CN-122004701-A - Clamping device, cleaning equipment and cleaning system

Abstract

The embodiment of the application provides a clamping device, cleaning equipment and a cleaning system. The clamping device comprises a mounting seat, a plurality of clamping assemblies, a driving structure and an elastic piece. The plurality of clamping assemblies are arranged at intervals along the circumference of the mounting seat. The clamping assembly comprises a clamping finger, the clamping finger comprises a finger root section and a fingertip section, one end of the finger root section is rotationally connected with the mounting seat, one end of the fingertip section, deviating from the mounting seat, is rotationally connected with the fingertip section, and one end of the fingertip section, deviating from the finger root section, is provided with a finger tip. The driving structure is in transmission connection with each finger root section so as to drive the finger root section to rotate relative to the mounting seat, so that each clamping finger synchronously opens or closes on the same side of the mounting seat. The finger tips are configured to point to a side of the mount during the collapsing of the gripping fingers. The elastic piece is connected between the finger root section and the fingertip section and is configured to enable the fingertip part to always have a trend of moving towards the mounting seat, so that the clamping device can provide more uniform supporting force and constraint, and the clamping effect of the clamping device is improved.

Inventors

• XU HAO
• ZOU QIANGBIN

Assignees

• 追觅创新科技(苏州)有限公司

Dates

Publication Date

20260512

Application Date

20260311

Claims (20)

1. 1. A clamping device for use with a cleaning apparatus, comprising: a mounting base; the clamping assembly comprises clamping fingers, wherein each clamping finger comprises a finger root section and a fingertip section, one end of each finger root section is rotationally connected with the mounting seat, one end of each fingertip section, which is away from the mounting seat, is rotationally connected with one end of each finger root section, and one end of each fingertip section, which is away from the finger root section, is provided with a finger tip; The driving structure is in transmission connection with each finger root section so as to drive the finger root sections to rotate relative to the mounting seat, so that each clamping finger is synchronously unfolded or folded on the same side of the mounting seat; The finger tip is configured to be directed to a side of the mounting seat during the folding process of the clamping finger; The clip assembly also includes an elastic member connected between the finger root section and the fingertip section and configured such that the fingertip always has a tendency to move toward the mount.
2. 2. The clamping device as recited in claim 1, characterised in that in the stowed condition the clamping fingers are stowed on a front side of the mount, and a projection of each of the finger tips on the front side is located in a central region of the front side.
3. 3. The clamping device according to claim 1, wherein the mounting base has a top and a bottom arranged opposite to each other in a thickness direction, the first clamping assembly and the second clamping assembly are distributed on both sides of the mounting base at the top, and/or the third clamping assembly and the fourth clamping assembly are distributed on both sides of the mounting base at the bottom.
4. 4. A clamping device according to claim 3, wherein the first clamping components and the fourth clamping components are symmetrically distributed on two sides of the mounting seat in the thickness direction, and the second clamping components and the third clamping components are symmetrically distributed on two sides of the mounting seat in the thickness direction.
5. 5. A clamping device as claimed in claim 3, characterised in that the first clamping assembly and the second clamping assembly are symmetrically distributed at the top of the mounting base and the third clamping assembly and the fourth clamping assembly are symmetrically distributed at the bottom of the mounting base.
6. 6. The clamping device of claim 1, wherein the elastic member is a torsion spring having a central axis coaxial with a center of rotation of the fingertip section, the torsion spring having a first end connected to the fingertip section and a second end connected to the root section; The torsion spring is configured to cause the fingertip section to have a tendency to move toward a side on which the mount is located.
7. 7. The clip of claim 6 wherein said finger tip segment and said finger root segment have an overlap region at one end thereof, one of said finger tip segment and said finger root segment having a boss in said overlap region and the other having an interface in said overlap region, said boss being inserted into said interface and rotatable therein.
8. 8. The clamping device of claim 7, wherein the torsion spring is located between the fingertip section and the finger root section and is sleeved outside the boss.
9. 9. The clamping device of claim 8, wherein the fingertip section has a first slot at a location corresponding to the first end, the first end being disposed within the first slot; The finger root section is provided with a second groove body at a position corresponding to the second end, and the second end is arranged in the second groove body.
10. 10. The clamping device of claim 9, wherein the end of the finger-root section connected with the fingertip section is further provided with a first limiting part, the first limiting part is arranged on a part of the notch of the first groove body, and/or the end of the fingertip section connected with the finger-root section is further provided with a second limiting part, and the second limiting part is arranged on a part of the notch of the second groove body.
11. 11. The clamping device as claimed in claim 7, characterized in that part of the projections protrude out of the plug-in opening and have a clamping groove on the peripheral side; the clamping assembly further comprises a limiting piece, the limiting piece is sleeved outside the protruding portion, and part of the limiting piece stretches into the clamping groove.
12. 12. The clamping device of any one of claims 1-11, further comprising a motor, wherein the driving structure is a worm, the mounting seat is provided with a containing cavity therein, the worm is rotatably arranged in the containing cavity, and the motor is connected with the worm to drive the worm to rotate relative to the mounting seat; the finger root sections are provided with arc-shaped rack parts at the parts facing the worm, the worm is meshed with the rack parts of the finger root sections, and the parts of the rack parts are arranged in the accommodating cavity and are arranged at intervals in the circumferential direction of the worm.
13. 13. The clamping device as claimed in claim 12, wherein the surface of the mounting base has a relief groove at a position corresponding to the rotational locus of the root section, the relief groove being in communication with the receiving cavity; the parts of the finger root sections are located in the avoidance grooves and are rotationally connected with the mounting seats.
14. 14. The clamping device of claim 13, wherein at least a portion of the finger sections are received in the relief groove when the clamping fingers are in the collapsed state.
15. 15. The clamping device of any of claims 1-11, wherein the clamping finger further comprises a flexible finger cuff disposed externally of the finger tip.
16. 16. A clamping device, comprising: a mounting base; At least three clamping assemblies are arranged at intervals along the circumference of the mounting seat, each clamping assembly comprises a clamping finger, and the clamping finger comprises: one end of the finger root section is rotationally connected with the mounting seat; The fingertip section is rotationally connected with the other end of the finger root section; The driving structure is arranged on the mounting seat and is in transmission connection with each finger root section so as to drive the finger root section to synchronously rotate relative to the mounting seat, so that each clamping finger is opened or closed; The rotational connection between the fingertip segment and the finger root segment is configured to allow the fingertip segment to rotate outwardly relative to the finger root segment when the fingertip segment is subjected to an external force exceeding a threshold.
17. 17. The clamping device of claim 16, wherein in the collapsed state the clamping fingers are collapsed to a front side of the mount, and a projection of each of the fingertip on the front side is located in a central region of the front side.
18. 18. The clip of claim 17, further comprising a resilient member coupled between the finger root section and the fingertip section and configured to apply a biasing force to the fingertip section that maintains the fingertip section in a folded position.
19. 19. The clamping device of claim 18, wherein the resilient member is a torsion spring having a central axis coaxial with a center of rotation of the fingertip section, the torsion spring having a first end connected to the fingertip section and a second end connected to the root section.
20. 20. The clip of claim 19, wherein the fingertip and the finger root sections have an overlap region at one end thereof, one of the fingertip and the finger root sections having a boss in the overlap region, the other having an insertion opening in the overlap region, the boss being inserted into and rotatable within the insertion opening.

Description

Clamping device, cleaning equipment and cleaning system Technical Field The application relates to the technical field of cleaning equipment, in particular to a clamping device, cleaning equipment and a cleaning system. Background The cleaning device is a device capable of automatically cleaning a surface to be cleaned in the process of moving on the surface to be cleaned. For example, the surface to be cleaned may be a floor surface and the cleaning apparatus may comprise a sweeping robot. The cleaning apparatus generally has a main body, a traveling wheel, a cleaning module, and a holding device. The walking wheel can drive the machine body to walk on the cleaning surface and clean the cleaning surface through the cleaning module. When the cleaning device encounters an obstacle during walking, the two clamping devices can clamp the obstacle to remove the obstacle. However, the two clamping devices have poor clamping ability against spherical obstacles. For this reason, how to improve the holding ability of the holding device against the spherical obstacle has become a problem to be solved. Disclosure of Invention The embodiment of the application provides a clamping device, cleaning equipment and a cleaning system, which can improve the clamping capability of the clamping device on spherical obstacles. In a first aspect, an embodiment of the present application provides a first clamping device, including: a mounting base; The clamping assembly comprises clamping fingers, wherein the clamping fingers comprise finger root sections and fingertip sections, one ends of the finger root sections are rotationally connected with the mounting seat, one ends of the fingertip sections and the finger root sections are rotationally connected with one ends of the finger root sections, which are away from the mounting seat, and one ends of the fingertip sections, which are away from the finger root sections, are provided with finger tips; The driving structure is in transmission connection with each finger root section so as to drive the finger root sections to rotate relative to the mounting seat, so that each clamping finger is synchronously opened or closed on the same side of the mounting seat; The finger tip is configured to be directed to a side of the mounting seat during the folding of the clamping finger; The clamping assembly further includes an elastic member connected between the finger root section and the fingertip section and configured to cause the fingertip to always have a tendency to move toward the mount. According to the first clamping device provided by the embodiment of the application, the four clamping assemblies which are arranged at intervals along the circumferential direction of the mounting seat are synchronously driven by the driving structure, so that the finger root sections of the clamping fingers can synchronously rotate relative to the mounting seat. When the finger root section rotates, each clamping finger can synchronously retract to the same central area or outwards open from the area, so that the opening and closing actions of the clamping device are realized. In the folding process, the finger tips point to one side of the mounting seat, so that the finger tips can act on the surface of the workpiece to be clamped together to complete the clamping function of the workpiece to be clamped. In the process of folding each clamping assembly, if the to-be-clamped piece is not positioned at the center of each clamping finger, the surface of the to-be-clamped piece is preferentially contacted with at least one clamping finger. Under the continuous synchronous folding movement of each clamping assembly, the to-be-clamped piece can be subjected to asymmetric contact force so as to be pushed until four clamping fingers uniformly contact and clamp the to-be-clamped piece from the periphery. Therefore, the clamping device can automatically position and clamp the piece to be clamped to the central positions of the four clamping assemblies, the piece to be clamped is ensured to be uniformly subjected to clamping force from the four clamping assemblies, and therefore the clamping stability is ensured. Compared with the scheme that only two clamping assemblies are arranged, the clamping assembly is arranged at intervals along the circumferential direction and synchronously folded, and the four clamping fingers can approach to the to-be-clamped piece from four directions while automatic centering (namely self centering) is achieved, so that the to-be-clamped piece can be wrapped and supported in more directions. Therefore, aiming at the to-be-clamped piece with a complex curved surface such as a sphere, the clamping device can provide more uniform supporting force and constraint, so that the clamping capability of the to-be-clamped piece with a complex shape is improved, and the clamping effect of the clamping device is further improved. In addition, through setting up the elastic component betwee