises a mechanical arm, the mechanical arm being foldably accommodated in the mounting chamber. The door body can move relative to the base body to open or close the chamber opening; when the door body moves relative to the base body to open the chamber opening, the mechanical arm can move and extend out of the chamber opening. In this way, after the chamber opening is closed by the door body, the mounting chamber is relatively sealed, which can reduce the possibility of the mechanical arm in the mounting chamber being polluted by dust and wetted by liquid in an external environment, thereby helping to prolong the service life of the mechanical arm, and furthermore improving the overall reliability of the cleaning apparatus.

Description

Housing assembly and cleaning device

[0001] The present application claims priority to the Chinese patent application No. 202411252011.9, filed on September 6, 2024, and entitled "Housing assembly and cleaning device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of smart home, in particular to a housing assembly and a cleaning device. BACKGROUND

[0003] With the iteration and development of technology, cleaning devices, especially self-moving cleaning devices, have entered ordinary family life and gradually realized domestic and foreign popularization. In order to better realize the cleaning function, the current cleaning device will add a mechanical arm to realize the grabbing or moving of obstacles or garbage. Specifically, when the target object needs to be moved, the mechanical arm is unfolded to perform a grabbing action, and when the target object does not need to be moved, the mechanical arm is folded and stored in the arm compartment of the housing assembly. Therefore, the reliability of the mechanical arm will affect the reliability of the whole machine.

[0004] SUMMARY

[0005] In the summary section, a series of concepts in simplified form are introduced, which will be further described in detail in the detailed description section. This part of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solution, nor to try to determine the protection scope of the claimed technical solution.

[0006] The embodiments of the first aspect of the present application provide a housing assembly applied to a cleaning device, comprising: a base body and a door body, the base body is provided with a mounting compartment, the mounting compartment is provided with a compartment opening, the cleaning device comprises a mechanical arm, the mechanical arm can be folded and stored in the mounting compartment, the door body is movable relative to the base body to open or close the compartment opening, when the door body is moved relative to the base body to open the compartment opening, the mechanical arm can move and extend out of the compartment opening.

[0007] The embodiments of the second aspect of the present application provide a cleaning device, comprising: a mechanical arm, and the housing assembly of any one of the first aspect.

[0008] The shell assembly and the cleaning device provided by the embodiments of the present application, the cleaning device comprising a mechanical arm, the shell assembly comprising a base body and a door body, the base body being provided with a mounting bin, the mechanical arm being foldably accommodated in the mounting bin, so that the mechanical arm can be accommodated in the mounting bin of the base body when the mechanical arm does not need to perform a grabbing operation, the space occupied by the mechanical arm is reduced, the overall volume of the cleaning device is small, and the cleaning device is convenient to accommodate and move. The door body is movable relative to the base body to open or close the bin opening, so that the mounting bin is relatively closed after the door body closes the bin opening, dust, liquid and the like in the external environment are prevented from entering the mounting bin, the possibility that the mechanical arm in the mounting bin is polluted by dust or soaked by liquid in the external environment is reduced, the service life of the mechanical arm is prolonged, and the overall reliability of the cleaning device is improved.

[0009] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the embodiments of the present application can be implemented in accordance with the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0010] The following drawings of the present application are hereby part of the embodiments of the present application for understanding the present application. The embodiments of the present application and their description shown in the drawings are used to explain the principles of the present application.

[0011] In the drawings:

[0012] Fig. 1 shows a partial structure schematic view of a door body closing a bin opening of a shell assembly of one embodiment of the present application from one perspective;

[0013] Fig. 2 shows a structure schematic view of the embodiment shown in Fig. 1 from another perspective;

[0014] Fig. 3 shows a structure schematic view of the embodiment shown in Fig. 1 from still another perspective;

[0015] Fig. 4 shows a structure schematic view of the embodiment shown in Fig. 1 from yet another perspective;

[0016] Fig. 5 shows a partial structure schematic view of a door body opening a bin opening of a shell assembly of one embodiment of the present application from one perspective;

[0017] Fig. 6 shows a structure schematic view of the embodiment shown in Fig. 5 from another perspective;

[0018] Fig. 7 shows a structure schematic view of the embodiment shown in Fig. 5 from still another perspective;

[0019] Fig. 8 shows a structure schematic view of the embodiment shown in Fig. 5 from yet another perspective;

[0020] Fig. 9 shows a structure schematic view of a door body and a swing rod assembly in a state of closing a bin opening of the door body from one perspective;

[0021] Fig. 10 shows a structural schematic view of one perspective of a first swing lever of the present application;

[0022] Fig. 11 shows a structural schematic view of one perspective of a second swing lever of one embodiment of the present application;

[0023] Fig. 12 shows a structural schematic view of one perspective of a second swing lever of another embodiment of the present application;

[0024] Fig. 13 shows a structural schematic view of another perspective of the embodiment shown in Fig. 10;

[0025] Fig. 14 shows a structural schematic view of another perspective of the embodiment shown in Fig. 11;

[0026] Fig. 15 shows a schematic view of the process posture of the door body relative to the base body of the first embodiment of the present application in the process of translational swinging out or translational swinging back;

[0027] Fig. 16 shows a schematic view of the process posture of the door body relative to the base body of the second embodiment of the present application in the process of translational swinging out or translational swinging back;

[0028] Fig. 17 shows a partial structural schematic view of the housing assembly of another embodiment of the present application;

[0029] Fig. 18 shows a structural schematic view of a cleaning device of one embodiment of the present application;

[0030] Fig. 19 shows a further structural schematic view of a cleaning device of one embodiment of the present application;

[0031] Fig. 20 shows a structural schematic view of a touch assembly of the present application;

[0032] Fig. 21 shows a structural schematic view of one perspective of the housing assembly of a further embodiment of the present application when the door body is opening the opening;

[0033] Fig. 22 shows an enlarged view of A in Fig. 21;

[0034] Fig. 23 shows a structural schematic view of another perspective of the housing assembly of a further embodiment of the present application when the door body is opening the opening;

[0035] Fig. 24 shows a structural schematic view of one perspective of the housing assembly of a further embodiment of the present application when the door body is closing the opening;

[0036] Fig. 25 shows an enlarged view of B in Fig. 24;

[0037] Fig. 26 shows a structural schematic view of another perspective of the housing assembly of a further embodiment of the present application when the door body is closing the opening.

[0038] Reference Signs List

[0039] 100, housing assembly; 110, base body; 111, mounting compartment; 1111, compartment opening; 112, avoiding opening; 113, connecting seat; 120, door body; 121, first hinge part; 122, second hinge part; 130, transmission device; 131, driving part; 132, swing rod assembly; 133, first swing rod; 134, second swing rod; 135, first connecting part; 136, second connecting part; 137, first arm; 138, second arm; 139, third arm; 1391, straight line segment; 1392, oblique line segment; 1393, transition segment; 141, first in-place detection piece; 142, trigger rod; 15, touch assembly; 151, touch piece; 152, touch switch; 153, elastic piece; 16, emergency stop button; 17, frame; 18, function adjustment button. DETAILED DESCRIPTION

[0040] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the technical solutions provided by the present application. It will be apparent, however, to one of ordinary skill in the art that the technical solutions provided by the present application can be practiced without one or more of these specific details.

[0041] It should be noted that the terms used herein are only used to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in the specification, it indicates the presence of the features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0042] Now, the exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in various different forms, and should not be construed as being limited to the embodiments set forth herein. It should be understood that the embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those of ordinary skill in the art.

[0043] As shown in FIGS. 1 to 26, the embodiments of the present application provide a housing assembly 100 and a cleaning device, wherein the housing assembly 100 is applied to the cleaning device, and the cleaning device can be a robot vacuum cleaner, a robot mop, a robot mop and vacuum cleaner, or other cleaning robots that meet the requirements.

[0044] Specifically, the cleaning device includes, but is not limited to, a housing assembly 100, a cleaning assembly, a driving wheel assembly, and the like. The above-mentioned various assemblies are coordinated with each other to enable the cleaning device to move autonomously to achieve the cleaning function. The functional elements and the like constituting the above-mentioned various assemblies in the cleaning device are integrally arranged on the housing assembly 100. It can be understood that the cleaning device can be a self-moving cleaning device, wherein the self-moving cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

[0045] As shown in FIGS. 1, 5, and 17, the housing assembly 100 provided by the embodiments of the present application includes a base body 110, wherein the base body 110 is provided with a mounting bin 111, and a mechanical arm of the cleaning device can be foldably stored in the mounting bin 111, and the mounting bin 111 is provided with a bin opening 1111; and a door body 120, wherein the door body 120 is movable relative to the base body 110 to open or close the bin opening 1111.

[0046] The housing assembly 100 provided by the embodiments of the present application includes the base body 110 and the door body 120, wherein the base body 110 is provided with the mounting bin 111, and the cleaning device includes the mechanical arm, and the mechanical arm can be foldably stored in the mounting bin 111, so that the mechanical arm can be stored in the mounting bin 111 of the base body 110 when the mechanical arm does not need to perform a grabbing operation, the space occupied by the mechanical arm is reduced, the overall volume of the cleaning device is small, the cleaning device is convenient to store and move, and the appearance of the cleaning device is improved in appearance. By moving the door body 120 relative to the base body 110 to open or close the bin opening 1111, as shown in FIGS. 1, 2, 3, and 4, when the door body 120 closes the bin opening 1111, the mounting bin 111 is relatively closed, which can prevent dust and liquid in the external environment from entering the mounting bin 111, reduce the possibility that the mechanical arm in the mounting bin 111 is polluted by dust and soaked by liquid in the external environment, prolong the service life of the mechanical arm, and improve the overall reliability of the cleaning device.

[0047] It can be understood that, as shown in FIGS. 5, 6, 7, and 8, when the door body 120 is moved relative to the base body 110 to open the bin opening 1111, the mechanical arm can move and extend out of the bin opening 1111, so that the unfolding movement of the mechanical arm can achieve grabbing or moving of obstacles, objects, and garbage near the housing assembly 100, to better achieve the autonomous cleaning function. It can be understood that the above-mentioned objects can also be objects required by a user, such as a remote controller, an apple, and the like, which are not listed one by one here.

[0048] Further, the base body 110 is further provided with a mounting groove, through which the driving wheel assembly of the cleaning device is mounted on the base body 110, so that the driving wheel assembly can drive the base body 110 to move. Since the mechanical arm is connected with the base body 110, for example, the mechanical arm can be connected with part of the structure of the mounting bin 111, so that the mechanical arm can move with the base body 110 to reach the target position.

[0049] Further, as shown in FIG. 17, the base body 110 can be understood as the main part of the shell assembly 100 of the cleaning device, the mounting bin 111 is directly formed on the base body 110, the bin opening 1111 of the mounting bin 111 can face upward, the mounting groove is directly formed on the base body 110, the opening of the mounting groove faces downward, and the mechanical arm and the driving wheel assembly are mounted on the base body 110. Specifically, the shape of the base body 110 can be substantially the same as the shape of the shell assembly 100 of the cleaning device, for example, the shape of the base body 110 can be substantially disc-shaped, disc-shaped with a front part being round, or other shapes.

[0050] Alternatively, as shown in FIGS. 1 to 8, the base body 110 can include a base shell (not shown in the drawings) and a connecting seat 113, the connecting seat 113 is mounted on the base shell, the mounting bin 111 can be formed on the top of the connecting seat 113, and the mechanical arm is connected with the connecting seat 113. Alternatively, the connecting seat 113 can be provided with a through groove, the connecting seat 113 and the base shell jointly form the mounting bin 111, and the mechanical arm is mounted on the base shell through the through groove of the connecting seat 113. Specifically, the shape of the base shell can be substantially the same as the shape of the shell assembly 100 of the cleaning device, for example, the shape of the base shell can be substantially disc-shaped, disc-shaped with a front part being round, or other shapes, and the shape of the connecting seat 113 can be rectangular, circular, other regular or irregular shapes.

[0051] In one embodiment, the door body 120 is made of opaque material, for example, the same material as the outer wall of the base body, so that the appearance is more consistent.

[0052] In another embodiment, the door body 120 is provided with a perspective area, and the perspective area is arranged opposite to the mechanical arm.

[0053] By arranging the perspective area, the user can directly view the folding and storage state of the mechanical arm in the mounting bin 111 through the perspective area, and the appearance can be improved and the interest can be added.

[0054] At least part of the light can pass through the perspective area. That is, the perspective area can be fully transparent or translucent.

[0055] As a feasible implementation in the embodiment, when all visible light can pass through the perspective region, the perspective region is fully transparent, so that the user and the maintenance personnel can clearly see the mechanical arm through the perspective region. By setting the perspective region to be fully transparent and making the perspective region opposite to the mechanical arm, the user can directly view the folding storage state of the mechanical arm in the installation bin 111 through the perspective region. In daily use, if the mechanical arm is not completely folded in place during storage due to some reasons, or interferes with or collides with other components in the installation bin 111 to cause position deviation and other abnormal conditions, the user can discover it in the first time through the perspective region. For example, if the joint part of the mechanical arm is not folded correctly, it may affect the closing of the door body 120, and timely detection of such problems through the perspective region can avoid the entry of dust and sundries into the installation bin 111 due to the loose closing of the door body 120 in subsequent use, thereby causing damage to the mechanical arm.

[0056] The user can also quickly check through the perspective region whether the mechanical arm has a part loose or damaged, and can perform preliminary inspection and evaluation without opening the door body 120, thereby reducing the dust and sundries that may be introduced due to frequent opening of the door body 120, and maintaining the relative cleanliness of the environment in the installation bin 111.

[0057] When the cleaning device has a mechanical arm-related fault, the perspective region provides a convenient observation way for the maintenance personnel. The maintenance personnel can preliminarily judge the possible cause of the fault by observing the initial state of the mechanical arm in the installation bin 111, such as whether the driving mechanism of the mechanical arm works normally or whether the transmission component is stuck, thereby avoiding further damage to the components caused by forcibly opening the door body 120.

[0058] As another feasible implementation in the embodiment, when the perspective region allows only part of the light to pass through, but not all the light to pass through without obstruction, the perspective region is translucent. The translucent can be understood as the light transmission degree being between the fully transparent and the completely opaque, so that the user can only see the mechanical wall in the installation bin in a blurred manner, and has good aesthetics.

[0059] As still another feasible implementation in the embodiment, the perspective region can also be set to have a transparency decreasing along a direction parallel to the transparent region, that is, the perspective effect of the perspective region becomes more and more blurred along a direction parallel to the transparent region, that is, the transparency gradually changes, so that the messy part of the mechanical arm is opposite to the part with lower transparency in the perspective region, and the messy part of the mechanical arm is shielded. The more regular part of the mechanical arm is opposite to the part with higher transparency in the perspective region, and the aesthetics is improved.

[0060] The perspective region can be in an integral structure with the door body. That is, the perspective region is in an integral relationship with the door body, and the perspective region is a part of the door body and cannot be separated.

[0061] The perspective area and the door body can be integrally formed, that is, the perspective area is a transparent part formed when the door body is manufactured, and is tightly combined with other parts of the door body in material and process to form an integral structure, rather than being added or spliced later.

[0062] Further, the perspective area is made of transparent material, so that light can pass through the area to achieve the purpose of observing the mechanical arm in the installation bin. The transparent material can be transparent plastic, such as acrylic and other materials with good optical properties. The other areas of the door body use opaque materials, which can be made of the same material as the outer wall of the base to make the appearance more consistent and beautiful.

[0063] The perspective area can also be an observation port provided on the door body 120, and the observation port is provided with a perspective cover to form the perspective area.

[0064] By providing the observation port and the perspective cover on the observation port, the user can observe the mechanical arm through the perspective cover while ensuring that the installation bin 111 has good sealing performance to prevent external impurities from entering and maintain the relative cleanliness of the environment inside the installation bin 111.

[0065] The perspective cover can be transparent or translucent.

[0066] Further, the perspective cover can be made of glass, transparent plastic or the like.

[0067] When the door body 120 closes the bin opening 1111, the projection of the mechanical arm on the door body 120 is within the range of the observation port.

[0068] It is ensured that the mechanical arm can be fully within the observation field of view of the user in the closed state of the door body 120. The main structure of the mechanical arm and the possible problem areas, such as joint connection parts and vulnerable parts, can be seen through the observation port, improving the comprehensiveness and effectiveness of observation.

[0069] The perspective cover can be rectangular, the length direction is the same as the length direction of the folded mechanical arm, and the length is greater than the length of the folded mechanical arm. The width of the perspective cover is also greater than the width of the folded mechanical arm, that is, the size of the perspective cover is greater than the outer contour size of the folded mechanical arm, so that the user can observe the mechanical arm through the perspective cover.

[0070] As shown in FIG. 4 and FIG. 8, in some possible implementation embodiments provided by the present application, the shell assembly 100 further comprises a transmission device 130, the transmission device 130 is connected with the base body 110 and the door body 120, so that the transmission device 130 drives the door body 120 to move relative to the base body 110 to open or close the storage opening 1111. This kind of arrangement is conducive to improving the intelligence of the shell assembly 100 and improving the user's satisfaction.

[0071] The transmission device 130 is used to drive the door body 120 to move and / or overturn relative to the base body 110 to open or close the storage opening 1111. For example, the transmission device 130 can drive the door body 120 to move relative to the base body 110 to open or close the storage opening 1111. Alternatively, the transmission device 130 can drive the door body 120 to overturn relative to the base body 110 to open or close the storage opening 1111. Alternatively, the transmission device 130 can drive the door body 120 to move and overturn relative to the base body 110 to open or close the storage opening 1111. In this way, the demand for different structures of the transmission device 130 can be met.

[0072] It can be understood that, in other examples, the door body 120 and the base body 110 can also be arranged in a split manner. The door body 120 is manually moved relative to the base body 110 to open or close the storage opening 1111. This kind of arrangement can simplify the arrangement of the transmission device 130, reduce the volume of the shell assembly 100, and is conducive to saving manufacturing costs.

[0073] As shown in FIG. 4 and FIG. 8, in some possible implementation embodiments provided by the present application, the transmission device 130 comprises a driving part 131 and a swing rod assembly 132. The swing rod assembly 132 is connected with at least the driving part 131 and is hinged with the door body 120. The driving part 131 drives at least the door body 120 to move to open or close the storage opening 1111 through the swing rod assembly 132.

[0074] The door body 120 is driven by the driving part 131 and the swing rod assembly 132 to move relative to the base body 110 to open or close the storage opening 1111. Compared with the door body 120 overturning relative to the base body 110 to open or close the storage opening 1111, the space occupied by the door body 120 is reduced after the door body 120 moves relative to the base body 110 to open the storage opening 1111.

[0075] Further, the driving part 131 drives the door body 120 to at least translate to open or close the opening 1111 through the swing lever assembly 132. The driving part 131 can drive the door body 120 to translate along the horizontal direction relative to the base body 110 through the swing lever assembly 132, or the driving part 131 can drive the door body 120 to synchronously translate along the horizontal direction and the vertical direction relative to the base body 110 through the swing lever assembly 132, or the driving part 131 can drive the door body 120 to synchronously translate along the horizontal direction and the vertical direction and rotate relative to the base body 110 through the swing lever assembly 132. Thus, the swing lever assembly 132 can meet different structural requirements.

[0076] Specifically, the driving part 131 drives the door body 120 to synchronously translate along the horizontal direction and the vertical direction relative to the base body 110 through the swing lever assembly 132, and the driving part 131 drives the door body 120 to synchronously translate along the horizontal direction and the vertical direction and rotate relative to the base body 110 through the swing lever assembly 132. It can be understood that the door body 120 rotates out or rotates back relative to the base body 110.

[0077] Specifically, FIG. 15 shows a process posture schematic diagram of the door body 120 rotating out or rotating back relative to the base body 110 in the first embodiment of the application. In this embodiment, the driving part 131 drives the door body 120 to synchronously translate along the horizontal direction and the vertical direction relative to the base body 110 through the swing lever assembly 132, so as to make the door body 120 rotate out or rotate back relative to the base body 110. As shown in FIG. 15, when the door body 120 is in the 120a posture, the door body 120 closes the opening 1111, when the door body 120 is in the 120c posture, the door body 120 opens the opening 1111, and when the door body 120 is in other postures between the 120a posture and the 120c posture, such as the 120b posture, the door body 120 is located between the opening position of the opening 1111 and the closing position of the opening 1111. Specifically, the door body 120 in the 120b posture is parallel to the door body 120 in the 120a posture and the 120c posture, but the positions are different. That is, the door body 120 in each of the 120a posture, the 120b posture and the 120c posture is parallel to each other, and the horizontal direction and the vertical direction of the door body 120 in each of the 120a posture, the 120b posture and the 120c posture are different. That is, in the process of the door body 120 rotating out or rotating back relative to the base body 110 in this embodiment, the door body 120 in each posture is parallel to each other, and the horizontal direction and the vertical direction of the door body 120 in each posture are different.

[0078] Specifically, in the embodiment shown in FIG. 15, the movement trajectory of the door body 120 during movement between the 120a posture and the 120c posture is shown as a dashed line Q. It can be understood that the movement trajectory Q of the door body 120 can be a straight line, a curved line, a bent line, or a line of other shapes, and the present application does not make specific limitations in this regard.

[0079] Specifically, FIG. 16 shows a schematic diagram of the process postures of the door body 120 relative to the base body 110 during translation and rotation out or translation and rotation back in the second embodiment of the present application. In this embodiment, the driving part 131 drives the door body 120 to synchronously translate in the horizontal direction and the vertical direction and to perform a flip motion relative to the base body 110, so as to make the door body 120 translation and rotate out or translation and rotate back in relative to the base body 110. When the door body 120 is in the 120a posture, the door body 120 closes the aperture 1111, and when the door body 120 is in the 120c posture, the door body 120 opens the aperture 1111. The door body 120 in the 120a posture and the 120c posture is parallel to each other, and the horizontal direction and the vertical direction of the door body 120 in the 120a posture and the 120c posture are different. When the door body 120 is in other postures between the 120a posture and the 120c posture, such as the 120b posture, the door body 120 is located at a position between opening the aperture 1111 and closing the aperture 1111. The door body 120 in the 120b posture is not parallel to the door body 120 in the 120a posture and the 120c posture, and the horizontal direction and the vertical direction of the door body 120 in the 120b posture are different from those of the door body 120 in the 120a posture and the 120c posture. That is to say, during the process of translation and rotation out or translation and rotation back in relative to the base body 110 in this embodiment, the door body 120 in some postures is parallel to each other, the door body 120 in some postures is not parallel to each other, and the horizontal direction and / or the vertical direction of the door body 120 in each posture is different.

[0080] Specifically, in the embodiment shown in FIG. 16, the movement trajectory of the door body 120 during movement between the 120a posture and the 120c posture is shown as a dashed line Q. It can be understood that the movement trajectory Q of the door body 120 can be a curved line, a bent line, or a line of other shapes, and the present application does not make specific limitations in this regard. The curved line can be an outward convex curved line or an inward concave curved line, and the present application does not make specific limitations in this regard. The swing lever assembly 132 is connected to the driving part 131 and is hinged to the door body 120. It can be understood that the swing lever assembly 132 includes a plurality of swing levers, and all of the swing levers can be connected to the driving part 131 or some of the swing levers can be connected to the driving part 131. All of the swing levers can be hinged to the door body 120 or some of the swing levers can be hinged to the door body 120, so as to meet the requirements of different structures of the swing lever assembly 132.

[0081] In some possible implementation embodiments provided by the present application, the transmission device 130 further comprises a driving part 131 and a turnover mechanism (not shown in the figure), and the turnover mechanism connects the driving part 131 and the door body 120. The driving part 131 rotates through the turnover mechanism to drive the door body 120 to turn to open or close the storage opening 1111. With this arrangement, the door body 120 can occupy less space in the horizontal direction of the base body 110 during the process of opening or closing the storage opening 1111, and the arrangement requirement of a smaller horizontal space of the base body 110 can be met.

[0082] Specifically, the turnover mechanism can comprise a gear mechanism, a gear and rack structure, or other mechanisms. During the process of driving the door body 120 to turn relative to the base body 110 to open or close the storage opening 1111, the door body 120 in each posture is not parallel, the position of the door body 120 in each posture in the vertical direction changes, and the position of the door body 120 in each posture in the horizontal direction changes.

[0083] In some possible implementation embodiments provided by the present application, the transmission device 130 further comprises a driving part 131 and a translation mechanism (not shown in the figure), and the translation mechanism connects the driving part 131 and the door body 120. The driving part 131 translates through the translation mechanism to drive the door body 120 to translate in the horizontal direction to open or close the storage opening 1111. With this arrangement, the door body 120 can occupy less space in the vertical direction of the base body 110 during the process of opening or closing the storage opening 1111, and the arrangement requirement of a smaller vertical space of the base body 110 can be met.

[0084] Specifically, the translation mechanism can comprise a slide rail and slide block mechanism, a belt transmission mechanism, a chain transmission mechanism, etc. During the process of driving the door body 120 to translate in the horizontal direction relative to the base body 110 to open or close the storage opening 1111, the door body 120 in each posture is parallel to each other, the position of the door body 120 in each posture in the vertical direction is unchanged, and the position of the door body 120 in each posture in the horizontal direction changes.

[0085] As shown in FIG. 4, FIG. 8, and FIG. 9, in some possible implementation embodiments provided by the present application, the swing lever assembly 132 includes a plurality of swing levers, which includes a first swing lever 133 and a second swing lever 134, that is, the swing lever assembly 132 includes the first swing lever 133 and the second swing lever 134. The first swing lever 133 is connected between the driving part 131 and the door body 120, that is, the first swing lever 133 is hinged to the driving part 131 and the door body 120, respectively. The second swing lever 134 is hinged between the base body 110 and the door body 120, that is, the second swing lever 134 is hinged to the base body 110 and the door body 120, respectively. The first swing lever 133 is driven to rotate by the driving part 131, so that the first swing lever 133 can drive the door body 120 to move. The movement of the door body 120 drives the second swing lever 134 to move. Since the second swing lever 134 is hinged between the base body 110 and the door body 120, the movement of the second swing lever 134 limits the movement of the door body 120. In this way, through the cooperation of the first swing lever 133 and the second swing lever 134, the door body 120 can be moved relative to the base body 110 to open or close the storage opening 1111, so as to realize the translation of the door body 120 to open or close the storage opening 1111. The door body 120 in the limit position of opening the storage opening 1111 is parallel to the door body 120 of closing the storage opening 1111. Specifically, the door body 120 in the limit position of opening the storage opening 1111 can be as shown in FIG. 5 to FIG. 8, and the door body 120 of closing the storage opening 1111 can be as shown in FIG. 1 to FIG. 4.

[0086] With the above arrangement, the structure of the swing lever assembly 132 is relatively simple and easy to implement, which is conducive to simplifying the structure of the transmission device 130, so that the transmission device 130 has a relatively low cost, thereby reducing the overall manufacturing cost of the shell assembly 100. At the same time, through the parallel arrangement of the door body 120 in the limit position of opening the storage opening 1111 and the door body 120 of closing the storage opening 1111, compared with the overturning of the door body 120 relative to the base body 110 to open or close the storage opening 1111, the door body 120 can reduce the occupation of the vertical space of the base body 110 during the opening or closing of the storage opening 1111, and can reduce the vertical space occupation of the base body 110 after the opening of the storage opening 1111. At the same time, through the parallel arrangement of the door body 120 in the limit position of opening the storage opening 1111 and the door body 120 of closing the storage opening 1111, compared with the translation mechanism driving the door body 120 to translate relative to the base body 110 along the horizontal direction to open or close the storage opening 1111, the length of the translation mechanism needs to be relatively large, the swing lever assembly 132 of the embodiment of the present application has a compact structure and a relatively small volume, which can meet the design requirements of the compact structure and the relatively small volume of the transmission device 130, and further meet the design requirements of the compact structure and the relatively small volume of the shell assembly 100, so that the layout of the cleaning equipment is compact and has a relatively small volume.

[0087] Specifically, as shown in the embodiment of FIG. 15, the driving part 131 drives the door body 120 to move horizontally and vertically synchronously along with the swing lever assembly 132, so as to make the door body 120 move horizontally and rotate out or move horizontally and rotate back relative to the base body 110 to open or close the opening 1111. Alternatively, as shown in FIG. 16, the driving part 131 drives the door body 120 to move horizontally and vertically synchronously along with the swing lever assembly 132 and accompanied by a flip motion, so as to make the door body 120 move horizontally and rotate out or move horizontally and rotate back relative to the base body 110 to open or close the opening 1111.

[0088] The number of the swing levers can be multiple, and the number of the first swing levers 133 can be multiple, such as one, two, three or other numbers, and the number of the second swing levers 134 can be multiple, such as one, two, three or other numbers. It can be understood that the number of the first swing levers 133 and the number of the second swing levers 134 can be equal or not equal. The first swing levers 133 are used to connect the driving part 131 and the door body 120, and the second swing levers 134 are used to connect the door body 120 and the base body 110. The structures of the first swing levers 133 and the second swing levers 134 can be the same or different, the structures of the multiple first swing levers 133 can be the same or different, and the structures of the multiple second swing levers 134 can be the same or different.

[0089] As shown in FIGS. 21, 22, 24 and 25, in some possible implemented embodiments provided by the present application, the first position detection member 141 is arranged in the base body 110, and the swing lever assembly 132 is opposite to the first position detection member 141 when the door body 120 is at the limit position of opening the opening 1111 to trigger the first position detection member 141.

[0090] The first position detection member 141 can accurately detect whether the door body 120 reaches the limit position of opening the opening 1111. When the swing lever assembly 132 moves to a specific position with the door body 120 and is opposite to the first position detection member 141, the detection member is triggered, indicating that the door body 120 has been completely opened, providing a clear door body 120 position state signal for the equipment, which helps to ensure that the door body 120 does not hinder the movement of the mechanical arm when the cleaning equipment performs subsequent operations, such as the mechanical arm extending for cleaning work, ensuring the safety and accuracy of the equipment operation.

[0091] The first position detection member 141 can be a position switch, and the detection end of the first position detection member 141 faces the position of the swing lever assembly 132 when the door body 120 is at the limit position of opening the opening 1111, so as to trigger the first position detection member 141 when the swing lever assembly 132 rotates to the position.

[0092] The outer wall of the swing lever assembly 132 is provided with a trigger lever 142, which moves with the swing lever assembly 132. When the door body 120 is in the limit position of opening the hopper 1111, the trigger lever 142 is opposite the detection end of the first position detection member 141.

[0093] Through the cooperation of the trigger lever 142 and the first position detection member 141, the first position detection member 141 can be triggered accurately, and then the door body 120 can be accurately judged whether it reaches the limit position of opening the hopper 1111. When the trigger lever 142 moves with the swing lever assembly 132 to be opposite the first position detection member 141, the trigger lever 142 can trigger the first position detection member 141. The first position detection member 141 can be a mechanical switch, and the trigger lever 142 can press and trigger the first position detection member 141. The first position detection member 141 can be a mechanical switch or an optical switch. As shown in FIG. 22, the first position detection member 141 can be a slot-shaped optical switch. When the swing lever assembly 132 moves to be opposite the detection end of the slot-shaped optical switch, the slot-shaped optical switch is triggered. When the first position detection member 141 is triggered, it indicates that the door body 120 has been completely opened. At this time, the cleaning equipment can safely perform subsequent operations, such as the extension movement of the mechanical arm, effectively avoiding the risk of collision or interference between the mechanical arm and the door body 120 due to the incomplete opening of the door body 120, and ensuring the safety and stability of the equipment operation.

[0094] In the automatic operation process of the cleaning equipment, the state of the door body 120 can be determined according to the signal feedback of the trigger lever 142 and the first position detection member 141, and the actions of other components can be coordinated accordingly. For example, only when the signal of the door body 120 being completely opened is received, the mechanical arm will perform the extension action. This precise control logic can avoid a series of faults caused by misjudging the position of the door body 120, and ensure the smooth progress of the cleaning task.

[0095] By setting the first to-position detection piece 141 and enabling the first to-position detection piece 141 to acquire information about the opening to-position of the door body 120, important position information basis can be provided for the automatic control of the cleaning equipment. During the operation of the cleaning equipment, when it is necessary to open the bin opening 1111 to release the mechanical arm, the control system of the cleaning equipment can automatically determine the opening process of the door body 120 by detecting the relative position of the trigger rod 142 and the first to-position detection piece 141, and control the action of the driving part 131 according to the preset program, so as to realize the precise control and automatic operation of the opening action of the door body 120. Not only the intelligent degree of the equipment is improved, but also the need for manual intervention is reduced, and the working efficiency of the cleaning equipment is improved. Moreover, the control system can determine whether the position of the door body 120 is normal according to the signal. If an abnormality occurs, for example, the trigger rod 142 does not timely oppose the first to-position detection piece 141, which may mean that the opening process of the door body 120 is blocked. The control system can timely issue an alarm or take corresponding error correction measures, such as stopping the driving part 131 from working, so that the user or the maintenance personnel can timely find and solve the problem, and ensure the normal operation of the equipment.

[0096] The trigger rod 142 can be arranged on the first swing rod 133, or on the second swing rod 134, or on both the first swing rod 133 and the second swing rod 134.

[0097] In some possible implementation embodiments provided in the present application, the trigger rod 142 is arranged on the side wall of the first swing rod 133 and extends towards the side where the first to-position detection piece 141 is located.

[0098] By arranging the trigger rod 142 on the first swing rod 133, the connection relationship between the first swing rod 133 and the door body 120 and the driving part 131 can be utilized to ensure that the trigger rod 142 accurately opposes the first to-position detection piece 141 when the door body 120 reaches the limit position of opening the bin opening 1111 during the movement of the first swing rod 133, so as to realize accurate triggering and make the triggering position closely related to the movement of the door body 120, thereby improving the accuracy and reliability of position detection and avoiding false judgment of the state of the door body 120 due to inaccurate triggering position.

[0099] The trigger rod 142 is a straight rod, and the trigger rod 142 is arranged perpendicularly on the side wall of the first swing rod 133.

[0100] Further, the first to-position detection piece 141 is arranged on the right side of the first swing rod 133, and the trigger rod 142 is arranged perpendicularly on the right side wall of the first swing rod 133 and extends in the horizontal direction.

[0101] The first to-position detection piece 141 is located on the circumferential side of the hinged position of the first swing rod 133 and the base body 110.

[0102] By arranging the first position detection member 141 on the circumferential side of the hinged position of the first swing lever 133 and the base body 110, the position information of the first swing lever 133 can be accurately obtained. When the door body 120 opens the bin opening 1111, the first swing lever 133 moves with the door body 120, and the position of the hinged point of the first swing lever 133 is relatively fixed. The first position detection member 141 can accurately detect the state change of the first swing lever 133 when the door body 120 is opened to the limit position, thereby providing accurate position information of the door body 120 for the equipment, ensuring that the cleaning equipment can accurately determine whether the door body 120 is completely opened, and improving the safety and reliability of the equipment operation.

[0103] Arranging the first position detection member 141 on the circumferential side of the hinged position of the first swing lever 133 and the base body 110 makes full use of the space structure inside the equipment. This position is usually a key area of the movement space of the swing lever assembly 132. The arrangement of the first position detection member 141 does not occupy too much space, making the internal layout of the equipment more compact and reasonable. In the trend of miniaturization and lightweight design of cleaning equipment, it helps to reduce the volume of the equipment and improve the space utilization of the equipment, while avoiding interference with the installation and movement of other components due to unreasonable layout of the detection components, and ensuring the coordination and functionality of the overall structure of the equipment.

[0104] In the embodiment, the first position detection member 141 is connected to the inner wall of the base body 110.

[0105] In the embodiment, the end of the first swing lever 133 is hinged to the base body 110 through a rotating shaft, and the first position detection member 141 can be arranged in front of the hinged position, for example, the right front side, which does not interfere with the rotation of the first swing lever 133 and can accurately obtain the position information of the first swing lever 133.

[0106] In some possible implementation embodiments provided in the present application, a second position detection member (not shown in the figure) is arranged in the base body 110. When the door body 120 closes the bin opening 1111, the swing lever assembly 132 is opposite to the second position detection member to trigger the second position detection member.

[0107] By arranging the second position detection member, the complete closing of the door body 120 can be accurately detected. When the swing lever assembly 132 moves with the door body 120 to be opposite to the second position detection member during the closing process of the door body 120, the detection member is triggered, indicating that the door body 120 has been accurately closed to the position. It can ensure that the installation bin 111 forms a good sealing environment after the door body 120 is closed, effectively preventing external dust, liquid and other impurities from entering the installation bin 111, protecting the internal mechanical arm from pollution and damage, thereby prolonging the service life of the mechanical arm and improving the reliability and stability of the cleaning equipment as a whole.

[0108] By setting the second-to-position detection piece, it is realized to detect whether the door body 120 closes the bin opening 1111, which provides key feedback information for the automatic operation of the cleaning equipment. After the mechanical arm completes the cleaning task, when the door body 120 starts to close, the control system of the cleaning equipment can determine whether the door body 120 is successfully closed according to the trigger signal of the second-to-position detection piece. Only after receiving the signal that the door body 120 is closed to position, the cleaning equipment will enter the next step operation, such as stopping the related driving device, entering the standby state or starting other protection programs, etc., forming a complete automatic control process, so that each operation link of the cleaning equipment is closely connected, a high-efficiency and intelligent operation mode is realized, the overall working efficiency of the equipment is improved, the demand for manual intervention is reduced, and the stability and predictability of the equipment operation are also enhanced.

[0109] When the door body 120 closes the bin opening 1111, the trigger rod 142 moves to be opposite to the detection end of the second-to-position detection piece. Through the cooperation of the trigger rod 142 and the second-to-position detection piece, the second-to-position detection piece can be accurately triggered, and then it is accurately judged whether the door body 120 completely closes the bin opening 1111.

[0110] That is, the first-to-position detection piece 141 and the second-to-position detection piece are both triggered by the trigger rod 142, that is, they are both cooperated with the trigger rod 142 to realize the to-position detection.

[0111] Among them, the first-to-position detection piece 141 and the second-to-position detection piece are arranged along the circumference of the hinged position of the first swing rod 133 and the base body 110, and the first-to-position detection piece 141 is closer to the bin opening 1111 than the second-to-position detection piece.

[0112] Further, the first-to-position detection piece 141 and the second-to-position detection piece are respectively located at the limit positions of the path of the trigger rod 142 moving with the first swing rod 133.

[0113] As shown in FIGS. 4, 8, 9, 10, 11 and 12, in some possible implemented embodiments provided by the present application, the two ends of the swing rod are respectively provided with a first connecting part 135 and a second connecting part 136, the first swing rod 133 is connected with the driving part 131 through the first connecting part 135, and the first swing rod 133 is hinged with the door body 120 through the second connecting part 136, so that the first swing rod 133 is connected with the driving part 131 and hinged with the door body 120. The second swing rod 134 is hinged with the base body 110 through the first connecting part 135, and the second swing rod 134 is hinged with the door body 120 through the second connecting part 136, so that the second swing rod 134 is hinged with the base body 110 and the door body 120.

[0114] Among them, the first connecting part 135 and the second connecting part 136 on the swing rod can be connecting holes, connecting convex columns, connecting ears or other structures.

[0115] Specifically, the first connecting part 135 and the second connecting part 136 on the swing rod are connecting holes, as shown in FIG. 10 and FIG. 13, the hole wall of the first connecting part 135 on the first swing rod 133 is provided with a limiting surface, the driving part 131 is a motor, the output shaft of the motor is arranged in the connecting hole, and the rotation of the output shaft of the motor drives the rotation of the first swing rod 133 through the limiting surface. Specifically, the first connecting part 135 of the first swing rod 133 can be a D-shaped hole, a flat hole, a rectangular hole, a hexagonal hole, etc. As shown in FIG. 11, FIG. 12 and FIG. 14, the first connecting part 135 on the second swing rod 134 can be a circular hole, which is hinged to the base body 110 through a hinge shaft. The second connecting part 136 on each swing rod can also be a circular hole, which is hinged to the door body 120 through a hinge shaft.

[0116] As shown in FIG. 9, in some possible implemented embodiments provided by the present application, the door body 120 is provided with a first hinge part 121 hinged to the first swing rod 133, and a second hinge part 122 hinged to the second swing rod 134, the number of the first hinge part 121 is one, and the plurality of second hinge parts 122 are distributed on at least part of the circumferential side of the first hinge part 121.

[0117] That is, the hinge point of the first swing rod 133 and the door body 120 can be understood as the first hinge part 121, and the hinge point of the second swing rod 134 and the door body 120 can be understood as the second hinge part 122. Therefore, in the present embodiment, the number of the first swing rod 133 is one, and the number of the second swing rod 134 is a plurality. The hinge points of the plurality of second swing rods 134 and the door body 120 can be distributed on the circumferential side of the hinge point of the first swing rod 133 and the door body 120. Thus, the driving part 131 can drive the door body 120 to move through one first swing rod 133, the structure is simple, and the cost is low. Meanwhile, the plurality of second swing rods 134 are hinged between the door body 120 and the base body 110, which can ensure the stability and reliability of the translational rotation of the door body 120.

[0118] Specifically, the number of the second hinge part 122 can be two, three, four, five or other number, that is, the number of the second swing rod 134 can be two, three, four, five or other number.

[0119] Among them, the plurality of second hinge parts 122 can be distributed on part of the circumferential side of the first hinge part 121, such as being distributed on the same side, different sides or the entire circumferential side of the first hinge part 121, etc.

[0120] As shown in FIG. 4, FIG. 8, FIG. 9, in some possible implementation embodiments provided by the present application, the number of the second hinge parts 122 is four, the second hinge parts 122 are distributed in pairs on both sides of the first hinge part 121 along a first direction, the second hinge parts 122 distributed in pairs are distributed on both sides of the first hinge part 121 along a second direction, and the first direction and the second direction are perpendicular. The first direction can be indicated by an arrow X in FIG. 4 and FIG. 9, and the second direction can be indicated by an arrow Y in FIG. 4 and FIG. 9.

[0121] In the embodiment, the number of the second hinge parts 122 is four, and the four second hinge parts 122 are distributed on different sides of the first hinge part 121 with the first hinge part 121 as the center. Thus, through the second swing rods 134 hinged with the four second hinge parts 122, the door body 120 can be well and stably supported, and the movement of the door body 120 under the driving of the first swing rod 133 can be well limited, so that the entire door body 120 can be horizontally swung out or horizontally swung back as shown in FIG. 15 or FIG. 16 under the joint action of the first swing rod 133 and the second swing rod 134.

[0122] It can be understood that the structures of the four second swing rods 134 can be the same or different.

[0123] As shown in FIG. 4, FIG. 10, FIG. 11, and FIG. 12, in some possible implementation embodiments provided by the present application, the shape of the second swing rod 134 matches the shape of the first swing rod 133, so that the swing rod assembly 132 drives the movement of the door body 120.

[0124] Since the first swing rod 133 is connected with the driving part 131 and the door body 120, the driving part 131 drives the movement of the door body 120 through the first swing rod 133, and this part of the movement can be understood as the main movement of the door body 120. Since the second swing rod 134 is hinged between the door body 120 and the base body 110, the movement of the door body 120 under the driving of the first swing rod 133 drives the movement of the second swing rod 134. At the same time, since the second swing rod 134 is hinged with the base body 110, the movement of the door body 120 is limited, so that the door body 120 can at least move horizontally relative to the base body 110, such as the horizontal swinging out or the horizontal swinging back of the door body 120 relative to the base body 110 as shown in the embodiments of FIG. 15 or FIG. 16. This part of the movement can be understood as the auxiliary movement of the door body 120.

[0125] In this embodiment, the shape of the second swing rod 134 matches the shape of the first swing rod 133, so that the movement trajectory of the second swing rod 134 is substantially the same as that of the first swing rod 133, that is, the movement trajectory of the second swing rod 134 matches that of the first swing rod 133, and the second swing rod 134 does not hinder the movement of the first swing rod 133, so that the first swing rod 133 can smoothly rotate out and rotate back with the door body 120, and at the same time, the movement of the door body 120 is limited by the plurality of second swing rods 134, so that the door body 120 can move horizontally relative to the base body 110. Therefore, by cooperating the first swing rod 133 and the second swing rod 134, the door body 120 can at least move horizontally relative to the base body 110 to open or close the opening 1111.

[0126] As shown in FIGS. 10, 11 and 12, in some possible implemented embodiments provided by the present application, the swing rod is arranged in a bent structure, and the first connecting part 135 and the second connecting part 136 are located at two ends of the bent structure.

[0127] In this embodiment, the bent structure is arranged so that the swing rod can increase the movement stroke in a limited space. Specifically, the first swing rod 133 is a bent structure, and the second swing rod 134 is a bent structure, so that the first swing rod 133 and the second swing rod 134 cooperate to increase the overall movement stroke of the swing rod assembly 132 in a limited space, so that the door body 120 has sufficient movement space relative to the base body 110, and the first swing rod 133 and the second swing rod 134 are both arranged in a bent structure to provide movement space for the door body 120 to rotate out or rotate back relative to the base body 110, thereby achieving the horizontal rotation of the door body 120 to open the door or the parallel rotation to close the door.

[0128] It can be understood that, due to the different arrangement positions of the first swing rod 133 and the second swing rod 134, the arrangement positions of the plurality of second swing rods 134 are different, and the bent structures on each swing rod can be the same or different, depending on the specific circumstances.

[0129] As shown in FIG. 10, FIG. 11, FIG. 12, FIG. 13, and FIG. 14, in some possible implementation embodiments provided by the present application, the swing rod comprises a first arm 137, a second arm 138, and a third arm 139 arranged in sequence, that is, the first swing rod 133 and the second swing rod 134 each comprise a first arm 137, a second arm 138, and a third arm 139 arranged in sequence, so that the swing rod forms a bent structure by using the first arm 137, the second arm 138, and the third arm 139. The first arm 137 and the third arm 139 are oppositely arranged, the first connecting portion 135 is located at the first arm 137, the second connecting portion 136 is located at the third arm 139, the length of the first arm 137 is less than the length of the third arm 139, and the bent structure is arranged close to the first connecting portion 135. Since the first connecting portion 135 of the first swing rod 133 is connected with the driving portion 131, the first connecting portion 135 of the second swing rod 134 is hinged to the base body 110, and the second connecting portion 136 of each swing rod is hinged to the door body 120, the bent structure is located at the part of the swing rod away from the door body 120, that is, the side of the bent structure close to the driving portion 131 or the base body 110, thereby providing sufficient movement space for the door body 120 to rotate out or swing relative to the base body 110, so that the first swing rod 133 and the second swing rod 134 cooperate to enable the door body 120 to translate and rotate out or translate and swing as shown in the embodiments of FIG. 15 or FIG. 16 to open or close the storage opening 1111.

[0130] Specifically, the first arm 137, the second arm 138, and the third arm 139 can be an integrally formed structure, facilitating processing, easy production, and reducing manufacturing cost. Alternatively, the first arm 137, the second arm 138, and the third arm 139 can be a split structure, which are assembled into a swing rod.

[0131] As shown in FIG. 10, FIG. 11, FIG. 12, FIG. 13, and FIG. 14, in some possible implementation embodiments provided by the present application, in the same first swing rod 133 or second swing rod 134, that is, in the swing rod, the third arm 139 comprises a straight segment 1391 and an inclined segment 1392, the straight segment 1391 is connected with the second arm 138 and oppositely arranged with the first arm 137, a segment of the third arm 139 away from the second arm 138 is the inclined segment 1392, the inclined segment 1392 is arranged to be inclined relative to the straight segment 1391 in the direction close to the first arm 137, that is, the inclined segment 1392 is arranged to be inclined relative to the straight segment 1391 in the direction close to the first arm 137, and the second connecting portion 136 is located at the end of the inclined segment 1392 away from the straight segment 1391.

[0132] In this embodiment, the straight section 1391 of the third arm 139, the second arm 138 and the first arm 137 can form a bending structure, which provides sufficient movement space for the door body 120 to rotate out and rotate back relative to the base body 110. By arranging the second connecting portion 136 at the end of the oblique section 1392 away from the straight section 1391, and arranging the oblique section 1392 to be inclined relative to the straight section 1391 towards the first arm 137, the third arm 139 as a whole belongs to a concave hook-shaped structure, which reduces the space occupied by the swing lever, and thus can meet the design requirement of compact structure and small volume of the transmission device 130. Meanwhile, based on ensuring that the swing lever assembly 132 provides sufficient movement space for the door body 120, the distance between the door body 120 and the base body 110 after the door body 120 opens the bin opening 1111 is small, which further reduces the space occupied by the door body 120 after the door body 120 opens the bin opening 1111.

[0133] In some possible implementation embodiments provided in the present application, the first arm 137 extends along a straight line, and in the same first swing lever 133 or second swing lever 134, the included angle between the extension direction of the first arm 137 and the extension direction of the straight section 1391 is not less than 45°, or the first arm 137 is parallel to the straight section 1391. That is, as shown in FIGS. 13 and 14, taking a straight line passing through the center of the first connecting portion 135 and perpendicular to the straight section 1391 of the third arm 139 as a reference line, the included angle between the first arm 137 and the reference line is 45° to 90°.

[0134] The straight line passing through the center of the first connecting portion 135 and perpendicular to the straight section 1391 of the third arm 139 can be shown as the straight line P in FIGS. 13 and 14, and the included angle between the first arm 137 and the reference line P can be shown as the angle α in FIGS. 13 and 14. That is, the range of the angle α is 45° to 90°, and by reasonably setting the range of the angle α, the bending structure of the swing lever has a reasonable bending angle, which provides sufficient movement space for the door body 120 to rotate out and rotate back relative to the base body 110.

[0135] Specifically, the angle α in FIG. 13 can be understood as the included angle between the first arm 137 of the first swing lever 133 and the reference line, and the angle α in FIG. 14 can be understood as the included angle between the first arm 137 of the second swing lever 134 in an embodiment and the reference line. It can be understood that the movement space of the swing lever can be understood as being located on the side of the first arm 137 away from the angle α, that is, on the side of the first arm 137 away from the bending structure, that is, the movement space of the swing lever can be understood as being negatively related to the angle α. Specifically, as shown in FIGS. 13 and 14, the swing lever moves in the direction of the counterclockwise direction O shown in FIGS. 13 and 14 to open the bin opening 1111.

[0136] In some possible implementation embodiments provided in the present application, the first arm 137 of at least part of the swing rod abuts against the base body 110, so that the door body 120 is in the limit position of opening the storage opening 1111.

[0137] The limit position of the door body 120 opening the storage opening 1111 can be understood as the maximum limit position of the door body 120 being translated and swung out relative to the base body 110, and at this position, the door body 120 cannot be further translated and swung out relative to the base body 110, and the door body 120 can only be translated and swung back to gradually close the storage opening 1111. Specifically, the door body 120 posture shown in FIGS. 5, 6, 7 and 8 can be understood as the maximum limit position of the door body 120 being translated and swung out relative to the base body 110.

[0138] In the present embodiment, the angle of the bending structure of the swing rod can be reasonably set, for example, the included angle between the first arm 137 of the first swing rod 133 and the reference line, and the included angle between the first arm 137 of the second swing rod 134 and the reference line, so that the first arm 137 of at least part of the swing rod abuts against the base body 110, and mechanical limiting is achieved, that is, when the door body 120 is in the limit position of opening the storage opening 1111, the first arm 137 of at least part of the second swing rod 134 abuts against the base body 110. Thus, the movement of the door body 120 is well limited, so that the door body 120 can be kept in the position of opening the storage opening 1111.

[0139] Specifically, the first arm 137 of the first swing rod 133 can abut against the base body 110, so that the door body 120 is in the limit position of opening the storage opening 1111; or the first arm 137 of the second swing rod 134 can abut against the base body 110, so that the door body 120 is in the limit position of opening the storage opening 1111; or the first arms 137 of the first swing rod 133 and the second swing rod 134 can both abut against the base body 110, so that the door body 120 is in the limit position of opening the storage opening 1111. Specifically, as shown in FIG. 6, the first arm 137 of the second swing rod 134 abuts against the base body 110, so that the door body 120 is in the limit position of opening the storage opening 1111.

[0140] In the above embodiment, the first arm 137 of the second swing rod 134 is arranged to abut against the base body 110 when the door body 120 is in the limit position of the opening 1111, and the first arm 137 of the first swing rod 133 is arranged to abut against the base body 110 when the door body 120 is in the limit position of the opening 1111. In other words, the angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the angle between the first arm 137 of the first swing rod 133 and the reference line, so that the first arm 137 of the second swing rod 134 abuts against the base body 110 when the door body 120 is in the limit position of the opening 1111.

[0141] In the above embodiment, the first arm 137 of the second swing rod 134 is arranged to abut against the base body 110 when the door body 120 is in the limit position of the opening 1111, and the first arm 137 of the first swing rod 133 is arranged to abut against the base body 110 when the door body 120 is in the limit position of the opening 1111. In other words, the angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the angle between the first arm 137 of the first swing rod 133 and the reference line, so that the first arm 137 of the second swing rod 134 abuts against the base body 110 when the door body 120 is in the limit position of the opening 1111.

[0142] In the above embodiment, the first arm 137 of the second swing rod 134 is arranged to abut against the base body 110 when the door body 120 is in the limit position of the opening 1111, and the first arm 137 of the first swing rod 133 is arranged to abut against the base body 110 when the door body 120 is in the limit position of the opening 1111. In other words, the angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the angle between the first arm 137 of the first swing rod 133 and the reference line, so that the first arm 137 of the second swing rod 134 abuts against the base body 110 when the door body 120 is in the limit position of the opening 1111.

[0143] As shown in FIG. 13, in some possible implementation embodiments provided by the present application, the first arm 137 of the first swing lever 133 is arranged to be inclined away from the third arm 139 from the end connected with the second arm 138 to the end close to the first connecting portion 135. That is, in the first swing lever 133, the end of the first arm 137 away from the second arm 138 extends in the direction away from the third arm 139. Thus, the included angle between the first arm 137 of the first swing lever 133 and the reference line is less than 90°, which provides sufficient movement space for the first swing lever 133 to rotate in the counterclockwise direction O shown in FIG. 13 with the center of the first connecting portion 135 as the rotation center, so that the door body 120 has sufficient movement space to ensure that the door body 120 can be smoothly rotated out or rotated back relative to the base body 110.

[0144] As shown in FIG. 6 and FIG. 14, in some possible implementation embodiments provided by the present application, the first arm 137 of the second swing lever 134 is arranged in parallel with the straight line segment 1391 of the third arm 139, the door body 120 is in the limit position of opening the opening 1111, and the first arm 137 of the second swing lever 134 abuts against the shell assembly 100. Thus, the included angle between the first arm 137 of the second swing lever 134 and the reference line is close to or equal to 90°, which provides sufficient movement space for the second swing lever 134 to rotate in the counterclockwise direction O shown in FIG. 14 with the center of the first connecting portion 135 as the rotation center, and the movement space of the second swing lever 134 in the counterclockwise direction is less than the movement space of the first swing lever 133 in the counterclockwise direction, so that the first arm 137 of the second swing lever 134 will abut against the base body 110 to make the door body 120 be in the limit position of opening the opening 1111.

[0145] That is, by reasonably setting the shape of the bending structure of the second swing lever 134, the movement space of the second swing lever 134 is made to be less than the movement space of the first swing lever 133, and the mechanical limiting is formed by the second swing lever 134 and the base body 110, so that the door body 120 can be reliably and stably kept in the limit position of opening the opening 1111.

[0146] Specifically, the above-described swing lever assembly 132 provided by the present embodiment drives the door body 120 to move and rotate out or move and rotate back relative to the base body 110 along the movement trajectory of the embodiment shown in FIG. 16 to open or close the opening 1111.

[0147] In some possible implementation embodiments provided by the present application, the driving portion 131 is provided with an overcurrent protection device.

[0148] The overcurrent protection device refers to a protection mode that enables the driving part 131 to act when the current of the driving part 131 exceeds a predetermined maximum value. Specifically, when the current flowing through the driving part 131 exceeds a predetermined value, the protection device is activated to stop the driving part 131 from working. In this embodiment, when the first arm 137 of the partial swing arm abuts against the base body 110 to form mechanical limiting, for example, when the first arm 137 of the second swing rod 134 abuts against the base body 110 to form mechanical limiting, the movement of the first swing rod 133 is limited, which enables the overcurrent protection device of the driving part 131 to work, so that the driving part 131 stops working, thereby reliably and stably keeping the door body 120 at the limit position of opening the storage opening 1111. Thus, the damage to the driving part 131 can be reduced, the service life of the driving part 131 can be prolonged, and the reliability of the driving part 131 can be improved.

[0149] It can be understood that when the door body 120 closes the storage opening 1111, part of the door body 120 abuts against the base body 110 around the storage opening 1111, so that the door body 120 and the base body 110 around the storage opening 1111 form limit limiting, so that the movement of the first swing rod 133 is limited. At this time, the overcurrent protection device of the driving part 131 works, so that the driving part 131 stops working, thereby reliably and stably closing the storage opening 1111, so as to reduce the damage of dust, liquid, sundries and the like in the external environment to the installation storage 111 and improve the service life of the mechanical arm.

[0150] In some possible implementation embodiments provided in the present application, the shell assembly 100 further comprises a buffer, which is arranged on the third arm 139 and / or the base body 110, and is located between the third arm 139 and the base body 110 when the door body 120 is at the limit position of opening the storage opening 1111.

[0151] The arrangement of the buffer plays a good buffering role in the abutment or collision of the third arm 139 of the swing rod and the base body 110, which can reduce the problem that the frequent abutment or collision of the third arm 139 and the base body 110 causes damage or wear of the third arm 139 or the base body 110, greatly improves the service life of the swing rod and the base body 110, and improves the overall reliability of the cleaning equipment.

[0152] Specifically, the buffer can be elastic silica gel, elastic sheet, elastic glue or the like.

[0153] Specifically, the buffer can be installed on the base body 110 by at least one of a clamping structure, a plug-in structure, a threaded structure, a mortise and tenon structure and an adhesive, or the buffer can be installed on the third arm 139 by at least one of a clamping structure, a plug-in structure, a threaded structure, a mortise and tenon structure and an adhesive, or the buffer can be installed on the base body 110 and the third arm 139 at the same time by at least one of a clamping structure, a plug-in structure, a threaded structure, a mortise and tenon structure and an adhesive.

[0154] It can be understood that when the buffer is arranged on the third arm 139 of the swing rod, the buffer can be arranged on all the third arms 139 abutting against the base body 110, or arranged on at least one of the third arms 139 abutting against the base body 110.

[0155] As shown in FIG. 12, in some possible implementation embodiments provided by the present application, the third arm 139 of the swing rod further comprises a transition segment 1393 connecting the straight segment 1391 and the oblique segment 1392, and the transition segment 1393 is arranged in at least one of a straight line, an oblique line, a curve and a bent line.

[0156] In the embodiment, the arrangement of the transition segment 1393 can meet the requirements of different distances and different positions between the first connecting part 135 and the second connecting part 136 at both ends of the swing rod, so that the arrangement position of the swing rod can be diversified and flexible, and the structure of the swing rod assembly 132 can be various and easy to implement, thereby reducing the design difficulty.

[0157] Specifically, as shown in FIGS. 9, 10, 11, 12 and 13, although the shapes of the first swing rod 133, the second swing rod 134 and the third swing rod are substantially the same, and all are arranged with a bent structure and all comprise the first arm 137, the second arm 138 and the third arm 139, the shapes of the two pairs of second swing rods 134 located on the left and right sides of the first swing rod 133 in the first direction are different, as shown in FIG. 9. One pair of second swing rods 134 located on the left side of the first swing rod 133 is shown in FIG. 13, and the third arm 139 thereof comprises a transition segment 1393. One pair of second swing rods 134 located on the right side of the first swing rod 133 is shown in FIG. 12, and the third arm 139 thereof does not comprise a transition segment 1393.

[0158] It can be understood that in some examples, the first swing rod 133 and the second swing rod 134 can both comprise a transition segment 1393.

[0159] In some possible implementation embodiments provided by the present application, the transmission device 130 is located inside the base body 110, the driving part 131 is located outside the mounting bin 111, and the bin wall of the mounting bin 111 and the nearby base body 110 are provided with a mutual communication avoiding opening 112 for avoiding the swing rod assembly 132.

[0160] As shown in FIGS. 5 and 8, in the embodiment, the arrangement of the avoiding opening 112 can ensure the smooth connection of the swing rod assembly 132 with the driving part 131, the base body 110 and the door body 120, and will not interfere with the movement of the swing rod assembly 132, so that the driving part 131 drives the swing rod assembly 132 to move, so that the door body 120 is translated and rotated out under the action of the swing rod assembly 132 to open the bin door, and is translated and rotated back to close the bin door.

[0161] Specifically, the avoiding opening 112 can be reasonably arranged according to the movement trajectory of the swing rod assembly 132, so that the avoiding opening 112 can avoid the swing rod assembly 132 to ensure that the swing rod assembly 132 has sufficient movement space.

[0162] In some possible implementation embodiments provided in the present application, as shown in FIGS. 18 and 19, the base body 110 at the warehouse opening 1111 is provided with a touch assembly 15, which is configured to send a signal under mechanical stress.

[0163] The cleaning device in the embodiment, by providing the touch assembly 15 on the base body 110, the touch assembly 15 is located at the warehouse opening 1111, and the touch assembly 15 is configured to send a signal under mechanical stress. Thus, when the mechanical arm is folded and stored in the mounting warehouse 111 or stretched out of the mounting warehouse 111, the human hand or foreign matter near the warehouse opening 1111 contacts or collides with the touch assembly 15, so that the touch assembly 15 is under mechanical stress to send a signal, indicating that the touch assembly 15 contacts or collides with the human hand or foreign matter, and there is a risk that the human hand or foreign matter is clamped in the warehouse opening 1111. Therefore, it is convenient for the mechanical arm or the cleaning device to make corresponding actions according to the signal, such as the control device of the cleaning device controlling the mechanical arm to stop moving to avoid the possibility that the mechanical arm continues to move to clamp the human hand or foreign matter in the warehouse opening 1111, reduce personal injury or financial loss caused in the process of the mechanical arm stretching out of the mounting warehouse 111 and retracting into the mounting warehouse 111, and improve the safety of the mechanical arm and the user's satisfaction.

[0164] As shown in FIG. 20, the shape of the touch assembly 15 is the same as the warehouse opening 1111, for example, the warehouse opening 1111 is roughly rectangular, and the touch assembly 15 also corresponds to a square ring structure. The touch assembly 15 is arranged on the side of the warehouse opening 1111, that is, the warehouse opening 1111 is in the space surrounded by the touch assembly 15, that is, the touch assembly 15 is arranged around the warehouse opening 1111. When the door body 120 closes the warehouse opening 1111, the touch assembly 15 is between the door body 120 and the base body 110. Specifically, the warehouse opening 1111 is recessed on the side to form a containing groove, and the touch assembly 15 is arranged in the containing groove. When the door body 120 closes the warehouse opening 1111, the top of the touch assembly 15 is pressed, so that the door body 120 does not protrude from the upper surface of the base body 110.

[0165] Among them, the side of the warehouse opening 1111 refers to the surrounding area of the edge of the warehouse opening 1111 of the mounting warehouse 111, that is, with the warehouse opening 1111 as the center, the side thereof forms an annular or approximately annular area, which covers the boundaries of the warehouse opening 1111 in all directions.

[0166] In one embodiment, when the door body 120 closes the opening 1111, the door body 120 does not contact the triggering assembly 15, thereby avoiding the triggering assembly 15 being triggered by mistake. In this embodiment, when the door body 120 closes the opening 1111, a gap is left between the door body 120 and the triggering assembly 15, which can be very small, for example, 1-2 mm, which can avoid the door body 120 contacting the triggering assembly 15.

[0167] In one embodiment, when the door body 120 closes the opening 1111, the door body 120 is pressed on the triggering assembly 15, thereby making the triggering assembly 15 send a signal under mechanical stress, which can play a role of detecting the closing position. In this embodiment, the triggering assembly 15 can cooperate with the second closing position detecting member to realize accurate and stable detection of the closing position of the door body 120.

[0168] The triggering assembly 15 includes a triggering member 151 and a triggering switch 152. The triggering member 151 is distributed around the opening 1111 and can float relative to the base body 110. The triggering switch 152 is located between the triggering member 151 and the base body 110. The triggering member 151 is configured to float relative to the base body 110 and can trigger the triggering switch 152 to send a signal.

[0169] In this embodiment, since the triggering member 151 is distributed around the opening 1111 and can float up and down relative to the base body 110, and the triggering switch 152 is located between the triggering member 151 and the base body 110, for example, below the triggering member 151, when a hand or a foreign object touches or contacts the triggering member 151, the triggering member 151 will float downward relative to the base body 110 and trigger the triggering switch 152 to send a signal. Therefore, the mechanical arm can stop moving according to the signal, avoiding the possibility of the mechanical arm continuing to move and clamping the hand or the foreign object at the opening 1111, reducing the personal injury or financial loss caused in the process of folding and storing the mechanical arm into the arm compartment or extending the mechanical arm out of the arm compartment, which is beneficial to improve the safety of the mechanical arm and enhance the user's satisfaction.

[0170] In this embodiment, since the triggering member 151 is distributed around the opening 1111 and can float up and down relative to the base body 110, and the triggering switch 152 is located between the triggering member 151 and the base body 110, for example, below the triggering member 151, when a hand or a foreign object touches or contacts the triggering member 151, the triggering member 151 will float downward relative to the base body 110 and trigger the triggering switch 152 to send a signal. Therefore, the mechanical arm can stop moving according to the signal, avoiding the possibility of the mechanical arm continuing to move and clamping the hand or the foreign object at the opening 1111, reducing the personal injury or financial loss caused in the process of folding and storing the mechanical arm into the arm compartment or extending the mechanical arm out of the arm compartment, which is beneficial to improve the safety of the mechanical arm and enhance the user's satisfaction.

[0171] In the above embodiment, the number of triggering switches 152 is one or more. The plurality of triggering switches 152 are distributed between the triggering member 151 and the base body 110 along the circumferential direction of the triggering member 151, so that the triggering member 151 can trigger the triggering switch 152 to send a signal when moving downward relative to the base body 110 at different positions, which is beneficial to improve the comprehensiveness and accuracy of the entire triggering assembly 15 in anti-pinch detection.

[0172] Specifically, the touch switch 152 can be at least one of a mechanical switch, a photoelectric switch, a piezoelectric switch, and a touch switch. It can be understood that when the number of the touch switch 152 is multiple, the multiple touch switches 152 can be of the same type or of different types.

[0173] Specifically, the touch switch 152 can be connected to the base body 110 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and an adhesive.

[0174] The touch assembly 15 further comprises an elastic member 153, a first end of the elastic member 153 being connected to the touch member 151, and a second end of the elastic member 153 being connected to the base body 110.

[0175] The elastic member 153 connects the touch member 151 and the base body 110, so as to achieve floating connection of the touch member 151 and the base body 110. After the touch member 151 is contacted by a human hand or a foreign object, the touch member 151 can move downward to act on the touch switch 152 and trigger a signal of the touch switch 152. After the human hand or the foreign object leaves the touch member 151, the touch member 151 can be reset to an initial position under the action of the elastic member 153.

[0176] Specifically, the elastic member 153 can be a spring, a tension spring, a torsion spring, a spring piece, a springy glue, or other elastic member 153 meeting the requirements.

[0177] Specifically, the number of the elastic member 153 can be one or more. The multiple elastic members 153 are distributed between the touch member 151 and the base body 110 along the circumference of the touch member 151, so that each part of the touch member 151 has good floating property with the base body 110 at the corresponding position, and the uniformity of the entire touch member 151 floating up and down relative to the base body 110 is improved, and the comprehensiveness and accuracy of the anti-pinch detection of the entire touch assembly 15 are improved.

[0178] Specifically, the first end of the elastic member 153 can be connected to the touch member 151 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, a hooking structure, and an adhesive. The second end of the elastic member 153 can be connected to the base body 110 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, a hooking structure, and an adhesive.

[0179] As shown in FIGS. 18 and 19, the base body 110 is provided with an emergency stop button 16, and the emergency stop button 16 is located on the outer circumferential side of the cartridge port 1111.

[0180] The cleaning device can be provided with an emergency stop module. Specifically, the emergency stop module is arranged on the base body 110 of the cleaning device and is used to control at least the execution of the safety operation mode of the gripping member mechanical arm. The emergency stop module includes an emergency stop button 16. A user can start the emergency stop module by touching the emergency stop button 16, so that the triggering of the emergency stop module is more convenient, the use of the cleaning device is more convenient, the user experience can be improved, and the response efficiency of the emergency stop module can be improved to facilitate the timely control of the execution of the safety operation mode of the mechanical arm.

[0181] The emergency stop button 16 is arranged outside the movement path of the door body 120.

[0182] When the door body 120 opens the bin opening 1111, the door body 120 can avoid shielding the emergency stop button 16, so that the user cannot touch the emergency stop button 16.

[0183] In one embodiment, when the door body 120 opens the bin opening 1111, the door body 120 opens backward in the horizontal direction, and the emergency stop button 16 is arranged on the horizontal front side of the bin opening 1111.

[0184] As shown in FIGS. 18 and 19, the base body 110 includes a frame 17 arranged along the circumference of the bin opening 1111, and the emergency stop button 16 is arranged on the frame 17.

[0185] Specifically, the upper surface of the base body 110 is recessed downward at the bin opening 1111, and a recessed groove is formed in the circumference of the bin opening 1111. The groove surrounds the bin opening 1111, and the groove and the upper surface of the base body 110 form a stepped structure. The groove depth is close to the thickness of the frame 17. The frame 17 is substantially a square ring structure and is arranged in the groove. Specifically, the bottom of the frame 17 is arranged on the groove bottom, and the top of the frame 17 is substantially flush with the upper surface of the base body 110. After the door body 120 closes the bin opening 1111, the door body 120 is located in the central space surrounded by the frame 17, and the top of the door body 120 is flush with the top of the frame 17, which ensures good aesthetics.

[0186] The frame 17 is arranged on the top of the mounting bin 111, so that the top of the base body 110 has more levels and the base body 110 is more beautiful. Further, the frame 17 can surround the area where the mechanical arm extends and is stored, which can play a warning role, reduce the probability of the user accidentally touching the working coverage area of the mechanical arm, and make the use of the cleaning device safer.

[0187] In the technical solution, the emergency stop button 16 is arranged on the frame 17, based on which, during assembly of the cleaning device, the emergency stop button 16 can be arranged on the frame 17 first, and then the frame 17 is connected to the base body 110 together with the emergency stop button 16, facilitating quick assembly of the cleaning device, and enabling the emergency stop button 16 to be closer to the mechanical arm, when the cleaning device is in a special working condition, the first reaction of the user is to observe the base body 110, the user can find the emergency stop button 16 closer to the mechanical arm at the first time, and the user can operate the emergency stop button 16 as soon as possible, so as to control the mechanical arm to execute the safety operation mode as soon as possible, making the use of the cleaning device safer.

[0188] The function adjustment module can be arranged in the cleaning device, and the function adjustment module can be used to adjust the operation mode of the base body 110, making the control of the base body 110 more convenient.

[0189] The function adjustment module includes a function adjustment button 18, and the user can start the function adjustment module by touching the function adjustment button 18, making the triggering of the function adjustment module more convenient, the use of the cleaning device more convenient, and the user experience improved.

[0190] As shown in FIGS. 18 and 19, the function adjustment button 18 is arranged on the outer circumferential side of the door body 120, facilitating user touch control.

[0191] The function adjustment button 18 is arranged apart from the emergency stop button 16, that is, a certain distance exists between the function adjustment button 18 and the emergency stop button 16, based on which, when the cleaning device is in an abnormal working state, the user can identify the emergency stop button 16 at the first time, and can control the mechanical arm to stop operation immediately through the emergency stop button 16, improving the efficiency of emergency stop response, especially avoiding false operation, such as avoiding taking the function adjustment button 18 as the emergency stop button 16, and making the use of the cleaning device safer.

[0192] The function adjustment button 18 is arranged outside the moving path of the door body 120.

[0193] The function adjustment button 18 can be avoided from being shielded by the door body 120 when the door body 120 opens the storage opening 1111, so that the user cannot touch the function adjustment button 18.

[0194] In one embodiment, when the door body 120 opens the storage opening 1111, the door body 120 opens backward in the horizontal direction, and the function adjustment button 18 is arranged on the horizontal front side of the storage opening 1111.

[0195] In the description of the application, the term "a plurality of" refers to two or more, unless otherwise expressly specified. The terms "upper", "lower", and the like, indicate the orientation or positional relationship based on the drawings described in the application, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. The terms "connected", "mounted", "fixed" and the like should be interpreted broadly, for example, "connected" can be fixed connection, can also be detachable connection, or integral connection; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0196] The application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A housing assembly (100) for use in a cleaning device, wherein, The shell assembly (100) comprises a base body (110) and a door body (120), the base body (110) is provided with a mounting compartment (111), the cleaning device comprises a mechanical arm, the mechanical arm is foldably accommodated in the mounting compartment (111), the mounting compartment (111) is provided with a compartment opening (1111), the door body (120) is movable relative to the base body (110) to open or close the compartment opening (1111), when the door body (120) is moved relative to the base body (110) to open the compartment opening (1111), the mechanical arm can move and extend out of the compartment opening (1111). The door body (120) is provided with a perspective area, the perspective area is arranged opposite to the mechanical arm.

2. The housing assembly (100) of claim 1, wherein, At least part of light can pass through the perspective area.

3. The housing assembly (100) of claim 2, wherein, The perspective area can also be provided with a transparency decreasing along a direction parallel to the perspective area.

4. The housing assembly (100) of claim 2, wherein, The perspective area is an integral structure with the door body.

5. The housing assembly (100) of claim 2, wherein, The door body (120) is provided with an observation opening, the observation opening is provided with a perspective cover to form the perspective area.

6. The housing assembly (100) of claim 2, wherein, When the door body (120) closes the compartment opening (1111), a projection of the mechanical arm on the door body (120) is within a range of the perspective area.

7. The housing assembly (100) of claim 2, wherein, The shell assembly (100) further comprises a transmission device (130) connected to the base body (110) and the door body (120), the transmission device (130) is used to drive the door body (120) to move relative to the base body (110) to open or close the compartment opening (1111).

8. The housing assembly (100) of claim 1, wherein, The transmission device (130) comprises a driving part (131) and a swing rod assembly (132), the swing rod assembly (132) is connected to at least the driving part (131) and is hinged to the door body (120), the driving part (131) drives at least the door body (120) to move to open or close the compartment opening (1111) through the swing rod assembly (132).

9. The housing assembly (100) of claim 8, wherein, The swing rod assembly (132) comprises a first swing rod (133) and a second swing rod (134), the first swing rod (133) is hinged to the driving part (131) and the door body (120) respectively, so that the driving part (131) can drive the door body (120) to move through the first swing rod (133), the second swing rod (134) is hinged to the base body (110) and the door body (120) respectively, so that the door body (120) drives the second swing rod (134) to rotate, the second swing rod (134) limits the movement of the door body (120), so that the door body (120) in the limit position of opening the compartment opening (1111) is parallel to the door body (120) of closing the compartment opening (1111).

10. The housing assembly (100) of claim 9, wherein, ​ 11. The housing assembly (100) of claim 10, wherein, The base body (110) is provided with a first position detection member (141), and the swing lever assembly (132) is arranged opposite to the first position detection member (141) when the door body (120) is in the limit position of opening the storage opening (1111) to trigger the first position detection member (141).

12. The housing assembly (100) of claim 11, wherein, The swing lever assembly (132) is provided with a trigger rod (142) on the outer wall, and the trigger rod (142) moves with the swing lever assembly (132), and the trigger rod (142) is opposite to the detection end of the first position detection member (141) when the door body (120) is in the limit position of opening the storage opening (1111).

13. The housing assembly (100) of claim 12, wherein, The trigger rod (142) is arranged on the side wall of the first swing lever (133) and extends towards the side where the first position detection member (141) is located.

14. The housing assembly (100) of claim 11, wherein, The first position detection member (141) is located on the circumferential side of the hinged position of the first swing lever (133) and the base body (110).

15. The housing assembly (100) of claim 12, wherein, The base body (110) is provided with a second position detection member, and the swing lever assembly (132) is arranged opposite to the second position detection member when the door body (120) closes the storage opening (1111) to trigger the second position detection member.

16. The housing assembly (100) of claim 15, wherein, When the door body (120) closes the storage opening (1111), the trigger rod (142) moves to be opposite to the detection end of the second position detection member.

17. The housing assembly (100) of claim 10, wherein, The shape of the second swing lever (134) matches the shape of the first swing lever (133) to match the movement trajectory of the second swing lever (134) with the movement trajectory of the first swing lever (133).

18. The housing assembly (100) of claim 17, wherein, The driving part (131) drives the door body (120) to move horizontally and vertically relative to the base body (110) through the swing lever assembly (132), and the door body (120) is parallel to each other in each posture during the horizontal rotation or horizontal rotation of the door body (120) relative to the base body (110), and the horizontal position and vertical position of the door body (120) in each posture are different.

19. The housing assembly (100) of claim 18, wherein, The movement trajectory of the door body (120) is a curve or a bending line, and when the movement trajectory of the door body (120) is a curve, the movement trajectory is an outward convex curve or an inward concave curve.

20. The housing assembly (100) of claim 10, wherein, The first swing lever (133) and the second swing lever (134) each include a first arm (137), a second arm (138) and a third arm (139) arranged in sequence, the first arm (137) and the third arm (139) are arranged opposite to each other, and the length of the first arm (137) is less than the length of the third arm (139).

21. The housing assembly (100) of claim 20, wherein, In the same first swing lever (133) or the second swing lever (134), a section of the third arm (139) connected with the second arm (138) is a straight line section (1391), the straight line section (1391) extends along a straight line and is oppositely arranged with the first arm (137), and a section of the third arm (139) away from the second arm (138) is an inclined line section (1392), the inclined line section (1392) is arranged to be inclined to the direction close to the first arm (137) relative to the straight line section (1391).

22. The housing assembly (100) of claim 21, wherein, The first arm (137) extends along a straight line, and in the same first swing lever (133) or the second swing lever (134), the included angle between the extension direction of the first arm (137) and the extension direction of the straight line section (1391) is not less than 45°, or the first arm (137) is parallel to the straight line section (1391).

23. The housing assembly (100) of claim 22, wherein, When the door body (120) is in the limit position of opening the storage opening (1111), the first arm (137) of at least part of the second swing lever (134) abuts against the base body (110).

24. The housing assembly (100) of claim 23, wherein, The included angle between the extension direction of the first arm (137) of the second swing lever (134) and the extension direction of the straight line section (1391) of the second swing lever (134) is a first angle, the included angle between the extension direction of the first arm (137) of the first swing lever (133) and the extension direction of the straight line section (1391) of the first swing lever (133) is a second angle, and the angle of the first angle is greater than the angle of the second angle, so that when the door body (120) is in the limit position of the storage opening (1111), the first arm (137) of the second swing lever (134) abuts against the base body (110).

25. The housing assembly (100) of claim 24, wherein, In the first swing lever (133), one end of the first arm (137) away from the second arm (138) extends in a direction away from the third arm (139).

26. The housing assembly (100) of claim 24, wherein, The first arm (137) of the second swing lever (134) is arranged in parallel with the straight line section (1391) of the third arm (139), and when the door body (120) is in the limit position of opening the storage opening (1111), the first arm (137) of the second swing lever (134) abuts against the base body (110).

27. The housing assembly (100) of claim 1, wherein, The base body (110) at the storage opening (1111) is provided with a touch assembly (15), and the touch assembly (15) is configured to send a signal under mechanical stress.

28. The housing assembly (100) of claim 27, wherein, The touch assembly (15) is arranged on the side of the storage opening (1111), and when the door body (120) closes the storage opening (1111), the touch assembly (15) is arranged between the door body (120) and the base body (110).

29. The housing assembly (100) of claim 28, wherein, The touch assembly (15) comprises a touch element (151) and a touch switch (152), the touch element (151) is distributed on the periphery of the opening (1111), the touch element (151) can float relative to the base body (110), and the touch switch (152) is located between the touch element (151) and the base body (110) to enable the touch element (151) to contact the touch switch (152) and trigger the touch switch (152) to send a signal.

30. The housing assembly (100) of claim 29, wherein, The touch assembly (15) further comprises an elastic element (153), a first end of the elastic element (153) is connected with the touch element (151), and a second end of the elastic element (153) is connected with the base body (110).

31. The housing assembly (100) of claim 1, wherein, The base body (110) is provided with an emergency stop button (16), and the emergency stop button (16) is located on the outer periphery of the opening (1111).

32. The shell assembly (100) according to claim 31, wherein, When the door body (120) opens the opening (1111), the emergency stop button (16) is arranged outside the moving path of the door body (120).

33. The housing assembly (100) of claim 31, wherein, The base body (110) comprises a frame (17), the frame (17) is arranged along the circumference of the opening (1111), and the emergency stop button (16) is arranged on the frame (17).

34. The housing assembly (100) of claim 1, wherein, The base body (110) on the outer periphery of the door body (120) is provided with a function adjustment button (18).

35. The housing assembly (100) of claim 34, wherein, The function adjustment button (18) is arranged outside the moving path of the door body (120).

36. A cleaning apparatus wherein, The shell assembly (100) according to any one of claims 1 to 35 is used in a robot. The shell assembly (100) according to any one of claims 1 to 35 is used in a robot.

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