Housing assembly and cleaning device

Abstract

A housing assembly and a cleaning device. The housing assembly (100) comprises a base body (110), the base body (110) being provided with a mounting compartment (111), a mechanical arm of a cleaning device being foldably stored in the mounting compartment (111), and the mounting compartment (111) being provided with a compartment opening (1111); and a door (120), the door (120) being movable relative to the base body (110) so as to open or close the compartment opening (1111).

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.

[0002] The present application claims priority to the Chinese patent application No. 202422193876.4, 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

[0003] The present application relates to the technical field of smart home, in particular to a housing assembly and a cleaning device. BACKGROUND

[0004] 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. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment 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 does it mean 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, the base body being provided with a mounting compartment, a mechanical arm of the cleaning device being foldably stored in the mounting compartment, the mounting compartment being provided with a compartment opening; a door body, the door body being movable relative to the base body to open or close the compartment opening.

[0007] Illustratively, the housing assembly further comprises: a transmission device, the transmission device connecting the base body and the door body, the transmission device being configured to drive the door body to translate and / or overturn relative to the base body to open or close the compartment opening.

[0008] Illustratively, the transmission device comprises a driving part and a swing rod assembly, the swing rod assembly being connected with at least the driving part and being hinged with the door body, the driving part driving at least the door body to translate through the swing rod assembly to open or close the compartment opening.

[0009] Exemplarily, the swing rod assembly comprises a plurality of swing rods, the plurality of swing rods comprising a first swing rod and a second swing rod, the first swing rod being connected between the driving part and the door body, the second swing rod being hinged between the base body and the door body, the driving part being configured to drive the first swing rod to rotate, the second swing rod being driven to rotate by the door body to move the door body relative to the base body, wherein the door body in the limit position of opening the hatch is parallel to the door body in the limit position of closing the hatch.

[0010] Exemplarily, the two ends of the swing rod are respectively provided with a first connecting part and a second connecting part, the first swing rod is connected with the driving part through the first connecting part, the first swing rod is hinged with the door body through the second connecting part, the second swing rod is hinged with the base body through the first connecting part, and the second swing rod is hinged with the door body through the second connecting part.

[0011] Exemplarily, the door body is provided with a first hinge part hinged with the first swing rod and a second hinge part hinged with the second swing rod, the number of the first hinge part is one, and the plurality of second hinge parts are distributed on at least part of the circumferential side of the first hinge part.

[0012] Exemplarily, the number of the second hinge part is four, the second hinge part is distributed in pairs on both sides of the first hinge part along a first direction, the second hinge part distributed in pairs is distributed on both sides of the first hinge part along a second direction, and the first direction and the second direction are perpendicular.

[0013] Exemplarily, the shape of the second swing rod matches the shape of the first swing rod, so that the swing rod assembly drives the door body to move.

[0014] Exemplarily, the swing rod is provided in a bent structure, and the first connecting part and the second connecting part are located at the two ends of the bent structure.

[0015] Exemplarily, the swing rod comprises a first arm, a second arm and a third arm arranged in sequence, the first arm and the third arm are oppositely arranged, the first connecting part is located at the first arm, the second connecting part is located at the third arm, and the length of the first arm is less than the length of the third arm.

[0016] Exemplarily, the third arm comprises a straight line segment and an inclined line segment, the straight line segment is connected with the second arm and is oppositely arranged with the first arm, the inclined line segment is arranged in a direction inclined to the first arm relative to the straight line segment, and the second connecting part is located at the end of the inclined line segment away from the straight line segment.

[0017] Exemplarily, a straight line passing through the center of the first connecting part and perpendicular to the straight line segment of the third arm is taken as a reference line, and the included angle between the first arm and the reference line is 45° to 90°.

[0018] Exemplarily, the first arm of at least part of the swing rod abuts against the base body, so that the door body is in the limit position of opening the hatch.

[0019] Exemplarily, the included angle between the first arm of the second swing rod and the reference line is greater than the included angle between the first arm of the first swing rod and the reference line, so that the first arm of the second swing rod abuts against the base body when the door body is in the limit position of the opening.

[0020] Exemplarily, the first arm of the first swing rod is arranged to be inclined away from the third arm from the end connected with the second arm to the end close to the first connecting portion.

[0021] Exemplarily, the first arm of the second swing rod is arranged to be parallel to the straight line segment of the third arm, and the first arm of the second swing rod abuts against the base body when the door body is in the limit position of opening the opening.

[0022] Exemplarily, the driving portion is provided with an overcurrent protection device.

[0023] Exemplarily, the shell assembly further comprises a buffer, the buffer being arranged on the first arm and / or the base body and being located between the first arm and the base body when the door body is in the limit position of opening the opening.

[0024] Exemplarily, the third arm of at least part of the swing rod further comprises a transition segment connecting the straight line segment and the inclined line segment, the transition segment being arranged to be at least one of a straight line, an inclined line, a curve and a bent line.

[0025] Exemplarily, the transmission device is located inside the base body, and the driving portion is located outside the mounting bin, and the wall of the mounting bin and the nearby base body are provided with a mutual communication avoiding opening configured to avoid the swing rod assembly.

[0026] Exemplarily, the transmission device further comprises a driving portion and a flipping mechanism, the flipping mechanism connecting the driving portion and the door body, and the driving portion rotating through the flipping mechanism to drive the door body to flip to open or close the opening.

[0027] Exemplarily, the transmission device further comprises a driving portion and a translation mechanism, the translation mechanism connecting the driving portion and the door body, and the driving portion translating through the translation mechanism to drive the door body to translate in the horizontal direction to open or close the opening.

[0028] The second aspect of the embodiment of the present application provides a cleaning device, comprising a mechanical arm and the shell assembly of any one of the first aspect.

[0029] 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.

[0030] 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

[0031] The following drawings of the present application are hereby incorporated as 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.

[0032] In the drawings:

[0033] 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;

[0034] Fig. 2 shows a structure schematic view of the embodiment shown in Fig. 1 from another perspective;

[0035] Fig. 3 shows a structure schematic view of the embodiment shown in Fig. 1 from still another perspective;

[0036] Fig. 4 shows a structure schematic view of the embodiment shown in Fig. 1 from yet another perspective;

[0037] 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;

[0038] Fig. 6 shows a structure schematic view of the embodiment shown in Fig. 5 from another perspective;

[0039] Fig. 7 shows a structure schematic view of the embodiment shown in Fig. 5 from still another perspective;

[0040] Fig. 8 shows a structure schematic view of the embodiment shown in Fig. 5 from yet another perspective;

[0041] Fig. 9 shows a structure schematic view of a door body and a swing rod assembly of the present application from one perspective when the door body closes a bin opening;

[0042] Fig. 10 shows a structural schematic view of one perspective of a first swing lever of the present application;

[0043] Fig. 11 shows a structural schematic view of one perspective of a second swing lever of one embodiment of the present application;

[0044] Fig. 12 shows a structural schematic view of one perspective of a second swing lever of another embodiment of the present application;

[0045] Fig. 13 shows a structural schematic view of another perspective of the embodiment shown in Fig. 10;

[0046] Fig. 14 shows a structural schematic view of another perspective of the embodiment shown in Fig. 11;

[0047] Fig. 15 shows a schematic view of the process postures of the door body relative to the base body in the process of translational swing-out or translational swing-in of the first embodiment of the present application;

[0048] Fig. 16 shows a schematic view of the process postures of the door body relative to the base body in the process of translational swing-out or translational swing-in of the second embodiment of the present application;

[0049] Fig. 17 shows a partial structural schematic view of a housing assembly of another embodiment of the present application.

[0050] Explanation of Reference Signs

[0051] 100 housing assembly, 110 base body, 111 mounting cavity, 1111 cavity 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 lever assembly, 133 first swing lever, 134 second swing lever, 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. DETAILED DESCRIPTION

[0052] In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solutions provided by the present application. However, it is obvious to those skilled in the art that the technical solutions provided by the present application can be implemented without one or more of these details.

[0053] It should be noted that the terms used herein are merely for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the terms "comprise" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0054] Exemplary embodiments according to the present application will now 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 limited to the embodiments set forth herein. It should be understood that the embodiments are provided merely to make the present disclosure complete and to fully convey the concept of the exemplary embodiments to those having ordinary skill in the art.

[0055] As shown in FIGS. 1-17, 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, which can be a robot vacuum cleaner, a robot mop, a robot mop-vacuum cleaner, or other cleaning robots that meet the requirements.

[0056] Specifically, the cleaning device includes, but is not limited to, the housing assembly 100, a cleaning assembly, a driving wheel assembly, etc. The above-mentioned components cooperate 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 components 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.

[0057] 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 cavity 111, a mechanical arm of the cleaning device can be foldably stored in the mounting cavity 111, and the mounting cavity 111 is provided with a cavity 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 cavity opening 1111.

[0058] The shell assembly 100 provided by the embodiment of the present application comprises a base body 110 and a door body 120, wherein the base body 110 is provided with a mounting bin 111, and the cleaning device comprises a mechanical arm, which can be folded and 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 it is not needed 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. The door body 120 is movable 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, reduces the possibility that the mechanical arm in the mounting bin 111 is polluted by dust or soaked by liquid in the external environment, prolongs the service life of the mechanical arm, and improves the overall reliability of the cleaning device.

[0059] 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. Thus, the unfolding movement of the mechanical arm can realize grabbing or moving of obstacles, objects or garbage near the shell assembly 100, so as to better realize the autonomous cleaning function. It can be understood that the above-mentioned objects can also be objects required by the user, such as a remote controller, an apple, and the like, which are not listed one by one here.

[0060] Further, the base body 110 is also provided with a mounting groove, and a driving wheel assembly of the cleaning device is mounted on the base body 110 through the mounting groove, so that the driving wheel assembly can drive the base body 110 to move when it works. 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 a target position.

[0061] Further, as shown in FIG. 17, the base body 110 can be understood as a main part of the shell assembly 100 of the cleaning device, the mounting bin 111 is directly arranged on the base body 110, the bin opening 1111 of the mounting bin 111 can face upward, the mounting groove is directly arranged on the base body 110, and the opening of the mounting groove faces downward. 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 and a rear part, or other shapes.

[0062] Alternatively, as shown in FIGS. 1-8, the base body 110 can include a base shell (not shown in the figures) and a connecting seat 113 mounted on the base shell, and the mounting cavity 111 can be formed at the top of the connecting seat 113, and the mechanical arm is connected to the connecting seat 113. Alternatively, the connecting seat 113 can be provided with a through slot, and the connecting seat 113 and the base shell enclose the mounting cavity 111, and the mechanical arm is mounted on the base shell through the through slot of the connecting seat 113. Wherein, the mounting slot can be formed at the bottom of the base shell, and the driving wheel assembly is mounted on the base shell. Specifically, the shape of the base shell can be substantially the same as the shape of the shell assembly 100 of the cleaning device, such as the shape of the base shell can be substantially disc-shaped, front-rear disc-shaped, or other shapes, etc., and the shape of the connecting seat 113 can be rectangular, circular, other regular or irregular shapes.

[0063] As shown in FIGS. 4 and 8, in some possible implementation embodiments provided in the present application, the shell assembly 100 further includes a transmission device 130 connected to 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 cavity opening 1111. This kind of arrangement is beneficial to improve the intelligence of the shell assembly 100 and improve the user's satisfaction.

[0064] Wherein, the transmission device 130 is used to drive the door body 120 to translate and / or overturn relative to the base body 110 to open or close the cavity opening 1111, such as the transmission device 130 can drive the door body 120 to translate relative to the base body 110 to open or close the cavity opening 1111, or the transmission device 130 can drive the door body 120 to overturn relative to the base body 110 to open or close the cavity opening 1111, or the transmission device 130 can drive the door body 120 to translate and overturn relative to the base body 110 to open or close the cavity opening 1111. Thus, the needs of different structures of the transmission device 130 can be met.

[0065] It can be understood that in other examples, the door body 120 and the base body 110 can also be provided in a split manner, and the door body 120 is moved relative to the base body 110 by manual movement to open or close the cavity opening 1111. This kind of arrangement can simplify the setting of the transmission device 130, reduce the volume of the shell assembly 100, and is beneficial to save manufacturing costs.

[0066] As shown in FIGS. 4 and 8, in some possible implementation embodiments provided in the present application, the transmission device 130 includes 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, and the driving part 131 drives at least the door body 120 to translate through the swing rod assembly 132 to open or close the cavity opening 1111.

[0067] The door body 120 is driven by the driving part 131 and the swing lever assembly 132 to at least translate relative to the base body 110 to open or close the storage opening 1111. Compared with the door body 120 being flipped 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 is at least translated relative to the base body 110 to open the storage opening 1111.

[0068] Further, the driving part 131 drives the door body 120 to at least translate relative to the base body 110 to open or close the storage opening 1111 through the swing lever assembly 132. The driving part 131 can drive the door body 120 to translate relative to the base body 110 along the horizontal direction through the swing lever assembly 132, or the driving part 131 can drive the door body 120 to synchronously translate relative to the base body 110 along the horizontal direction and the vertical direction through the swing lever assembly 132, or the driving part 131 can drive the door body 120 to synchronously translate relative to the base body 110 along the horizontal direction and the vertical direction and with a flipping motion through the swing lever assembly 132. Thus, the requirements of different structures of the swing lever assembly 132 can be met.

[0069] Specifically, the driving part 131 drives the door body 120 to synchronously translate relative to the base body 110 along the horizontal direction and the vertical direction through the swing lever assembly 132, and the driving part 131 drives the door body 120 to synchronously translate relative to the base body 110 along the horizontal direction and the vertical direction and with a flipping motion through the swing lever assembly 132. It can be understood that the door body 120 is translated and rotated out or translated and rotated back relative to the base body 110.

[0070] Specifically, FIG. 15 shows a schematic view of the process of the horizontal translation of the door body 120 relative to the base body 110 in the first embodiment of the present application. In this embodiment, the driving part 131 drives the door body 120 to move horizontally and vertically relative to the base body 110 through the swing rod assembly 132, so as to make the door body 120 horizontally translate or swing relative to the base body 110. As shown in FIG. 15, when the door body is in the 120a position, the door body 120 closes the opening 1111, when the door body is in the 120c position, the door body opens the opening 1111, and when the door body is in other positions between the 120a position and the 120c position, such as the 120b position, the door body is located between the opening and the closing positions. Specifically, the door body in the 120b position is parallel to the door body in the 120a position and the 120c position, but the positions are different. That is, the door body in the 120a position, the 120b position and the 120c position is parallel to each other, and the horizontal and vertical positions of the door body in the 120a position, the 120b position and the 120c position are different. That is, in the process of the horizontal translation or the swing of the door body 120 relative to the base body 110, the door body in each position is parallel to each other, and the horizontal and vertical positions of the door body in each position are different.

[0071] Specifically, in the process of the movement of the door body in the 120a position and the 120c position in the embodiment shown in FIG. 15, the movement track of the door body 120 is shown as a dashed line Q. It can be understood that the movement track Q of the door body 120 can be a straight line, a curved line, a bent line or other shaped lines, which are not limited in the present application.

[0072] Specifically, FIG. 16 shows a schematic view of the process of the horizontal translation and swing-out or swing-in of the door body 120 relative to the base body 110. In this embodiment, the driving part 131 drives the door body 120 to move horizontally and vertically and to rotate synchronously in the horizontal and vertical directions by means of the swing lever assembly 132, so as to make the door body 120 horizontally translate and swing-out or swing-in relative to the base body 110. When the door body is in the 120a position, the door body 120 closes the opening 1111, and when the door body is in the 120c position, the door body opens the opening 1111. The door body in the 120a position and the door body in the 120c position are parallel to each other, and the horizontal and vertical positions of the door body in the 120a position and the door body in the 120c position are different. When the door body is in other positions between the 120a position and the 120c position, such as the 120b position, the door body is located between the opening and closing positions of the opening 1111. The door body in the 120b position is not parallel to the door body in the 120a position and the door body in the 120c position, and the horizontal and vertical positions of the door body in the 120b position are different from those of the door body in the 120a position and the door body in the 120c position. That is, during the horizontal translation and swing-out or swing-in of the door body 120 relative to the base body 110, the door body 120 in some positions is parallel to each other, and the door body 120 in some positions is not parallel to each other, and the horizontal and / or vertical positions of the door body 120 in each position are different.

[0073] Specifically, during the movement of the door body in the 120a position and the 120c position in the embodiment shown in FIG. 16, the movement trajectory of the door body 120 is shown by the dashed line Q. It can be understood that the movement trajectory Q of the door body 120 can be a curve, a bent line or other shaped line. The curve can be an outward convex curve or an inward concave curve, which is not limited in the present application. The swing lever assembly 132 is connected to the driving part 131 and hinged to the door body 120. It can be understood that the swing lever assembly 132 includes a plurality of swing levers, all of which can be connected to the driving part 131 or part of which is connected to the driving part 131, and all of which can be hinged to the door body 120 or part of which is hinged to the door body 120, so as to meet the requirements of different structures of the swing lever assembly 132.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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. The first swing lever 133 is connected between the driving part 131 and the door body 120, and the second swing lever 134 is hinged between the base body 110 and the door body 120. 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.

[0079] 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 of the door body 120 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 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.

[0080] 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 rod assembly 132, so as to make the door body 120 move horizontally or rotate horizontally 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 rod assembly 132 and accompanied by a flip motion, so as to make the door body 120 move horizontally or rotate horizontally relative to the base body 110 to open or close the opening 1111.

[0081] The number of the swing rods can be multiple, and the number of the first swing rods 133 can be multiple, such as one, two, three or other numbers. The number of the second swing rods 134 can be multiple, such as one, two, three or other numbers. It can be understood that the number of the first swing rods 133 and the number of the second swing rods 134 can be equal or not equal. The first swing rods 133 are used to connect the driving part 131 and the door body 120, and the second swing rods 134 are used to connect the door body 120 and the base body 110. The structures of the first swing rods 133 and the second swing rods 134 can be the same or different, the structures of the multiple first swing rods 133 can be the same or different, and the structures of the multiple second swing rods 134 can be the same or different.

[0082] As shown in FIG. 4, FIG. 8, FIG. 9, FIG. 10, FIG. 11 and FIG. 12, in some possible implemented embodiments provided by the present application, the two ends of the swing rod are respectively provided with the first connecting part 135 and the 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.

[0083] The first connecting part 135 and the second connecting part 136 on the swing rod can be a connecting hole, a connecting convex column, a connecting ear or other structures.

[0084] 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 output shaft of the motor is driven to rotate 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, and the first connecting part 135 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, and the second connecting part 136 is hinged to the door body 120 through a hinge shaft.

[0085] As shown in FIG. 9, in some possible implemented embodiments provided in 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.

[0086] 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.

[0087] 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.

[0088] 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 the plurality of second hinge parts 122 can be distributed on the same side, different sides or the entire circumferential side of the first hinge part 121, etc.

[0089] 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.

[0090] 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 moved out or moved 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.

[0091] It can be understood that the structures of the four second swing rods 134 can be the same or different.

[0092] 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.

[0093] 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 movement of the door body 120 relative to the base body 110 as shown in the embodiments of FIG. 15 or FIG. 16, and this part of the movement can be understood as the auxiliary movement of the door body 120.

[0094] 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 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 storage opening 1111.

[0095] 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.

[0096] 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 out of the door body 120 to open the door or the parallel rotation back to close the door.

[0097] 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.

[0098] 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, 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, and the length of the first arm 137 is less than the length of the third arm 139, so that 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 move and rotate out or move and swing relative to the base body 110 as shown in the embodiments of FIG. 15 or FIG. 16 to open or close the storage opening 1111.

[0099] Specifically, the first arm 137, the second arm 138, and the third arm 139 can be an integrally formed structure, which is convenient to process, easy to produce, and reduces manufacturing cost. Alternatively, the first arm 137, the second arm 138, and the third arm 139 can be a split structure, which is assembled into a swing rod.

[0100] 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 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. The inclined segment 1392 is arranged to be inclined relative to the straight segment 1391 and 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.

[0101] In this embodiment, the straight line segment 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 line segment 1392 away from the straight line segment 1391, and arranging the oblique line segment 1392 to be inclined relative to the straight line segment 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 requirements of compact structure and small volume of the transmission device 130. At the same time, 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.

[0102] As shown in FIGS. 13 and 14, in some possible implementation embodiments provided in the present application, a straight line passing through the center of the first connecting portion 135 and perpendicular to the straight line segment 1391 of the third arm 139 is taken as a reference line, and the included angle between the first arm 137 and the reference line is 45° to 90°.

[0103] As shown in FIGS. 13 and 14, in some possible implementation embodiments provided in the present application, a straight line passing through the center of the first connecting portion 135 and perpendicular to the straight line segment 1391 of the third arm 139 is taken as a reference line, and the included angle between the first arm 137 and the reference line is 45° to 90°.

[0104] 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, 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.

[0105] In some possible implementation embodiments provided in the present application, the first arm 137 of at least part of the swing lever abuts against the base body 110, so that the door body 120 is in the limit position of opening the bin opening 1111.

[0106] 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 translating out relative to the base body 110, at which the door body 120 cannot translate out relative to the base body 110 any more, and the door body 120 can only translate back relative to the base body 110 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 translating out relative to the base body 110.

[0107] In this 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 to achieve mechanical limiting, thereby well limiting the movement of the door body 120, so that the door body 120 can be kept at the position of opening the storage opening 1111.

[0108] Specifically, the first arm 137 of the first swing rod 133 can abut against the base body 110 to make the door body 120 at 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 to make the door body 120 at 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 to make the door body 120 at 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 to make the door body 120 at the limit position of opening the storage opening 1111.

[0109] In the above embodiment, the included angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the included angle between the first arm 137 of the first swing rod 133 and the reference line, so that when the door body 120 is at the limit position of the storage opening 1111, the first arm 137 of the second swing rod 134 abuts against the base body 110.

[0110] The included angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the included angle between the first arm 137 of the first swing rod 133 and the reference line, so that in the process that the first swing rod 133 drives the second swing rod 134 to move through the door body 120, part of the structure of the second swing rod 134, such as the third arm 139 of the second swing rod 134, will abut against the base body 110 to limit the movement of the door body 120 relative to the base body 110, so that the door body 120 can be reliably and stably kept at the position of opening the storage opening 1111.

[0111] Specifically, when the first swing rod 133 in FIG. 13 and the second swing rod 134 in FIG. 14 rotate in the counterclockwise direction O with the first connecting portion 135 as the center, the door body 120 is driven to move relative to the base body 110 to open the storage opening 1111. Since the included angle between the first arm 137 of the second swing rod 134 and the reference line is greater than the included angle between the first arm 137 of the first swing rod 133 and the reference line, the movement space of the second swing rod 134 is smaller than the movement space of the first swing rod 133 during the counterclockwise rotation of the first swing rod 133 and the second swing rod 134. Thus, the first arm 137 of the second swing rod 134 abuts against the base body 110 first, as shown in FIG. 6, the first arm 137 of the second swing rod 134 abuts against the base body 110 first, and the mechanical limiting phenomenon is realized. Thus, the movement of the door body 120 is well limited, the movement of the first swing rod 133 is limited, and the door body 120 can be kept at the position of opening the storage opening 1111. Specifically, the direction indicated by the arrow O shown in FIGS. 13 and 14 is the counterclockwise direction.

[0112] As shown in FIG. 13, in some possible implemented embodiments provided by the present application, the first arm 137 of the first swing rod 133 is arranged to be inclined away from the third arm 139 from the end connected to the second arm 138 to the end close to the first connecting portion 135. Thus, the included angle between the first arm 137 of the first swing rod 133 and the reference line is less than 90°, which provides sufficient movement space for the first swing rod 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, and ensures that the door body 120 has sufficient movement space to smoothly rotate out or back relative to the base body 110.

[0113] As shown in FIGS. 6 and 14, in some possible implemented embodiments provided by the present application, the first arm 137 of the second swing rod 134 is arranged in parallel with the straight line segment 1391 of the third arm 139, the door body 120 is at the limit position of opening the storage opening 1111, and the first arm 137 of the second swing rod 134 abuts against the shell assembly 100. Thus, the included angle between the first arm 137 of the second swing rod 134 and the reference line is close to or equal to 90°, which provides sufficient movement space for the second swing rod 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 rod 134 in the counterclockwise direction is smaller than the movement space of the first swing rod 133 in the counterclockwise direction. Thus, the first arm 137 of the second swing rod 134 abuts against the base body 110, so that the door body 120 is at the limit position of opening the storage opening 1111.

[0114] That is, by reasonably setting the shape of the bending structure of the second swing rod 134, so that the movement space of the second swing rod 134 is smaller than that of the first swing rod 133, the mechanical limit is formed by the second swing rod 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 bin opening 1111.

[0115] Specifically, the above-mentioned swing rod assembly 132 provided in the embodiment drives the door body 120 to move horizontally out or horizontally rotate to open or close the bin opening 1111 along the movement trajectory of the embodiment shown in FIG. 16 relative to the base body 110.

[0116] In some possible implementation embodiments provided in the present application, the driving part 131 is provided with an overcurrent protection device.

[0117] The overcurrent protection device refers to a protection mode that makes the driving part 131 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 certain value set in advance, the protection device starts to work, and the driving part 131 stops working. In the embodiment, when the first arm 137 of the partial swing arm and the base body 110 abut to form a mechanical limit, such as the first arm 137 of the second swing rod 134 and the base body 110 abutting to form a mechanical limit, the movement of the first swing rod 133 is limited, which makes the overcurrent protection device of the driving part 131 work, and the driving part 131 stops working, so that the door body 120 can be reliably and stably kept in the limit position of opening the bin opening 1111. Therefore, the damage to the driving part 131 can be reduced, which is beneficial to prolong the service life of the driving part 131 and improve the reliability of the driving part 131.

[0118] It can be understood that when the door body 120 closes the bin opening 1111, part of the door body 120 abuts against the base body 110 around the bin opening 1111, so that the door body 120 and the base body 110 around the bin opening 1111 form a limit limit, so that the movement of the first swing rod 133 is limited. At this time, the overcurrent protection device of the driving part 131 will work, and the driving part 131 will stop working, so that the door body 120 can be reliably and stably closed to the bin opening 1111, so as to reduce the damage of dust, liquid, sundries and the like in the external environment to the installation bin 111 and improve the service life of the mechanical arm.

[0119] In some possible implementation embodiments provided in the present application, the shell assembly 100 further comprises a buffer, the buffer is arranged on the third arm 139 and / or the base body 110, and the buffer is located between the third arm 139 and the base body 110 when the door body 120 is in the limit position of opening the bin opening 1111.

[0120] The buffer piece is arranged to buffer the abutment or collision between the third arm 139 of the swing rod and the base body 110, so as to reduce the damage or wear of the third arm 139 or the base body 110 caused by the frequent abutment or collision between the third arm 139 and the base body 110, greatly improve the service life of the swing rod and the base body 110, and improve the overall reliability of the cleaning equipment.

[0121] Specifically, the buffer piece can be elastic silica gel, elastic sheet, elastic glue or the like.

[0122] Specifically, the buffer piece 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 piece 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 piece can be installed on the base body 110 and 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.

[0123] It can be understood that when the buffer piece is arranged on the third arm 139 of the swing rod, the buffer piece can be arranged on all the third arms 139 abutting against the base body 110, or the buffer piece can be arranged on at least one of the third arms 139 abutting against the base body 110.

[0124] As shown in FIG. 12, in some possible implemented embodiments provided by the present application, the third arm 139 of the at least part 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.

[0125] In the present 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 two ends of the swing rod, so that the arrangement position of the swing rod can be diversified and flexible, the structure of the swing rod assembly 132 can be various and easy to implement, and the design difficulty is reduced.

[0126] 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, all are arranged with a bent structure and all include the first arm 137, the second arm 138 and the third arm 139. However, as shown in FIG. 9, 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. 13, the third arm 139 of one pair of second swing rods 134 located on the left side of the first swing rod 133 includes the transition segment 1393, and as shown in FIG. 12, the third arm 139 of one pair of second swing rods 134 located on the right side of the first swing rod 133 does not include the transition segment 1393.

[0127] It can be understood that, in some examples, the first swing rod 133 and the second swing rod 134 can each include a transition section 1393.

[0128] In some possible implementation embodiments provided in the present application, the transmission device 130 is located inside the base body 110, the driving part 131 is located outside the installation bin 111, and the bin wall of the installation bin 111 and the nearby base body 110 are provided with a mutual communication avoiding opening 112 for avoiding the swing rod assembly 132.

[0129] As shown in FIG. 5 and FIG. 8, in the present embodiment, the avoiding opening 112 is provided, which 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.

[0130] Specifically, the avoiding opening 112 can be reasonably provided according to the movement track 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.

[0131] In the description of the present application, the term "a plurality of" refers to two or more, unless otherwise explicitly limited, and the terms "upper", "lower", etc. indicate the orientation or positional relationship described based on the drawings, which is only for the convenience of describing the present application and simplifying the description, and does 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 present application; the terms "connection", "installation", "fixation" and the like should be understood broadly, for example, "connection" 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 meanings of the above terms in the present application can be understood according to the specific circumstances.

[0132] The present 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 present application shall be included in the protection scope of the present application.

Claims

1. A housing assembly (100) for use in a cleaning device, wherein, The shell assembly (100) comprises: a base body (110) provided with a mounting cavity (111) in which a mechanical arm of a cleaning device is foldably accommodated, the mounting cavity (111) being provided with a cavity opening (1111); a door body (120) movable relative to the base body (110) to open or close the cavity opening (1111).

2. The housing assembly (100) of claim 1, wherein, Further comprising: a transmission device (130) connecting the base body (110) and the door body (120), the transmission device (130) being configured to drive the door body (120) to translate and / or rotate relative to the base body (110) to open or close the cavity opening (1111).

3. The shell assembly (100) according to claim 2, wherein the transmission device (130) comprises a driving part (131) and a swing rod assembly (132), the swing rod assembly (132) being connected with at least the driving part (131) and hinged with the door body (120), the driving part (131) driving at least the door body (120) to translate to open or close the cavity opening (1111) through the swing rod assembly (132).

4. The shell assembly (100) according to claim 3, wherein the swing rod assembly (132) comprises a plurality of swing rods, the plurality of swing rods comprising a first swing rod (133) and a second swing rod (134), the first swing rod (133) being connected between the driving part (131) and the door body (120), the second swing rod (134) being hinged between the base body (110) and the door body (120), the driving part (131) being configured to drive the first swing rod (133) to rotate, the door body (120) driving the second swing rod (134) to rotate to move the door body (120) relative to the base body (110); wherein the door body (120) in the limit position to open the cavity opening (1111) is parallel to the door body (120) to close the cavity opening (1111).

5. The shell assembly (100) according to claim 4, wherein both 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) being connected with the driving part (131) through the first connecting part (135), the first swing rod (133) being hinged with the door body (120) through the second connecting part (136), the second swing rod (134) being hinged with the base body (110) through the first connecting part (135), the second swing rod (134) being hinged with the door body (120) through the second connecting part (136).

6. The shell assembly (100) according to claim 5, wherein The door body (120) is provided with a first hinge part (121) hinged with the first swing rod (133), and a second hinge part (122) hinged with the second swing rod (134), the number of the first hinge part (121) is one, and the number of the second hinge part (122) is multiple, which are distributed on at least part of the circumferential side of the first hinge part (121).

7. The shell assembly (100) according to claim 6, wherein, The number of the second hinge part (122) is four, the second hinge part (122) is distributed on both sides of the first hinge part (121) in a first direction, and the second hinge part (122) distributed in pairs is distributed on both sides of the first hinge part (121) in a second direction, and the first direction and the second direction are perpendicular.

8. The shell assembly (100) according to claim 5, wherein, The shape of the second swing rod (134) matches the shape of the first swing rod (133) to drive the door body (120) to move by the swing rod assembly (132).

9. The shell assembly (100) according to claim 5, wherein, The swing rod is arranged in a bent structure, and the first connecting part (135) and the second connecting part (136) are located at both ends of the bent structure.

10. The shell assembly (100) according to claim 9, wherein, The swing rod comprises 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 oppositely arranged, the first connecting part (135) is located at the first arm (137), the second connecting part (136) is located at the third arm (139), and the length of the first arm (137) is less than the length of the third arm (139).

11. The shell assembly (100) according to claim 10, wherein, The third arm (139) comprises a straight line segment (1391) and an oblique line segment (1392), the straight line segment (1391) is connected with the second arm (138) and oppositely arranged with the first arm (137), the oblique line segment (1392) is arranged to be inclined to the direction close to the first arm (137) relative to the straight line segment (1391), and the second connecting part (136) is located at the end of the oblique line segment (1392) away from the straight line segment (1391).

12. The shell assembly (100) according to claim 11, wherein, Taking a straight line passing through the center of the first connecting part (135) and perpendicular to the straight line segment (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°.

13. The shell assembly (100) according to claim 12, wherein, At least part of the first arm (137) of the swing rod abuts against the base body (110) to make the door body (120) in the limit position of opening the bin opening (1111).

14. The case assembly (100) according to claim 13, wherein an included angle between the first arm (137) of the second swing lever (134) and the reference line is greater than an included angle between the first arm (137) of the first swing lever (133) and the reference line, so that the first arm (137) of the second swing lever (134) abuts against the base body (110) when the door body (120) is in the limit position of the opening (1111).

15. The case assembly (100) according to claim 14, wherein the first arm (137) of the first swing lever (133) is arranged to be inclined away from the third arm (139) from an end connected with the second arm (138) to an end close to the first connecting portion (135).

16. The case assembly (100) according to claim 14, wherein 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), and the first arm (137) of the second swing lever (134) abuts against the base body (110) when the door body (120) is in the limit position of the opening (1111).

17. The case assembly (100) according to claim 3, wherein the driving portion (131) is provided with an overcurrent protection device.

18. The housing assembly (100) of claim 13, wherein, Further comprising: a buffer member arranged on the first arm (137) and / or the base body (110), the buffer member being located between the first arm (137) and the base body (110) when the door body (120) is in the limit position of the opening (1111).

19. The case assembly (100) according to claim 11, wherein the third arm (139) of at least part of the swing lever further comprises a transition segment (1393) connecting the straight line segment (1391) and the oblique line segment (1392), the transition segment (1393) being arranged in at least one of a straight line, an oblique line, a curve, and a zigzag line.

20. The case assembly (100) according to claim 3, wherein the transmission device (130) is located inside the base body (110), the driving portion (131) is located outside the mounting cavity (111), and the cavity wall of the mounting cavity (111) and the base body (110) near the cavity wall are provided with an avoidance opening (112) in communication with each other and configured to avoid the swing lever assembly (132).

21. The case assembly (100) according to claim 2, wherein the transmission device (130) further comprises a driving portion (131) and a turnover mechanism, the turnover mechanism connecting the driving portion (131) and the door body (120), and the driving portion (131) is rotated through the turnover mechanism to drive the door body (120) to turn to open or close the opening (1111).

22. The case assembly (100) according to claim 2, wherein The transmission device (130) further comprises a driving part (131) and a translation mechanism connecting the driving part (131) and the door body (120), the driving part (131) being translated by the translation mechanism to drive the door body (120) to translate in the horizontal direction to open or close the opening (1111).

23. A cleaning apparatus wherein, Comprising: a robotic arm, and a housing assembly (100) as claimed in any of claims 1 to 22.

Images