Cleaning device and cleaning system

Abstract

A cleaning device and a cleaning system, wherein the cleaning device comprises a cleaning device body, a mounting plate, a grabbing assembly, positioning members, and a fastener. The cleaning device body comprises a housing. During assembly, the positioning members on the mounting plate can be aligned with positioning holes to complete preliminary positioning of the grabbing assembly and the mounting plate, and then the fastener can be connected to the grabbing assembly through the housing and an assembly hole. In the cleaning device, on the one hand, the grabbing assembly can be positioned by means of at least the positioning member and the fastener, allowing for a more reliable fixation of the grabbing assembly; on the other hand, during the assembly process, the positioning holes on the mounting plate can be used in cooperation with the positioning member to achieve preliminary positioning of the grabbing assembly, thereby improving assembly efficiency.

Description

Cleaning device and cleaning system Related application cross-reference

[0001] The present application claims priority to the Chinese patent application No. 202422881245.1 entitled "Cleaning device and cleaning system" and filed on November 25, 2024, with the Chinese Patent Office, the content of which is incorporated herein in its entirety.

[0002] The present application claims priority to the Chinese patent application No. 202411698985.X entitled "Cleaning device and cleaning system" and filed on November 25, 2024, with the Chinese Patent Office, the content of which is incorporated herein in its entirety.

[0003] The present application claims priority to the Chinese patent application No. 202411252937.8 entitled "Cleaning device and cleaning system" and filed on September 6, 2024, with the Chinese Patent Office, the content of which is incorporated herein in its entirety. TECHNICAL FIELD

[0004] The present disclosure relates to the technical field of smart home, and in particular, to a cleaning device and a cleaning system. BACKGROUND

[0005] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning devices such as intelligent sweeping robots have continuously entered our daily life. The inventor found that in order to better achieve 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 deployed to perform a grabbing action. However, in the conventional cleaning device equipped with a mechanical arm, the mechanical arm cannot be stably fixed, and the assembly process is cumbersome. SUMMARY

[0006] A series of concepts in simplified form are introduced in the summary section, which will be further described in detail in the specific embodiment section. This part of the present disclosure does not mean to try to define the key features and essential technical features of the claimed technical solutions, nor does it mean to try to determine the protection scope of the claimed technical solutions.

[0007] The present disclosure aims to at least solve one of the problems in the prior art or related art.

[0008] To this end, a first aspect of the present disclosure provides a cleaning device.

[0009] A second aspect of the present disclosure provides another cleaning system.

[0010] The third aspect of the present disclosure provides a cleaning system.

[0011] Therefore, the first aspect of the present disclosure provides a cleaning device, which comprises:

[0012] A cleaning device body comprising a shell;

[0013] A mounting plate having a positioning hole and an assembly hole formed thereon;

[0014] A grabbing assembly connected to the mounting plate;

[0015] A positioning member connected to the shell, the positioning member being used for positioning through the positioning hole;

[0016] A fastener connected to the shell and the grabbing assembly through the assembly hole.

[0017] In an available embodiment, the positioning hole is two or more, and the number of the positioning members is adapted to the number of the positioning holes;

[0018] In an available embodiment, at least two of the positioning holes are respectively distributed at two ends of the mounting plate.

[0019] In an available embodiment, the distance between two adjacent positioning holes is greater than or equal to 50 mm.

[0020] In an available embodiment, the positioning members are different in style or diameter.

[0021] In an available embodiment, the grabbing assembly comprises:

[0022] A mechanical arm, and an avoidance part is formed on the mounting plate, and the rotating platform of the mechanical arm is located in the avoidance part.

[0023] In an available embodiment, the assembly hole is two or more, and the number of the fasteners is adapted to the number of the assembly holes;

[0024] In an available embodiment, the assembly holes are divided into two groups and arranged on two sides of the mounting plate.

[0025] In an available embodiment, the cleaning device further comprises:

[0026] A press rivet arranged in the assembly hole, and the fastener passes through the mounting hole in the press rivet.

[0027] In an embodiment, reinforcing ribs are formed on the shell, and grooves are formed on the peripheral side of the mounting plate, and at least part of the reinforcing ribs are located in the grooves.

[0028] In an embodiment, a plurality of grooves are formed on the peripheral side of the mounting plate.

[0029] In an embodiment, a storage position is formed on the shell, and the mounting plate is arranged in the storage position, and the mounting plate abuts against the wall of the storage position.

[0030] In an embodiment, the cleaning device comprises:

[0031] A functional component is arranged in the shell, and the grabbing assembly is connected to the functional component.

[0032] The functional component comprises a power supply or a controller.

[0033] In an embodiment, the cleaning device further comprises:

[0034] A channel is connected to the functional component, and an opening end of the channel is connected to the storage position, and a cable of the grabbing assembly passes through the channel and is connected to the functional component.

[0035] In an embodiment, the cleaning device further comprises:

[0036] A limiting component is connected to or formed on the inner wall of the storage position, and the limiting component is used for limiting the cable.

[0037] In an embodiment, a fixing groove is formed in the storage position, the fixing groove is used for accommodating the cable, and the limiting component is located above or in the fixing groove.

[0038] In an embodiment, the cleaning device further comprises:

[0039] A cover plate is connected to the inner wall of the storage position, and is used for covering the cable, the limiting component and the fixing groove.

[0040] In an embodiment, a plurality of cover plates are connected to the inner wall of the storage position, and the cover plates are used for covering the channel.

[0041] In an embodiment, the mounting plate is connected to the bottom plate of the shell; and / or

[0042] The mounting plate is in a strip shape; and / or

[0043] the length of the mounting plate is 120mm to 200mm; and / or

[0044] the width of the mounting plate is 25mm to 50mm; and / or

[0045] the thickness of the mounting plate is 2mm to 5mm; and / or

[0046] the mounting plate is arranged along a direction perpendicular to the travel of the cleaning device body; and / or

[0047] the profile of the positioning hole is adapted to the profile of the positioning member.

[0048] According to a second aspect of the embodiments of the present application, a cleaning device is provided, comprising:

[0049] a cleaning device body, the cleaning device body comprising a housing, the housing having a storage position formed thereon;

[0050] a grabbing assembly connected in the storage position by a connecting assembly, so that the grabbing assembly is connected with the housing.

[0051] In an available embodiment, the connecting assembly comprises:

[0052] a mounting plate, the mounting plate having a positioning hole formed thereon;

[0053] a positioning member connected to the housing, the positioning member being used to position the grabbing assembly through the positioning hole.

[0054] In an available embodiment, the cleaning device further comprises:

[0055] a fastener, the mounting plate having an assembly hole formed thereon, the fastener being used to be connected to the housing and the grabbing assembly through the assembly hole.

[0056] In an available embodiment, the cleaning device further comprises:

[0057] a thickening member, the thickening member being arranged at the assembly hole, the assembly hole passing through the thickening member.

[0058] In an available embodiment, the cleaning device body comprises:

[0059] a functional member, the functional member being arranged in the housing, the grabbing assembly being connected to the functional member;

[0060] the functional member comprises a power supply or a controller.

[0061] In an available embodiment, the cleaning device further comprises:

[0062] A channel is formed on the shell, a mounting plate of the connecting assembly is arranged in the channel, the mounting plate of the connecting assembly abuts against a wall of the channel, the channel is connected to the functional component, an opening end of the channel is connected to the channel, and the cable of the grabbing assembly is connected to the functional component through the channel.

[0063] In an embodiment, the cleaning device further comprises:

[0064] A limiting member is connected to or formed on an inner wall of the channel, and the limiting member is used to limit the cable.

[0065] In an embodiment, a fixing groove is formed in the channel, the fixing groove is used to accommodate the cable, and the limiting member is located above or in the fixing groove.

[0066] In an embodiment, the cleaning device further comprises:

[0067] A cover plate is connected to the inner wall of the channel and used to cover the cable and the limiting member.

[0068] In an embodiment, a plurality of cover plates are connected to the inner wall of the channel, and the cover plates are used to cover the channel.

[0069] In an embodiment, the channel is arranged at or near an end of the channel along a width direction of the cleaning device.

[0070] In an embodiment, the grabbing assembly 130 is accommodated in the channel 113 in the storage state. This arrangement makes the cleaning device more beautiful.

[0071] According to a third aspect of the embodiments of the present disclosure, a cleaning system is provided, comprising:

[0072] The cleaning device according to the first aspect; or

[0073] The cleaning device according to the second aspect;

[0074] A base station is used to accommodate the cleaning device.

[0075] Compared with the prior art, the present disclosure has at least the following beneficial effects:

[0076] The cleaning device provided in the first aspect of the embodiment of the present disclosure comprises a cleaning device body, a mounting plate, a grabbing assembly, a positioning piece and a fastener, the cleaning device body comprises a shell, based on which when the cleaning device is assembled, the mounting plate is connected to the grabbing assembly, in the assembly process, the whole formed by the grabbing assembly and the mounting plate can be assembled to the cleaning device body, in the early stage of assembly, the positioning piece on the mounting plate can be aligned with the positioning hole, the whole formed by the grabbing assembly and the mounting plate is positioned to the shell, the preliminary positioning of the grabbing assembly and the mounting plate is completed, then the fastener can be connected to the grabbing assembly through the shell and the assembly hole, based on which the fixation of the grabbing assembly is completed, and the assembly of the cleaning device is completed. The cleaning device is provided with the mounting plate, the positioning piece and the fastener, on the one hand, the grabbing assembly can be positioned and fixed at least by the positioning piece and the fastener, so that the fixation of the grabbing assembly is more reliable; on the second hand, in the assembly process, the positioning hole on the mounting plate and the positioning piece can be matched to realize the preliminary positioning of the grabbing assembly, so that the assembly efficiency is improved; on the third hand, the mounting plate and the grabbing assembly form a whole with a larger contact area with the bottom plate of the shell, so that the gap between the grabbing assembly and the shell is reduced, the amplitude of the shaking of the grabbing assembly is limited, and in combination with the positioning piece and the fastener, the fixation of the grabbing assembly is more reliable.

[0077] The above description is only a summary of the technical scheme of the present disclosure, in order to more clearly understand the technical means of the present disclosure, the content of the specification can be implemented, and in order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described below. BRIEF DESCRIPTION OF DRAWINGS

[0078] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are intended to further assist in understanding the preferred embodiments, and are not intended to limit the present disclosure. Moreover, the same reference numbers in the entire drawings represent the same components. In the drawings:

[0079] FIG. 1 is a schematic structural view of the cleaning device of one embodiment provided by the present disclosure from one angle;

[0080] FIG. 2 is a schematic structural view of the cleaning device of one embodiment provided by the present disclosure from another angle;

[0081] FIG. 3 is a schematic structural view of the working state of the grabbing assembly of the cleaning device of one embodiment provided by the present disclosure;

[0082] FIG. 4 is a schematic structural view of the grabbing assembly and the mounting plate of the cleaning device of one embodiment provided by the present disclosure;

[0083] Fig. 5 is a schematic structural view of a housing and a mounting plate of a cleaning device according to an embodiment of the present disclosure;

[0084] Fig. 6 is a partial enlarged view of Fig. 5 at A;

[0085] Fig. 7 is a schematic structural view of a housing and a mounting plate of a cleaning device according to an embodiment of the present disclosure from another angle;

[0086] Fig. 8 is a schematic structural view of a mounting plate of a cleaning device according to an embodiment of the present disclosure;

[0087] Fig. 9 is a schematic structural view of a working state of a grabbing assembly of a cleaning device according to an embodiment of the present disclosure;

[0088] Fig. 10 is a partial enlarged view of Fig. 9 at A;

[0089] Fig. 11 is a schematic structural view of a hidden cover plate and a cable of a working state of a grabbing assembly of a cleaning device according to an embodiment of the present disclosure;

[0090] Fig. 12 is a partial enlarged view of Fig. 11 at B;

[0091] Fig. 13 is a schematic structural view of a working state of a grabbing assembly of a cleaning device according to an embodiment of the present disclosure from another angle;

[0092] Fig. 14 is a schematic structural view of a hidden cover plate and a cable of a working state of a grabbing assembly of a cleaning device according to an embodiment of the present disclosure from another angle;

[0093] Fig. 15 is a partial enlarged view of Fig. 14 at C;

[0094] Fig. 16 is a schematic structural view of a hidden housing of a cleaning device according to an embodiment of the present disclosure;

[0095] Fig. 17 is a schematic structural view of a mounting manner of a grabbing assembly of a cleaning device according to an embodiment of the present disclosure;

[0096] Fig. 18 is a schematic structural view of a cleaning device according to another embodiment of the present disclosure;

[0097] Fig. 19 is a schematic structural view of a stretched state of a grabbing assembly of a cleaning device according to another embodiment of the present disclosure;

[0098] Fig. 20 is a schematic structural view of a cleaning device according to still another embodiment of the present disclosure;

[0099] Fig. 21 is a schematic structural view of a hidden cover plate and a cable of a working state of a grabbing assembly of a cleaning device according to an embodiment of the present disclosure from still another angle;

[0100] FIG. 22 is a partial enlarged view of D in FIG. 21.

[0101] In FIGS. 1-22, the correspondence between the reference numerals and the component names is as follows:

[0102] 110 cleaning device body, 120 mounting plate, 130 grabbing assembly, 140 positioning piece, 150 fastener, 160 riveting piece, 170 functional piece, 180 passage, 190 limiting piece, 200 fixing groove, 210 cover plate, 220 thickening piece, bin door 230;

[0103] 111 housing, 112 reinforcing rib, 113 bin position, 121 positioning hole, 122 assembly hole, 123 avoidance, 124 groove, 131 mechanical arm, 132 cable. DETAILED DESCRIPTION

[0104] 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 disclosure. However, it will be apparent to one of ordinary skill in the art that the technical solutions provided by the present disclosure can be practiced without one or more of these specific details.

[0105] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit example embodiments according to the present disclosure. 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 be understood that when the terms "comprise" and / or "include" are used in the specification, it indicates the presence of the described 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.

[0106] Now, example embodiments according to the present disclosure will be described in greater detail with reference to the accompanying drawings. However, these example 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 is complete and comprehensive, and the ideas of the example embodiments are sufficiently conveyed to those of ordinary skill in the art.

[0107] As shown in FIGS. 1-22, according to a first aspect of the embodiments of the present disclosure, a cleaning device is provided, comprising: a cleaning device body 110, the cleaning device body 110 comprising a shell 111; a mounting plate 120, the mounting plate 120 comprising a positioning hole 121 and an assembly hole 122; a grabbing assembly 130, the mounting plate 120 being connected to the grabbing assembly 130; a positioning piece 140, the positioning piece 140 being connected to the shell 111, and the positioning piece 140 being used for positioning through the positioning hole 121; and a fastener 150, the fastener 150 being connected to the shell 111 and the grabbing assembly 130 through the assembly hole 122.

[0108] The cleaning device provided by the embodiments of the present disclosure comprises the cleaning device body 110, the mounting plate 120, the grabbing assembly 130, the positioning piece 140 and the fastener 150, the cleaning device body 110 comprises the shell 111, based on which, when the cleaning device is assembled, the mounting plate 120 is connected to the grabbing assembly 130, in the assembly process, the whole formed by the grabbing assembly 130 and the mounting plate 120 can be assembled to the cleaning device body 110, in the early stage of assembly, the positioning piece 140 on the mounting plate 120 can be aligned with the positioning hole 121, the whole formed by the grabbing assembly 130 and the mounting plate 120 can be positioned to the shell 111, the preliminary positioning of the grabbing assembly 130 and the mounting plate 120 is completed, then the fastener 150 can be connected to the grabbing assembly 130 through the shell 111 and the assembly hole 122, based on which, the fixation of the grabbing assembly 130 is completed, and the assembly of the cleaning device is completed.

[0109] The cleaning device provided by the embodiments of the present disclosure, by the arrangement of the mounting plate 120, the positioning piece 140 and the fastener 150, on the one hand, the grabbing assembly 130 can be positioned at least by the positioning piece 140 and the fastener 150, so that the fixation of the grabbing assembly 130 is more reliable; on the second hand, in the assembly process, the positioning hole 121 on the mounting plate 120 and the positioning piece 140 can be matched to realize the preliminary positioning of the grabbing assembly 130, so that the assembly efficiency can be improved; on the third hand, by the arrangement of the mounting plate 120, the contact area of the whole formed by the mounting plate 120 and the grabbing assembly 130 with the bottom plate of the shell 111 is larger, so that the gap between the grabbing assembly 130 and the shell 111 can be reduced, and the amplitude of shaking of the grabbing assembly 130 can be limited, in combination with the positioning piece 140 and the fastener 150, the fixation of the grabbing assembly 130 can be more reliable.

[0110] The cleaning device provided by the embodiments of the present disclosure can reduce the center of gravity of the cleaning device when the grabbing assembly 130 is in the storage state, so that the center of gravity of the grabbing assembly 130 is lowered into the shell 111, and the movement of the cleaning device is more stable. The lowering of the overall center of gravity of the cleaning device makes the cleaning device less likely to tip over or lose balance during cleaning, especially when encountering complex terrain such as slopes and carpet edges, and can maintain more stable motion performance, thereby improving cleaning efficiency and safety. The cleaning device is more likely to be close to the ground, thereby more effectively removing dust, hair and debris on the ground. In particular, for some low furniture bottom, corner and other difficult-to-clean areas, the cleaning device with low center of gravity can clean more deeply and leave no dead angle. The cleaning device is more stable during movement and is less likely to deviate or lose control due to external forces. At the same time, the cleaning device is more flexible when turning, climbing and other actions, and can easily cope with various complex environments.

[0111] It can be understood that the positioning member 140 can be a protrusion or a protruding column formed on the shell 111, and the profile of the positioning hole 121 is adapted to the profile of the positioning member 140, and the positioning hole 121 is slightly larger than the positioning member 140, so that the positioning member 140 can be inserted into the positioning hole 121. After the positioning member 140 is inserted into the positioning hole 121, the swinging of the mounting plate 120 based on the grabbing assembly 130 can be limited.

[0112] It can be understood that the fastener 150 can include a bolt, a screw, a rivet, a clamping member, an expansion screw, or any structure capable of connecting different objects.

[0113] It can be understood that when the fastener 150 is assembled, the fastener 150 can pass through the shell 111 from the side of the shell 111 away from the grabbing assembly 130, then pass through the assembly hole 122, and finally be connected to the grabbing assembly 130. In this way, on the one hand, the assembly of the fastener 150 is facilitated, and the bottom of the shell 111 can have more operation space; on the other hand, the connection between the shell 111, the mounting plate 120 and the grabbing assembly 130 is more reliable.

[0114] It can be understood that the area corresponding to the assembly hole 122 of the grabbing assembly 130 can also form a mounting portion, and the fastener 150 can be adapted to the mounting portion, so that the fastener 150 can be connected to the grabbing assembly 130. For example, when the fastener 150 is a bolt, the mounting portion can be a threaded hole.

[0115] It can be understood that the cleaning device body 110 can include but is not limited to a machine body, a cleaning system, a driving system, etc. The above-mentioned various systems 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 various systems in the cleaning device are integrally arranged in the shell 111. 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.

[0116] In some examples, the cleaning device can further include a bin door 230, which is hingedly connected to the shell 111 and can cover the bin position 113 to reduce the probability of intrusion of sundries into the bin position 113.

[0117] Further, the grabbing assembly 130 is applied to the cleaning device, such as the grabbing assembly 130 being connected to the shell 111 of the cleaning device body 110, so that the grabbing assembly 130 can move with the cleaning device body 110 to reach the target position, and then move the obstacles, objects, and garbage in the vicinity of the cleaning device through the movement of the grabbing assembly 130 to better achieve 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, etc., which will not be listed one by one here.

[0118] As shown in FIG. 8, in a possible implementation, the positioning hole 121 is two or more, and the number of the positioning pieces 140 is adapted to the number of the positioning holes 121.

[0119] In this technical solution, the number of the positioning holes 121 is further provided, the positioning holes 121 can be two or more, and the number of the positioning pieces 140 can be equal to the number of the positioning holes 121. Based on this, the whole formed by the grabbing assembly 130 and the mounting plate 120 can be limited by two or more groups of the positioning holes 121 and the positioning pieces 140, which can make the positioning of the grabbing assembly 130 and the mounting plate 120 more reliable, so that the positioning pieces 140 can limit the swing amplitude of the grabbing assembly 130, and also can limit the movement of the grabbing assembly 130 and the mounting plate 120 in the plane.

[0120] As shown in FIG. 8, in an available embodiment, at least two positioning holes 121 are arranged at two ends of the mounting plate 120 respectively. In this way, a large enough distance between the two positioning holes 121 can be obtained, which can ensure the machining accuracy of the positioning holes 121, especially the angle error between the two positioning holes 121, so as to avoid affecting the assembly accuracy of the grabbing assembly 130 due to the large angle error between the two positioning holes 121, and ensure the perpendicularity of the machining of the positioning holes 121, so that the positioning member 140 and the positioning holes 121 can better position the grabbing assembly 130, and ensure that the grabbing assembly 130 is installed more standardly. In addition, by increasing the distance between the two positioning holes 121, the two ends of the mounting plate 120 can have a positioning relationship with the shell 111, which can improve the positioning accuracy of the mounting plate 120.

[0121] It can be understood that, assuming that the plane in which the cleaning device body 110 is located is the XY axis plane, the height direction of the cleaning device body 110 is the Z direction, and the grabbing assembly 130 can be lifted in the Z direction to grab the articles. The fixed manner in the prior art can cause the grabbing assembly 130 to easily shake in the Z direction. By using the positioning member 140 and the fastener 150 in combination, the shaking of the grabbing assembly 130 in the Z direction can be inhibited. Further, by arranging multiple positioning members 140 and positioning holes 121, the movement of the mounting plate 120 and the grabbing assembly 130 in the XY axis plane can be further inhibited, the fixation of the grabbing assembly 130 can be more reliable, the grabbing assembly 130 can be prevented from tilting, and the noise generated during the operation of the cleaning device can be reduced.

[0122] In some examples, considering the size of the cleaning device body 110, the positioning holes 121 can be arranged in two, and the two positioning holes 121 are arranged at two ends of the mounting plate 120 respectively, so as to facilitate the machining of the mounting plate 120.

[0123] As shown in FIGS. 2 and 3, in an available embodiment, the distance between the two adjacent positioning holes 121 is greater than or equal to 50 mm.

[0124] In the technical solution, when the positioning holes 121 are two or more, the position relationship between different positioning holes 121 is further provided, and the distance between two adjacent positioning holes 121 is greater than or equal to 50 mm. In this way, a large enough distance is provided between the two positioning holes 121, which can ensure the machining precision of the positioning holes 121, especially the corner error between the two positioning holes 121, so as to avoid affecting the assembly precision of the grabbing assembly 130 due to the excessive corner error of the two positioning holes 121, and at the same time ensure the perpendicularity of the machining of the positioning holes 121, so that the positioning member 140 and the positioning hole 121 can better position the grabbing assembly 130, and the installation of the grabbing assembly 130 is more standard. In addition, by increasing the distance between the two positioning holes 121, both ends of the mounting plate 120 can have a positioning relationship with the shell 111, which can improve the positioning precision of the mounting plate 120.

[0125] In some examples, in order to further improve the machining precision of the positioning holes 121, the distance between two adjacent positioning holes 121 can be greater than or equal to 80 mm.

[0126] As shown in FIG. 8, in a possible implementation, the styles of different positioning members 140 are different or the diameters of different positioning members 140 are different.

[0127] In the technical solution, when the positioning members 140 are two or more, the styles of different positioning members 140 are different or the diameters of different positioning members 140 are different. This setting is considered that the positioning members 140 on the mounting plate 120 can be aligned with the positioning holes 121 at the initial assembly of the cleaning equipment. If the positioning holes 121 are multiple, the positioning holes 121 and the corresponding positioning members 140 need to be aligned at the same time, which is a complex process and has a large operation difficulty. Therefore, in this embodiment, the styles of different positioning members 140 are different or the diameters of different positioning members 140 are different, so that the assembly direction of the mounting plate 120 can be directly determined based on the style or size of the positioning member 140 during assembly, which can improve the assembly efficiency.

[0128] In some examples, in order to reduce the machining cost, the difference between different positioning members 140 and positioning holes 121 can only be reflected in the size difference, for example, the positioning members 140 can be positioning pins, and the difference between different positioning holes 121 and positioning members 140 can be the difference in diameter.

[0129] It can be understood that the different styles of the positioning members 140 can include different shapes of the cross sections of the positioning members 140, for example, some positioning members 140 can be waist-shaped positioning pins, and some positioning members 140 can be columnar positioning pins. Some positioning members 140 can be positioning pins, and some positioning members 140 can be convex or bump-shaped structures.

[0130] As shown in FIG. 4 and FIG. 5, in a possible implementation, the grabbing assembly 130 comprises a mechanical arm 131, and the mounting plate 120 is provided with a clearance 123, and the turntable of the mechanical arm 131 is located in the clearance 123.

[0131] In the technical scheme, the style of the grabbing assembly 130 is further provided, the grabbing assembly 130 can comprise the mechanical arm 131, and the style of the mounting plate 120 can be adapted to the mechanical arm 131, the clearance 123 can be formed on the mounting plate 120, the mechanical arm 131 can rotate by using the space of the clearance 123, and the movable space of the mechanical arm 131 can be increased by combining the extension of the mechanical arm 131, so that the mechanical arm 131 can grab the object, for example, when the object is in front of the cleaning device in the direction of movement, the mechanical arm 131 can grab the obstacle and move the obstacle to another area which does not hinder the normal operation of the cleaning device, so that the operation of the cleaning device is more smooth.

[0132] In the technical scheme, the clearance 123 is formed on the mounting plate 120, the mechanical arm 131 can be assembled by using the clearance 123, the assembly height of the mechanical arm 131 can be reduced, the center of gravity of the mechanical arm 131 can be lower, and the probability of the grabbing assembly 130 falling can be further reduced, so that the operation of the cleaning device is safer.

[0133] It can be understood that the turntable is a component that can rotate the mechanical arm 131 relative to the shell 111, so that the operation range of the mechanical arm 131 can be increased.

[0134] In a possible implementation, the thickness of the mounting plate 120 is 2mm to 5mm.

[0135] In the technical scheme, the style of the mounting plate 120 is further provided, the thickness of the mounting plate 120 is 2mm to 5mm, so that the stability of the grabbing assembly 130 is ensured, the thickness of the mounting plate 120 is reduced as much as possible, the assembly depth of the grabbing assembly 130 is reduced, on the one hand, in the same space, a mechanical arm 131 with a larger specification can be assembled, and the grabbing of the grabbing assembly 130 on the object is more convenient. On the other hand, the center of gravity of the grabbing assembly 130 can be reduced, especially when the grabbing assembly 130 is in the storage state, the grabbing assembly 130 can be stored in the shell 111, so that the movement of the cleaning device is more stable, and on the other hand, the weight of the cleaning device can be reduced, and the energy consumption of the cleaning device during movement can be reduced.

[0136] In some examples, in order to ensure the mechanical strength of the mounting plate 120, the mounting plate 120 can be made of steel.

[0137] As shown in FIG. 2, in a possible implementation, the assembly holes 122 are two or more, and the number of the fasteners 150 is adapted to the number of the assembly holes 122.

[0138] In the technical solution, the number of the assembly holes 122 is further provided, the assembly holes 122 are two or more, and the number of the fasteners 150 can be equal to the number of the assembly holes 122. Based on this, the gripping assembly 130 and the shell 111 can have multiple connection positions, so that the fixing strength of the gripping assembly can be further improved, and the probability of loosening of the gripping assembly can be further reduced.

[0139] It can be understood that the assembly holes 122 and the positioning holes 121 can be two or more. Such a setting makes the fixing of the gripping assembly more reliable.

[0140] As shown in FIG. 8, in a possible implementation, the plurality of assembly holes 122 are divided into two groups and arranged on two sides of the mounting plate 120. In this way, on the one hand, the mounting plate 120 and the shell 111 can have multiple connection points, and the stress of the multiple connection points is more balanced, which can further ensure the reliability of the fixing of the gripping assembly 130. On the other hand, the assembly holes 122 are easy to open, which can simplify the machining process of the mounting plate 120 and facilitate the assembly of the mounting plate 120.

[0141] As shown in FIG. 7, in a possible implementation, the cleaning device further includes a press-in fastener 160, the press-in fastener 160 is arranged in the assembly hole 122, and the fastener 150 passes through a mounting hole in the press-in fastener 160.

[0142] In the technical solution, the cleaning device can further include the press-in fastener 160. Such a setting is made in consideration of the fact that, in order to reduce the installation gravity center of the gripping assembly 130, the thickness of the mounting plate 120 should be as thin as possible on the premise of meeting the mechanical strength. However, as the thickness of the mounting plate 120 is reduced, the depth of the assembly hole 122 on the mounting plate 120 will inevitably be reduced, which can cause the fixing strength of the fastener 150 to be reduced. Based on this, in this embodiment, the press-in fastener 160 can be arranged at the assembly hole 122, and a mounting hole is formed in the press-in fastener 160. Based on this, the fastener 150 can be connected to the gripping assembly 130 in a manner of passing through the mounting hole. Through the arrangement of the press-in fastener 160, the height can be increased, and the fixing strength of the fastener 150 can be improved.

[0143] As shown in FIGS. 6 to 8, in a possible implementation, the shell 111 is formed with a reinforcing rib 112, and the peripheral side of the mounting plate 120 is formed with a groove 124, and at least part of the reinforcing rib 112 is located in the groove 124.

[0144] In the technical solution, further provided is the style of the shell 111. It is considered that, in order to guarantee the installation mechanical strength, the installation plate 120 is usually made of a material with high strength, for example, the installation plate 120 can be made of steel or other metal materials. In order to reduce the self weight of the cleaning equipment, the main body of the cleaning equipment is usually made of a resin material. In this case, the mechanical strength of the shell 111 is low, and the shell 111 has a risk of deformation. When the shell 111 is deformed, the fixing strength of the grabbing assembly 130 is also affected. Based on this, in the embodiment, the shape of the installation plate 120 and the style of the shell 111 are designed. The recess 124 can be formed on the installation plate 120, and the reinforcing rib 112 can be formed on the shell 111. When the installation plate 120 is assembled on the shell 111, the reinforcing rib 112 is inserted into the recess 124, the strength of the shell 111 is increased, the contact area between the shell 111 and the installation plate 120 is increased, and the fixing of the grabbing assembly 130 is more reliable.

[0145] In some examples, the recess 124 is a plurality of recesses 124, and the plurality of recesses 124 are arranged at intervals. The recesses 124 are distributed on the circumferential side of the installation plate 120. In this way, on the one hand, more reinforcing ribs 112 can be formed on the shell 111 by the arrangement of the plurality of recesses 124, and the strength can be further improved. On the other hand, the recesses 124 are distributed on the circumferential side of the installation plate 120, and the reinforcing ribs 112 are inserted into the recesses 124.

[0146] As shown in FIG. 3, in a feasible implementation, the shell 111 is formed with a storage position 113, and the installation plate 120 is arranged in the storage position 113, and the installation plate 120 abuts against the wall surface of the storage position 113.

[0147] In the technical solution, further provided is the style of the shell 111. The shell 111 is formed with the storage position 113, and the installation plate 120 is arranged in the storage position 113, and the installation plate 120 abuts against the wall surface of the storage position 113. In this way, the installation plate 120 is fixed and limited by the wall surface of the storage position 113, the assembly of the installation plate 120 is more reliable, the grabbing assembly 130 can be accommodated by the storage position 113, the overall product integrity is improved, and the structural layout of the cleaning equipment is more reasonable.

[0148] It can be understood that the installation plate 120 abuts against the wall surface of the storage position 113, which includes that the installation plate 120 abuts against the bottom plate of the shell 111 and the installation plate 120 abuts against the wall surface of the side wall of the storage position 113.

[0149] In an available implementation, the mounting plate 120 is connected to the bottom plate of the shell 111. In this way, the mounting height and gravity center of the grabbing assembly 130 can be lowered, so that the cleaning device body 110 runs more stably, and the grabbing assembly 130 can be completely accommodated in the shell 111 when it is accommodated.

[0150] As shown in FIG. 16, in an available implementation, the cleaning device body 110 comprises a functional part 170, which is arranged in the shell 111 and to which the grabbing assembly 130 is connected. The functional part 170 comprises a power supply and / or a controller.

[0151] In this technical solution, the cleaning device body 110 can further comprise a functional part 170, which is connected to the grabbing assembly 130. Based on this, the functional part 170 can power on the grabbing assembly 130, control the operation of the grabbing assembly 130, and make the use of the grabbing assembly 130 more convenient.

[0152] As shown in FIGS. 9-22, in an available implementation, the cleaning device further comprises a channel 180, which is connected to the functional part 170 and has an open end connected to the storage position 113. The cable 132 of the grabbing assembly 130 passes through the channel 180 and is connected to the functional part.

[0153] As shown in FIGS. 21 and 22, in this technical solution, considering that the mechanical arm 131 of the grabbing assembly 130 may involve power-on or communication control in addition to the connection and fixation of the mechanical structure, the power-on or communication connection of the grabbing assembly 130 in the traditional technology is also relatively cumbersome. In an available implementation, the cleaning device can further comprise a channel 180 arranged at the storage position 113 and connected to the functional part 170. Based on this, the cable 132 of the grabbing assembly 130 can pass through the channel 180 and be connected to the functional part 170, so that the electrical connection and communication connection of the grabbing assembly 130 can be quickly assembled, and the assembly efficiency can be further improved.

[0154] It can be understood that the end of the cable 132 can be formed with a plug, and the channel 180 can be formed with a socket. The plug is directly inserted into the socket, so that the quick connection of the plug and the channel 180 can be established, and the electrical connection and communication connection of the grabbing assembly 130 can be more convenient.

[0155] As shown in FIGS. 9-15, in an available implementation, the cleaning device further comprises a limiting part 190, which is connected to or formed on the inner wall of the storage position 113. The limiting part 190 is used for limiting the cable 132.

[0156] In the technical solution, considering that the grabbing assembly 130 needs to move, such as possible stretching, retracting, rotating or swinging, etc., the movement of the grabbing assembly 130 may displace the cable 132 or the grabbing assembly 130 is easy to scratch the cable 132, based on which the cleaning equipment can further include a limiting piece 190, which can limit the cable 132 to prevent the cable 132 from moving unexpectedly, and can reduce the probability of the grabbing assembly 130 contacting and scratching the cable 132, so that the communication connection and electrical connection of the grabbing assembly 130 are more reliable.

[0157] In some examples, the number of limiting pieces 190 can be multiple, and the multiple limiting pieces 190 are arranged along the arrangement direction of the cable 132, which can further improve the limiting effect of the cable 132.

[0158] As shown in FIGS. 9-15, in a possible implementation, a fixing groove 200 is formed in the warehouse position 113, the fixing groove 200 is used to accommodate the cable 132, and the limiting piece 190 is located above or in the fixing groove 200.

[0159] In the technical solution, considering that if the cable 132 of the grabbing assembly 130 is directly arranged in the warehouse position 113, the grabbing assembly 130 still has a probability of scratching the cable 132, especially when the grabbing assembly 130 is in the retracted state, the grabbing assembly 130 is particularly easy to press on the cable 132, which is easy to damage the cable 132. Based on this, by forming the fixing groove 200 in the warehouse position 113, the cable 132 can be sunk in the fixing groove 200, which can greatly reduce the probability of the grabbing assembly 130 contacting the cable 132. At the same time, by forming the fixing groove 200, the inner wall of the fixing groove 200 can also limit the cable 132, which can further reduce the probability of the cable 132 moving.

[0160] Further, the limiting piece 190 can be formed on the inner wall of the fixing groove 200. In this way, the limiting piece 190 does not occupy too much space in the storage position 113, or in other words, the limiting piece 190 does not protrude in the storage position 113, and does not hinder the storage of the grabbing assembly 130. This can help to reduce the height of the cleaning device, so that the structural layout of the cleaning device is more compact. After the height of the cleaning device is reduced, it can more easily enter low areas such as the bottom of a sofa, the bottom of a bed, etc. These areas are often difficult for traditional cleaning tools to reach. A low-height cleaning device can more effectively remove dust and dirt from these areas, thereby improving overall cleaning coverage. The reduction in the height of the cleaning device means that the distance between the bottom of the cleaning device and the ground is shortened, so that the cleaning device can more closely adhere to the ground for cleaning. This close adhesion helps to improve the cleaning effect, especially for stubborn stains and small particles that adhere to the ground. A low-height cleaning device generally has higher flexibility and can easily move between furniture to avoid collisions with furniture. This flexibility not only helps to improve cleaning efficiency, but also reduces the risk of damage to the cleaning device during operation. For users, a low-height cleaning device is easier to store and store, and does not occupy too much space. A low-height cleaning device generally has a lower noise level because it is in closer contact with the ground when in operation, reducing vibration and noise. A low-height cleaning device can be suitable for a wider range of cleaning scenarios, such as homes, offices, shopping malls, etc. In particular, in places with higher cleaning requirements, such as hospitals, laboratories, etc., a low-height cleaning device can more effectively meet cleaning needs.

[0161] As shown in FIGS. 9-15, in one possible implementation, the cleaning device further includes a cover plate 210, which is used to connect to the inner wall of the storage position 113 and cover the cable 132, the limiting piece 190, and the fixing groove 200.

[0162] In this technical solution, the cleaning device can further include a cover plate 210, which is connected to the storage position 113. The cover plate 210 can be arranged above the fixing groove 200, so that the cover plate 210 can be arranged above the cable 132, the limiting piece 190, and the passage 180. This can make the appearance of the storage position 113 more tidy, while reducing the amount of dust that invades the fixing groove 200 and the passage 180, and further reducing the probability of contact between the grabbing assembly 130 and the cable 132. This can make the use of the cleaning device safer, especially the operation of the grabbing assembly 130.

[0163] In some examples, the cover plate 210 can be connected to the storage position 113 by clamping or bolting, which can make the connection more reliable and facilitate disassembly.

[0164] In an implementation, the cover plate 210 is provided in plurality, and the cover plate 210 is clamped to the inner wall of the storage position 113, and the cover plate 210 is further used to cover the channel 180.

[0165] In the technical solution, the number of the cover plate 210 is further provided, and the cover plate 210 can be two or more than two, and based on this, the long and narrow fixing groove 200 is covered by the plurality of cover plates 210, which facilitates the assembly of the cover plate 210, and facilitates the sealing of the channel 180, and can make the storage position 113 of the cleaning device more tidy and safe.

[0166] As shown in FIGS. 1-8, in an implementation, the mounting plate 120 is long strip-shaped, which facilitates the processing and installation of the mounting plate 120, and can have a larger contact area with the grabbing assembly 130, thereby improving the mounting strength.

[0167] In an implementation, the length of the mounting plate 120 is 120-200 mm, the width of the mounting plate 120 is 25-50 mm, and the thickness of the mounting plate 120 is 2-5 mm, which further provides the size of the mounting plate 120, so that the mounting plate 120 is flat, facilitating the processing and installation of the mounting plate 120, and can have a larger contact area with the grabbing assembly 130, thereby improving the mounting strength.

[0168] As shown in FIGS. 1-8, in an implementation, the mounting plate 120 is arranged along a direction perpendicular to the travel direction of the cleaning device main body 110. That is, the length of the mounting plate 120 is arranged in the left-right direction of the front of the cleaning device main body 110, which is beneficial to space layout, compact structure, and facilitates the fixation of the grabbing assembly 130, and the grabbing assembly 130 is fixed at the front of the cleaning device main body 110, and the grabbing assembly 130 mainly operates the area at the front of the cleaning device main body 110, so that the activity space range is larger, and the grabbing of the object is more convenient.

[0169] As shown in FIGS. 1-17, according to the second aspect of the embodiments of the present disclosure, a cleaning device is provided, which comprises: a cleaning device main body 110, the cleaning device main body 110 comprising a shell 111, the shell 111 being provided with a storage position 113; a grabbing assembly 130, the grabbing assembly 130 being connected in the storage position 113 through a connecting assembly, so that the grabbing assembly 130 is connected with the shell 111.

[0170] The second aspect of the present disclosure provides a cleaning device, which comprises a cleaning device body 110 and a grabbing assembly 130. A storage position 113 is formed on the shell 111, and the grabbing assembly 130 can be connected to the storage position 113 through a connecting assembly. Therefore, the assembly efficiency of the grabbing assembly 130 can be improved through the arrangement of the storage position 113 and the connecting assembly. Meanwhile, the grabbing assembly 130 can be stored in the storage position 113 in the storage state, which can lower the gravity center of the cleaning device, so that the gravity center of the grabbing assembly 130 is lowered into the shell 111, and the movement of the cleaning device is more stable. The lowering of the overall gravity center of the cleaning device makes the cleaning device less likely to tip over or lose balance during cleaning, especially when encountering complex terrains such as slopes and carpet edges, which can maintain more stable motion performance, thereby improving the cleaning efficiency and safety. The cleaning device is more likely to be close to the ground, thereby more effectively removing dust, hair and debris on the ground. In particular, for some low furniture bottom, corner and other difficult-to-clean areas, the cleaning device with low gravity center can clean more deeply without leaving dead angles. The cleaning device is more stable during movement and is less likely to deviate or lose control due to external forces. Meanwhile, the cleaning device is more flexible during turning, climbing and other actions, and can easily cope with various complex environments.

[0171] As shown in FIGS. 1-8, in a possible implementation, the connecting assembly comprises a mounting plate 120, and the mounting plate 120 is provided with a positioning hole 121; and a positioning member 140 is connected to the shell 111, and the positioning member 140 is used for positioning the grabbing assembly 130 through the positioning hole 121.

[0172] In the technical solution, the structural composition of the connecting assembly is further provided, which can comprise the mounting plate 120 and the positioning member 140. Based on this, when the cleaning device is assembled, the mounting plate 120 is connected to the grabbing assembly 130. During assembly, the whole formed by the grabbing assembly 130 and the mounting plate 120 is assembled to the cleaning device body 110. At the initial stage of assembly, the positioning member 140 on the mounting plate 120 is aligned with the positioning hole 121, and the whole formed by the grabbing assembly 130 and the mounting plate 120 is positioned on the shell 111, thereby completing the preliminary positioning of the grabbing assembly 130 and the mounting plate 120, and improving the assembly efficiency of the grabbing assembly 130.

[0173] As shown in FIGS. 1-8, in a possible implementation, the cleaning device further comprises a fastener 150, and the mounting plate 120 is provided with an assembly hole 122, and the fastener 150 is used for being connected to the shell 111 and the grabbing assembly 130 through the assembly hole 122.

[0174] In the technical solution, the structure of the cleaning device is further provided, and the cleaning device can include fasteners, so that the preliminary positioning of the grabbing assembly 130 and the mounting plate 120 is completed, and then the fasteners 150 can be connected to the grabbing assembly 130 through the shell 111 and the assembly hole 122, so that the fixing of the grabbing assembly 130 is completed, and the assembly of the cleaning device is completed.

[0175] In the technical solution, the cleaning device is provided with the mounting plate 120, the positioning member 140 and the fastener 150, which can at least position the grabbing assembly 130 through the positioning member 140 and the fastener 150, so that the fixing of the grabbing assembly 130 is more reliable. In the assembly process, the positioning hole 121 on the mounting plate 120 and the positioning member 140 can be matched to preliminarily position the grabbing assembly 130, thereby improving the assembly efficiency. Through the mounting plate 120, the contact area of the whole formed by the mounting plate 120 and the grabbing assembly 130 with the bottom plate of the shell 111 is larger, which can reduce the gap between the grabbing assembly 130 and the shell 111, limit the shaking range of the grabbing assembly 130, and in combination with the positioning member 140 and the fastener 150, the fixing of the grabbing assembly 130 is more reliable.

[0176] As shown in FIG. 17, in a possible implementation, the cleaning device further includes a thickening member 220, which is arranged at the assembly hole 122, and the assembly hole 122 passes through the thickening member 220.

[0177] In the technical solution, the cleaning device can further include the thickening member 220. In order to reduce the installation gravity center of the grabbing assembly 130, the thickness of the mounting plate 120 should be as thin as possible under the premise of meeting the mechanical strength, but as the thickness of the mounting plate 120 is reduced, the depth of the assembly hole 122 on the mounting plate 120 will inevitably be reduced, which may reduce the fixing strength of the fastener 150. Therefore, in the embodiment, the thickening member is arranged at the assembly hole 122, and the mounting hole is formed in the thickening member. In this way, the fastener 150 can be connected to the grabbing assembly 130 through the mounting hole, and the height can be increased through the arrangement of the riveting machine, thereby improving the fixing strength of the fastener 150.

[0178] As shown in FIG. 16, in a possible implementation, the cleaning device body 110 includes a functional member 170 arranged in the shell 111, and the grabbing assembly 130 is connected to the functional member 170. The functional member 170 includes a power supply or a controller.

[0179] In the technical scheme, the cleaning device main body 110 can further include a functional component 170 connected with the grabbing assembly 130, based on which the functional component 170 can power on the grabbing assembly 130, and the operation of the grabbing assembly 130 can be controlled, so that the use of the grabbing assembly 130 is more convenient.

[0180] As shown in FIGS. 9-15, in an available embodiment, the cleaning device further includes a channel 180 formed on the shell 111, the mounting plate 120 is arranged in the storage position 113, the mounting plate 120 abuts against the wall of the storage position 113, the channel 180 is communicated to the functional component 170, the opening end of the channel 180 is communicated to the storage position 113, and the cable 132 of the grabbing assembly 130 is connected to the functional component 170 through the channel 180.

[0181] In the technical scheme, considering that the mechanical arm 131 of the grabbing assembly 130 can involve power-on or communication control in addition to the connection and fixation on the mechanical structure, the power-on or communication connection of the grabbing assembly 130 in the traditional technology is also relatively cumbersome. In an available embodiment, the cleaning device can further include a channel 180 communicated to the storage position 113, based on which the cable 132 of the grabbing assembly 130 can pass through the channel 180 to be connected to the functional component, so that the electrical connection and communication connection of the grabbing assembly 130 can be quickly assembled, and the assembly efficiency can be further improved.

[0182] It can be understood that the end of the cable 132 can be formed with a plug, and the channel 180 can be formed with a socket, the plug is directly inserted into the socket, so that the quick connection of the plug and the channel 180 is established, and the electrical connection and communication connection of the grabbing assembly 130 are more convenient.

[0183] In the technical scheme, the style of the shell 111 is further provided, the shell 111 can be formed with a storage position 113, and the mounting plate 120 is arranged in the storage position 113 and abuts against the wall of the storage position 113. In this way, the mounting plate 120 can be fixed and limited by the wall of the storage position 113, so that the assembly of the mounting plate 120 is more reliable, and the grabbing assembly 130 can be accommodated by the storage position 113, so that the overall product integrity is improved, and the structural layout of the cleaning device is more reasonable.

[0184] As shown in FIGS. 9-15, in an available embodiment, the cleaning device further includes a limiting component 190 connected to or formed on the inner wall of the storage position 113, and the limiting component 190 is used for limiting the cable 132.

[0185] In the technical solution, considering that the grabbing assembly 130 needs to move, such as possible stretching, retracting, rotating or swinging, etc., the movement of the grabbing assembly 130 may displace the cable 132 or the grabbing assembly 130 is easy to scratch the cable 132, based on which the cleaning equipment can further include a limiting piece 190, which can limit the cable 132 to prevent the cable 132 from moving unexpectedly, and can reduce the probability of the grabbing assembly 130 contacting and scratching the cable 132, so that the communication connection and electrical connection of the grabbing assembly 130 are more reliable.

[0186] In some examples, the number of limiting pieces 190 can be multiple, and the multiple limiting pieces 190 are arranged along the arrangement direction of the cable 132, which can further improve the limiting effect of the cable 132.

[0187] As shown in FIGS. 9-15, in a possible implementation, a fixing groove 200 is formed in the warehouse position 113, the fixing groove 200 is used to accommodate the cable 132, and the limiting piece 190 is located above or in the fixing groove 200.

[0188] In the technical solution, considering that if the cable 132 of the grabbing assembly 130 is directly arranged in the warehouse position 113, the grabbing assembly 130 still has a probability of scratching the cable 132, especially when the grabbing assembly 130 is in the retracted state, the grabbing assembly 130 is particularly easy to press on the cable 132, which is easy to damage the cable 132. Based on this, by forming the fixing groove 200 in the warehouse position 113, the cable 132 can be sunk in the fixing groove 200, which can greatly reduce the probability of the grabbing assembly 130 contacting the cable 132. At the same time, by forming the fixing groove 200, the inner wall of the fixing groove 200 can also limit the cable 132, which can further reduce the probability of the cable 132 moving.

[0189] Further, the limiting piece 190 can be formed on the inner wall of the fixing groove 200. In this way, the limiting piece 190 does not occupy too much space in the storage position 113, or in other words, the limiting piece 190 does not protrude in the storage position 113, and does not hinder the storage of the grabbing assembly 130. This can help to reduce the height of the cleaning device, so that the structural layout of the cleaning device is more compact. After the height of the cleaning device is reduced, it can more easily enter low areas such as the bottom of a sofa, the bottom of a bed, etc. These areas are often difficult for traditional cleaning tools to reach. A low-height cleaning device can more effectively remove dust and dirt from these areas, thereby improving overall cleaning coverage. The reduction in the height of the cleaning device means that the distance between the bottom of the cleaning device and the ground is shortened, so that the cleaning device can more closely adhere to the ground for cleaning. This close adhesion helps to improve the cleaning effect, especially for stubborn stains and small particles that adhere to the ground. A low-height cleaning device generally has higher flexibility and can easily move between furniture to avoid collisions with furniture. This flexibility not only helps to improve cleaning efficiency, but also reduces the risk of damage to the cleaning device during operation. For users, a low-height cleaning device is easier to store and store, and does not occupy too much space. A low-height cleaning device generally has a lower noise level because it is in closer contact with the ground when in operation, reducing vibration and noise. A low-height cleaning device can be suitable for a wider range of cleaning scenarios, such as homes, offices, shopping malls, etc. In particular, in places with higher cleaning requirements, such as hospitals, laboratories, etc., a low-height cleaning device can more effectively meet cleaning needs.

[0190] As shown in FIGS. 9-15, in one possible implementation, the cleaning device further includes a cover plate 210, which is used to connect to the inner wall of the storage position 113 and cover the cable 132 and the limiting piece.

[0191] In this technical solution, the cleaning device can further include a cover plate 210, which is connected to the storage position 113. The cover plate 210 can be arranged on the fixing groove 200, so that the cover plate 210 can be arranged on the cable 132, the limiting piece 190, and the passage 180. This can make the appearance of the storage position 113 more tidy, while reducing the amount of dust that invades the fixing groove 200 and the passage 180, and further reducing the probability of contact between the grabbing assembly 130 and the cable 132. This can make the use of the cleaning device safer, especially the operation of the grabbing assembly 130.

[0192] In some examples, the cover plate 210 can be connected to the storage position 113 by clamping or bolting, which can make the connection more reliable and facilitate disassembly.

[0193] As shown in FIGS. 9-15, in an implementable embodiment, the cover plate 210 is provided in plurality, and the cover plate 210 is clamped to the inner wall of the storage position 113, and the cover plate 210 is further used to cover the channel 180.

[0194] In the technical solution, the number of the cover plates 210 is further provided, and the cover plates 210 can be two or more than two, and based on this, the long and narrow fixing groove 200 is covered by the plurality of cover plates 210, which facilitates the assembly of the cover plates 210, and facilitates the sealing of the channel 180, and can make the storage position 113 of the cleaning device more tidy and safe.

[0195] As shown in FIGS. 9-15, in an implementable embodiment, the storage position 113 is arranged along the width direction of the cleaning device main body 110, and the channel 180 is arranged at the end of the storage position 113 or close to the end of the storage position 113.

[0196] In the technical solution, the arrangement of the storage position 113 is further provided, and the storage position 113 is arranged along the width direction of the shell 111, and in combination with the cleaning device which can include a traveling assembly, the traveling assembly can include a driving wheel and an auxiliary wheel, the driving wheel and the auxiliary wheel can form a support area, and the storage position 113 above the shell 111 can be formed within the support area, and based on this, when the grabbing assembly 130 is accommodated within the storage position 113, the center of gravity of the grabbing assembly 130 can be distributed within the support area, and based on this, the operation of the cleaning device can be more stable, and the cleaning device can be less likely to tip over or lose balance during cleaning, especially when encountering complex terrain such as slopes, carpet edges, etc., and can maintain more stable motion performance, thereby improving cleaning efficiency and safety. The cleaning device can be more easily close to the ground, thereby more effectively removing dust, hair and debris on the ground. Especially for some low furniture bottom, corner and other difficult-to-clean areas, the cleaning device with low center of gravity can clean more deeply without leaving dead angles. The cleaning device is more stable during movement and is less likely to deviate or lose control due to external forces. At the same time, the cleaning device is more flexible when turning, climbing and other actions, and can easily cope with various complex environments.

[0197] As shown in FIGS. 1-8, in an implementable embodiment, the mounting plate 120 is long and strip-shaped, and such arrangement facilitates the processing and installation of the mounting plate 120, and can have a larger contact area with the grabbing assembly 130, thereby improving the installation strength.

[0198] In an embodiment, the length of the mounting plate 120 is 120mm to 200mm, the width of the mounting plate 120 is 25mm to 50mm, and the thickness of the mounting plate 120 is 2mm to 5mm. In this way, the size of the mounting plate 120 is further provided, so that the mounting plate 120 is flat, facilitating the processing and installation of the mounting plate 120, and can have a larger contact area with the gripping assembly 130, thereby improving the installation strength. The profile of the positioning hole 121 is adapted to the profile of the positioning member 140.

[0199] As shown in FIGS. 1-8, in an embodiment, the mounting plate 120 is arranged along a direction perpendicular to the travel direction of the cleaning device body 110. That is, the length of the mounting plate 120 is arranged in the left-right direction of the front of the cleaning device body 110. In this way, the space layout is facilitated, the structure is compact, and the gripping assembly 130 is facilitated to be fixed. At the same time, the gripping assembly 130 is fixed at the front of the cleaning device body 110, and the gripping assembly 130 mainly operates on the area in front of the cleaning device body 110, so that the activity space range is larger and the gripping of the object is more convenient.

[0200] It can be understood that the positioning member 140 can be a protrusion or a protruding column formed on the shell 111, and the profile of the positioning hole 121 is adapted to the profile of the positioning member 140. The positioning hole 121 is slightly larger than the positioning member 140, so that the positioning member 140 can be inserted into the positioning hole 121. After the positioning member 140 is inserted into the positioning hole 121, the swinging of the mounting plate 120 based on the gripping assembly 130 can be limited.

[0201] It can be understood that the fastener 150 can include a bolt, a screw, a rivet, a clamp, an expansion screw, or any structure capable of connecting different objects.

[0202] It can be understood that when the fastener 150 is assembled, the fastener 150 can pass through the shell 111 from the side of the shell 111 away from the gripping assembly 130, then pass through the assembly hole 122, and finally be connected to the gripping assembly 130. In this way, on the one hand, the assembly of the fastener 150 is facilitated, and the bottom of the shell 111 can have a larger operation space. On the other hand, the connection between the shell 111, the mounting plate 120, and the gripping assembly 130 is more reliable.

[0203] It can be understood that the area of the gripping assembly 130 corresponding to the assembly hole 122 can also form a mounting portion, and the fastener 150 can be adapted to the mounting portion, so that the fastener 150 can be connected to the gripping assembly 130. For example, when the fastener 150 is a bolt, the mounting portion can be a threaded hole.

[0204] It can be understood that the cleaning device body 110 can include but is not limited to a machine body, a cleaning system, a driving system, etc. The above-mentioned various systems cooperate with each other to enable the cleaning device to move autonomously to achieve the cleaning function. The functional elements constituting the above-mentioned various systems in the cleaning device are integrally arranged in the shell 111. 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.

[0205] Further, the grabbing assembly 130 is applied to the cleaning device, such as the grabbing assembly 130 being connected with the shell 111 of the cleaning device body 110, so that the grabbing assembly 130 can move with the cleaning device body 110 to reach the target position, and then the obstacles, objects, and garbage near the cleaning device are grabbed or moved through the movement of the grabbing assembly 130, so as to better achieve 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, etc., which are not listed one by one here.

[0206] As shown in FIG. 8, in a possible implementation, the positioning holes 121 are two or more, and the number of the positioning pieces 140 is adapted to the number of the positioning holes 121.

[0207] In the technical solution, the number of the positioning holes 121 is further provided, the positioning holes 121 can be two or more, and the number of the positioning pieces 140 can be equal to the number of the positioning holes 121. Based on this, the whole formed by the grabbing assembly 130 and the mounting plate 120 can be limited by two groups or more groups of the positioning holes 121 and the positioning pieces 140, which can make the positioning of the grabbing assembly 130 and the mounting plate 120 more reliable, so that the positioning pieces 140 can limit the swing amplitude of the grabbing assembly 130, and can also limit the movement of the grabbing assembly 130 and the mounting plate 120 in the plane.

[0208] As shown in FIG. 8, in a possible implementation, at least two positioning holes 121 are distributed at two ends of the mounting plate 120 respectively. Such arrangement can make the distance between the two positioning holes 121 large enough, which can guarantee the machining precision of the positioning holes 121, especially inhibit the corner error between the two positioning holes 121, avoid affecting the assembly precision of the grabbing assembly 130 due to the too large corner error between the two positioning holes 121, and guarantee the perpendicularity of the machining of the positioning holes 121, so that the positioning pieces 140 and the positioning holes 121 can better position the grabbing assembly 130, guarantee the installation of the grabbing assembly 130 to be more standard, and in addition, by increasing the distance between the two positioning holes 121, the two ends of the mounting plate 120 can have a positioning relationship with the shell 111, which can improve the positioning precision of the mounting plate 120.

[0209] It can be understood that, assuming that the plane on which the cleaning device body 110 is located is the XY axis plane, the height direction of the cleaning device body 110 is the Z direction, the grabbing assembly 130 can be lifted in the Z direction to grab the articles, and the fixed mode in the prior art causes the grabbing assembly 130 to easily shake in the Z direction. The combination of the positioning member 140 and the fastener 150 can inhibit the shaking of the grabbing assembly 130 in the Z direction. Further, by providing multiple positioning members 140 and positioning holes 121, the movement of the mounting plate 120 and the grabbing assembly 130 in the XY axis plane can be further inhibited, the fixation of the grabbing assembly 130 can be more reliable, the grabbing assembly 130 can be prevented from tilting, and the noise generated during the operation of the cleaning device can be reduced.

[0210] In some examples, considering the size of the cleaning device body 110, the positioning hole 121 can be provided as two, and the two positioning holes 121 are arranged at the two ends of the mounting plate 120, facilitating the processing of the mounting plate 120.

[0211] As shown in FIGS. 2 and 3, in a possible implementation, the distance between the two adjacent positioning holes 121 is greater than or equal to 50 mm.

[0212] In the technical solution, when the positioning hole 121 is two or more, the positional relationship between different positioning holes 121 is further provided, the distance between the two adjacent positioning holes 121 is greater than or equal to 50 mm, and such a setting can make the distance between the two positioning holes 121 large enough, so as to guarantee the processing precision of the positioning hole 121, especially to inhibit the corner error between the two positioning holes 121, avoid affecting the assembly precision of the grabbing assembly 130 due to the excessive corner error between the two positioning holes 121, and guarantee the perpendicularity of the processing of the positioning hole 121, so that the positioning member 140 and the positioning hole 121 can better position the grabbing assembly 130, guarantee the installation of the grabbing assembly 130 to be more standard, and further increase the distance between the two positioning holes 121, so that the two ends of the mounting plate 120 can have a positioning relationship with the shell 111, and the positioning precision of the mounting plate 120 can be improved.

[0213] In some examples, in order to further improve the processing precision of the positioning hole 121, the distance between the two adjacent positioning holes 121 can be greater than or equal to 80 mm.

[0214] As shown in FIG. 8, in a possible implementation, the styles of different positioning members 140 are different or the diameters of different positioning members 140 are different.

[0215] In the technical solution, when the positioning members 140 are two or more, the different positioning members 140 are different in pattern or diameter, which is considered that the positioning members 140 on the mounting plate 120 can be aligned with the positioning holes 121 in the initial assembly of the cleaning device, and if the positioning holes 121 are multiple, the corresponding positioning members 140 need to be aligned at the same time, which is relatively complex and difficult to operate. Therefore, in the embodiment, the different positioning members 140 are different in pattern or diameter, so that the assembly direction of the mounting plate 120 can be directly determined based on the pattern or size of the positioning members 140, which can improve the assembly efficiency.

[0216] In some examples, in order to reduce the processing cost, the difference between the different positioning members 140 and the positioning holes 121 can only be reflected in the size difference, for example, the positioning members 140 can be positioning pins, and the difference between the different positioning holes 121 and the positioning members 140 can be the difference in diameter.

[0217] It can be understood that the different patterns of the positioning members 140 can include different shapes of cross sections of the positioning members 140, for example, some of the positioning members 140 can be waist-shaped positioning pins, and some of the positioning members 140 can be columnar positioning pins. Some of the positioning members 140 can be positioning pins, and some of the positioning members 140 can be protrusions or bumps.

[0218] As shown in FIGS. 4 and 5, in a possible implementation, the grabbing assembly 130 includes a mechanical arm 131, and the mounting plate 120 is formed with a clearance 123, and the rotating platform of the mechanical arm 131 is located in the clearance 123.

[0219] In the technical solution, the pattern of the grabbing assembly 130 is further provided, the grabbing assembly 130 can include the mechanical arm 131, and the pattern of the mounting plate 120 can be adapted to the mechanical arm 131. The mounting plate 120 can be formed with the clearance 123, so that the mechanical arm 131 can rotate in the space of the clearance 123, and in combination with the extension of the mechanical arm 131, the movable space of the mechanical arm 131 can be increased. The mechanical arm 131 can grab the object, for example, when an object is in front of the cleaning device in the direction of movement, the mechanical arm 131 can grab the obstacle and move it to another area that does not hinder the normal operation of the cleaning device, so that the operation of the cleaning device is more smooth.

[0220] In the technical solution, the clearance 123 is formed on the mounting plate 120, and the mechanical arm 131 can be assembled in the clearance 123, which can reduce the assembly height of the mechanical arm 131, lower the center of gravity of the mechanical arm 131, and further reduce the probability of the grabbing assembly 130 from falling, so that the cleaning device works more safely.

[0221] It can be understood that the rotating table is a component capable of rotating the mechanical arm 131 relative to the shell 111, and thus the working range of the mechanical arm 131 can be increased.

[0222] In an available embodiment, the thickness of the mounting plate 120 is 2 mm to 5 mm.

[0223] In the technical solution, the mounting plate 120 is further provided with a style, and the thickness of the mounting plate 120 is 2 mm to 5 mm. Thus, the stable fixation of the grabbing assembly 130 is ensured, and the thickness of the mounting plate 120 is reduced as much as possible, thereby the assembly depth of the grabbing assembly 130 can be reduced. On the one hand, in the same space, a mechanical arm 131 with larger specifications can be assembled, and the grabbing of the grabbing assembly 130 on the articles is more convenient. On the other hand, the gravity center of the grabbing assembly 130 can be reduced, especially when the grabbing assembly 130 is in the storage state, the grabbing assembly 130 can be stored in the shell 111, and the movement of the cleaning equipment can be more stable. On the other hand, the weight of the cleaning equipment can be reduced, and thus the energy consumption of the cleaning equipment during movement can be reduced.

[0224] In some examples, in order to ensure the mechanical strength of the mounting plate 120, the mounting plate 120 can be made of steel.

[0225] As shown in FIG. 2, in an available embodiment, the assembly hole 122 is two or more, and the number of the fasteners 150 is adapted to the number of the assembly holes 122.

[0226] In the technical solution, the number of the assembly holes 122 is further provided, and the assembly holes 122 are two or more, and the number of the fasteners 150 can be equal to the number of the assembly holes 122. Based on this, the grabbing assembly 130 and the shell 111 can have multiple connection positions, so that the fixation strength of the grabbing assembly can be further improved, and the probability of loosening of the grabbing assembly can be further reduced.

[0227] It can be understood that the assembly hole 122 and the positioning hole 121 can be two or more, and thus the fixation of the grabbing assembly is more reliable.

[0228] As shown in FIG. 8, wherein, in FIG. 8, the A and B directions respectively represent two sides, and the C and D directions respectively represent two ends, in an example embodiment, the plurality of assembly holes 122 are arranged in two groups on the two sides of the mounting plate 120. In this way, on the one hand, the mounting plate 120 and the shell 111 can have a plurality of connection points, and the plurality of connection points are more balanced in stress, which can further ensure the reliability of the fixing of the grabbing assembly 130; on the other hand, the assembly holes 122 are easy to open, which can simplify the processing technology of the mounting plate 120 and facilitate the assembly of the mounting plate 120.

[0229] As shown in FIGS. 6-8, in an example embodiment, the shell 111 is formed with a reinforcing rib 112, and the peripheral side of the mounting plate 120 is formed with a groove 124, and at least part of the reinforcing rib 112 is located in the groove 124.

[0230] In this technical solution, the style of the shell 111 is further provided. It is considered that, in order to ensure the mechanical strength of the installation, the mounting plate 120 is usually made of a material with high strength, such as steel or other metal materials. In order to reduce the self-weight of the cleaning device, the main body of the cleaning device is usually made of a resin material. In this case, the mechanical strength of the shell 111 is low, and the shell 111 has a risk of deformation. When the shell 111 deforms, the fixing strength of the grabbing assembly 130 is also affected. Based on this, in this embodiment, the shape of the mounting plate 120 and the style of the shell 111 are designed. The mounting plate 120 can be formed with a groove 124, and the shell 111 can be formed with a reinforcing rib 112. When the mounting plate 120 is assembled on the shell 111, the reinforcing rib 112 is inserted into the groove 124. This can increase the strength of the shell 111, increase the contact area between the shell 111 and the mounting plate 120, and further make the fixing of the grabbing assembly 130 more reliable.

[0231] In some examples, the groove 124 is a plurality of grooves 124, and the plurality of grooves 124 are arranged at intervals and distributed on the peripheral side of the mounting plate 120. In this way, on the one hand, more reinforcing ribs 112 can be formed on the shell 111 by arranging a plurality of grooves 124, which can further improve the strength; on the other hand, the grooves 124 are distributed on the peripheral side of the mounting plate 120, which facilitates the insertion of the reinforcing rib 112 into the groove 124.

[0232] As shown in FIGS. 1-17, according to a third aspect of the embodiments of the present disclosure, a cleaning system is provided, which comprises: the cleaning device of the first aspect; or the cleaning device of the second aspect; and a base station, the base station being configured to accommodate the cleaning device.

[0233] The cleaning system provided by the embodiments of the present disclosure includes the cleaning device of the first aspect or the cleaning device of the second aspect, and thus has all the beneficial effects of the cleaning device of the first aspect or the cleaning device of the second aspect, which will not be repeated here.

[0234] The cleaning system provided by the embodiments of the present disclosure includes the cleaning device and the base station, the base station can accommodate the cleaning device, the base station can supplement the cleaning liquid for the cleaning device, supplement the water, and clean the cleaning part of the cleaning device, so that the use of the cleaning device is more convenient, in addition, the base station can also supply water and charge for the cleaning device.

[0235] In the present disclosure, the terms "first", "second", "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; the term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, "connecting" can be fixed connection, or detachable connection, or integrally connected; "connected" 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 present disclosure can be understood according to the specific circumstances.

[0236] In the description of the present disclosure, it should be understood that the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, and are only used for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or units referred to must have a particular direction, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present disclosure.

[0237] In the description of the present disclosure, the terms "one embodiment", "some embodiments", "a specific embodiment" and the like mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0238] The above is only the preferred embodiment of the present disclosure, and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A cleaning apparatus, wherein, The cleaning device comprises: a cleaning device body comprising a shell; a mounting plate having a positioning hole and an assembly hole formed thereon; a grabbing assembly to which the mounting plate is connected; a positioning member connected to the shell, the positioning member being used for positioning through the positioning hole; a fastener connected to the shell and the grabbing assembly through the assembly hole.

2. The cleaning device according to claim 1, wherein the positioning hole is two or more, and the number of the positioning members is adapted to the number of the positioning holes; at least two of the positioning holes are respectively arranged at two ends of the mounting plate.

3. The cleaning device according to claim 2, wherein the distance between the two adjacent positioning holes is greater than or equal to 50 mm.

4. The cleaning device according to claim 2, wherein the patterns of the different positioning members are different or the diameters of the different positioning members are different.

5. The cleaning apparatus of claim 1, wherein, The grabbing assembly comprises: a mechanical arm, and the mounting plate has a clearance formed thereon, and a turntable of the mechanical arm is located in the clearance.

6. The cleaning device according to claim 1, wherein the assembly hole is two or more, and the number of the fasteners is adapted to the number of the assembly holes; a plurality of the assembly holes are divided into two groups and arranged on two sides of the mounting plate.

7. The cleaning apparatus of any one of claims 1 to 6, wherein, Further comprising: a press-in member arranged in the assembly hole, and the fastener passes through a mounting hole in the press-in member.

8. The cleaning device according to any one of claims 1 to 6, wherein the shell has a reinforcing rib formed thereon, and a circumferential side of the mounting plate has a groove formed thereon, and at least part of the reinforcing rib is located in the groove.

9. The cleaning device according to claim 8, wherein the groove is a plurality of grooves, and the plurality of grooves are arranged at intervals, and the grooves are distributed on the circumferential side of the mounting plate.

10. The cleaning device according to any one of claims 1 to 6, wherein the shell has a storage position formed thereon, and the mounting plate is arranged in the storage position, and the mounting plate abuts against a wall surface of the storage position.

11. The cleaning apparatus of claim 10, wherein, The cleaning device body comprises: a functional member arranged in the shell, and the grabbing assembly is connected to the functional member; the functional member comprises a power supply or a controller.

12. The cleaning apparatus of claim 11, wherein, Further comprising: a channel connected to the functional member, and an opening end of the channel is connected to the storage position, and a cable of the grabbing assembly passes through the channel and is connected to the functional member.

13. The cleaning apparatus of claim 12, wherein, Further comprising: a limiting member connected to or formed on an inner wall of the storage position, and the limiting member is used for limiting the cable.

14. The cleaning device according to claim 13, wherein a fixing groove is formed in the storage position, the fixing groove is used for accommodating the cable, and the limiting member is located above or in the fixing groove.

15. The cleaning apparatus of claim 14, wherein, Further comprising: a cover plate connected to the inner wall of the storage position and used for covering the cable, the limiting member and the fixing groove.

16. The cleaning device according to claim 15, wherein The cover plates are connected to the inner wall of the storage position and are used to cover the channel.

17. The cleaning device according to any one of claims 1 to 6, wherein, the mounting plate is connected to the bottom plate of the housing; and / or the mounting plate is long strip-shaped; and / or the length of the mounting plate is 120mm to 200mm; and / or the width of the mounting plate is 25mm to 50mm; and / or the thickness of the mounting plate is 2mm to 5mm; and / or the mounting plate is arranged along a direction perpendicular to the travel direction of the cleaning device body; and / or the contour of the positioning hole is adapted to the contour of the positioning member.

18. A cleaning apparatus wherein, comprises: a cleaning device body comprising a housing, wherein a storage position is formed on the housing; a grabbing assembly connected in the storage position by a connecting assembly, so that the grabbing assembly is connected with the housing.

19. The cleaning apparatus of claim 18, wherein, The connecting assembly comprises: a mounting plate, wherein a positioning hole is formed on the mounting plate; a positioning member connected to the housing, wherein the positioning member is used to position the grabbing assembly through the positioning hole.

20. The cleaning apparatus of claim 19, wherein, Further comprises: a fastener, wherein an assembly hole is formed on the mounting plate, and the fastener is used to be connected to the housing and the grabbing assembly through the assembly hole.

21. The cleaning apparatus of claim 20, wherein, Further comprises: a thickening member, wherein the assembly hole passes through the thickening member.

22. The cleaning apparatus of any one of claims 18 to 21, wherein, The cleaning device body comprises: a functional member arranged in the housing, wherein the grabbing assembly is connected to the functional member; the functional member comprises a power supply or a controller.

23. The cleaning apparatus of claim 22, wherein, Further comprises: a channel, wherein the housing is provided with a storage position, the mounting plate of the connecting assembly is arranged in the storage position, the mounting plate of the connecting assembly abuts against the wall surface of the storage position, the channel is communicated to the functional member, the opening end of the channel is communicated to the storage position, and the cable of the grabbing assembly is connected to the functional member through the channel.

24. The cleaning apparatus of claim 23, wherein, Further comprises: a limiting member connected to or formed on the inner wall of the storage position, wherein the limiting member is used to limit the cable.

25. The cleaning device according to claim 24, wherein, a fixing groove is formed in the storage position, the fixing groove is used to accommodate the cable, and the limiting member is located above or in the fixing groove.

26. The cleaning apparatus of claim 25, wherein, Further comprises: a cover plate, wherein the cover plate is connected to the inner wall of the storage position and is used to cover the cable and the limiting member.

27. The cleaning device according to claim 26, wherein, the cover plates are connected to the inner wall of the storage position and are used to cover the channel.

28. The cleaning device according to claim 23, wherein, the storage position is arranged along the width direction of the cleaning device body, and the channel is arranged at or close to the end of the storage position.

29. The cleaning apparatus of any one of claims 18 to 21, wherein, the grabbing assembly is accommodated in the storage position in the storage state.

30. A cleaning system wherein, comprises: the cleaning device according to any one of claims 1 to 17; or the cleaning device according to any one of claims 18 to 29; A base station for housing the cleaning device.

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