Cleaning device

Abstract

The utility model provides a cleaning device. The cleaning equipment comprises a machine body, an arm bin is formed in the machine body, and a bin opening is formed in the arm bin; the mechanical arm is connected with the machine main body through the connecting structure and can extend out of or be stored in the arm bin through the bin opening; the touch assembly is arranged on the machine body and located on the peripheral side of the bin opening, and the touch assembly is configured to receive mechanical stress to send signals. Therefore, a human hand or a foreign matter near the bin opening makes contact with or collides with the touch assembly, the touch assembly is subjected to mechanical stress to send a signal, the mechanical arm makes corresponding actions according to the signal, for example, the mechanical arm stops moving, the problem that the human hand or the foreign matter is clamped at the bin opening in the moving process of the mechanical arm can be solved, and the use safety of the mechanical arm can be improved. And the use satisfaction degree of the user is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent home furnishing, in particular to a cleaning device. Background Art

[0002] With the iterative update and development of technology, cleaning equipment, especially self-moving cleaning equipment, has entered the lives of ordinary families and has gradually become popular at home and abroad. In order to better realize the cleaning function, current cleaning equipment will add a robotic arm to achieve the grabbing or moving of obstacles or garbage. Specifically, when the target object needs to be moved, the robotic arm unfolds to perform the grabbing action, and when the target object does not need to be moved, the robotic arm is folded and stored in the arm compartment of the machine body. However, in the process of the robotic arm leaving the warehouse and returning to the warehouse, there is a problem of the user's hand or foreign objects being caught in the warehouse opening, which affects the user experience. Utility Model Content

[0003] A series of simplified concepts are introduced in the content of the utility model, which will be further described in detail in the detailed description. This part of the utility model does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0004] An embodiment of the first aspect of the utility model provides a cleaning device, including: a machine body, the machine body is provided with an arm bin, and the arm bin is provided with a bin opening; a mechanical arm and a connecting structure, the mechanical arm is connected to the machine body through the connecting structure, and can be extended or stored in the arm bin through the bin opening; a touch component, the touch component is arranged on the machine body, located on the periphery of the bin opening, and the touch component is configured to send a signal when subjected to mechanical stress.

[0005] Furthermore, the touch assembly includes: a touch piece and a touch switch, the touch pieces are distributed around the opening and a first avoidance opening for avoiding the robotic arm is provided in the middle, the touch piece can float up and down relative to the machine body, the touch switch is located between the touch piece and the machine body, and the touch piece is configured to float downward relative to the machine body to trigger the touch switch to send a signal.

[0006] Furthermore, the trigger assembly further includes: an elastic member, a first end of the elastic member is connected to the trigger member, and a second end of the elastic member is connected to the machine body.

[0007] Furthermore, the trigger assembly also includes: a limit member, a first end of the limit member is connected to the trigger member, a limit hole is provided in the machine body, and a second end of the limit member is passed through the limit hole and can move up and down along the limit hole.

[0008] Furthermore, a buffer portion is formed or connected to a side of the touch member facing the touch switch, and the buffer portion corresponds to the touch switch.

[0009] Further, the limiting member does not protrude from the surface of the actuating member away from the actuating switch.

[0010] Further, a first limiting portion is provided on one side of the actuating member facing the actuating switch, and the first limiting portion is connected to the first end of the elastic member; and / or

[0011] A second limiting portion is provided on one side of the actuating member facing the actuating switch, and the second limiting portion is connected to the first end of the limiting member.

[0012] Further, a plurality of actuating switches are distributed at intervals along the circumferential direction of the actuating member; and / or a plurality of elastic members are arranged at intervals along the circumferential direction of the actuating member; and / or a plurality of limiting members are arranged at intervals along the circumferential direction of the actuating member.

[0013] Further, the actuating member moves 0.2 mm to 0.5 mm in the direction close to the actuating switch to cause the actuating switch to send a signal.

[0014] Further, the actuating assembly further includes a piezoelectric film, and the piezoelectric film is located on the circumferential side of the bin opening.

[0015] Further, a boss structure is provided on the inner circumference of the bin opening inside the arm bin, and the actuating assembly is mounted on the boss structure.

[0016] Further, the actuating assembly protrudes from the plane where the bin opening faces the outside of the arm bin.

[0017] Further, the distance between the end face of the actuating assembly facing the outside of the arm bin and the plane where the bin opening faces the outside of the arm bin is 1 mm to 2 mm.

[0018] Further, the cleaning device further includes: a control device, which is electrically connected to the robotic arm and the actuating assembly, and the control device is used to control the robotic arm to stop working according to the signal sent by the actuating assembly.

[0019] Further, the robotic arm includes a fixed seat, a first robotic joint, and a connecting arm. The fixed seat is connected inside the arm bin. The first robotic joint connects the fixed seat and the connecting arm and enables the connecting arm to be foldable or unfoldable relative to the fixed seat. The first robotic joint is set as a non-self-locking structure.

[0020] Further, the cleaning device further includes: a bin door, which is movably connected to the machine body and can open or close the bin opening.

[0021] The cleaning device provided by the embodiment of the present utility model includes a machine body, a robotic arm, a connection structure, and a touch component. An arm bin for accommodating the robotic arm is provided on the machine body. The robotic arm is connected to the machine body through the connection structure and can be extended or retracted into the arm bin through the bin opening. Thus, the robotic arm can move along with the movement of the machine body to reach the target position, and the grasping or moving of obstacles, objects, and garbage near the cleaning device can be realized through the unfolding movement of the robotic arm extending out of the bin opening, so as to better realize the autonomous cleaning function. By arranging a touch component on the machine body, the touch component is located on the periphery of the bin opening. When the robotic arm is folded and retracted into the arm bin or extended out of the arm bin, the hand or foreign object near the bin opening contacts or collides with the touch component, causing the touch component to send a signal under mechanical stress. Thus, it is convenient for the robotic arm or the cleaning device to make corresponding actions according to the signal. For example, the control device of the cleaning device controls the robotic arm to stop moving according to the signal, avoiding the possibility of the robotic arm continuing to move and clamping the hand or foreign object, reducing the personal injury or financial loss caused during the process of the robotic arm leaving and returning to the bin, being beneficial to improving the safety of using the robotic arm and enhancing the user satisfaction.

[0022] The above description is only an overview of the technical solution of the present utility model. In order to be able to understand the technical means of the present utility model more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features, and advantages of the present utility model more obvious and understandable, the specific embodiments of the present utility model are specifically given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following drawings of the present utility model are used as a part of the embodiments of the present utility model to understand the present utility model. The embodiments of the present utility model shown in the drawings and their descriptions are used to explain the principles of the present utility model.

[0024] In the drawings:

[0025] Figure 1 It shows a schematic structural view of a perspective of the cleaning device of the present utility model connected with a robotic arm;

[0026] Figure 2 It shows a schematic structural view of a perspective of the cleaning device of the present utility model not connected with a robotic arm;

[0027] Figure 3 It shows a schematic structural view of a perspective of the cleaning device of the present utility model not connected with a robotic arm and a touch component;

[0028] Figure 4 It shows a schematic structural view of a perspective of the cleaning device of the present utility model not connected with a robotic arm and with a part of the touch component connected;

[0029] Figure 5 It shows Figure 4Partial enlarged schematic view of part A of the illustrated embodiment;

[0030] Figure 6 Schematic structural view of a perspective of the touch component of the present utility model;

[0031] Figure 7 Schematic structural view of another perspective of the touch component of the present utility model;

[0032] Figure 8 Shows Figure 7 Partial enlarged schematic view of part B of the illustrated embodiment;

[0033] Figure 9 Schematic structural view of a perspective of the touch member of the present utility model;

[0034] Figure 10 Schematic structural view of another perspective of the touch member of the present utility model.

[0035] Description of reference numerals

[0036] 100 Cleaning device, 110 Machine main body, 111 Arm bin, 112 Bin opening, 113 Boss structure, 120 Touch component, 121 Touch member, 1211 First avoidance opening, 1212 First limiting portion, 1213 Second limiting portion, 1214 Second avoidance opening, 1215 Buffer portion, 122 Touch switch, 123 Elastic member, 124 Limiting member, 130 Robot arm. Detailed implementation manners

[0037] In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solutions provided by the present utility model. However, it is obvious to those skilled in the art that the technical solutions provided by the present utility model can be implemented without one or more of these details.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0039] Now, exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art.

[0040] As Figures 1 to 10 shown, an embodiment of the present invention provides a cleaning device 100, and the cleaning device 100 can be a floor sweeping robot, a mopping robot, a sweeping and mopping integrated machine, or other cleaning devices 100 that meet the requirements.

[0041] Specifically, the cleaning device 100 includes, but is not limited to: a machine body 110, a cleaning system, a driving system, etc. The above-mentioned various systems cooperate with each other so that the cleaning device 100 can move autonomously to achieve the cleaning function. The functional elements and the like that constitute the above-mentioned various systems in the cleaning device 100 are integrally arranged in the machine body 110. It can be understood that the cleaning device 100 can be a self-moving cleaning device 100, wherein the self-moving cleaning device 100 is a device that automatically performs cleaning operations in a certain area to be cleaned without the operation of a user.

[0042] As Figure 1 、 Figure 2 、 Figure 3 shown, the cleaning device 100 provided by the embodiment of the present invention includes: a machine body 110, an arm bin 111 is formed in the machine body 110, and a bin opening 112 is provided in the arm bin 111; a robotic arm 130 and a connecting structure, the robotic arm 130 is connected to the machine body 110 through the connecting structure and can be extended or retracted into the arm bin 111 through the bin opening 112; a touch component 120, the touch component 120 is arranged on the machine body 110 and is located on the periphery of the bin opening 112, and the touch component 120 is configured to send a signal when subjected to mechanical stress.

[0043] The cleaning device 100 provided in the embodiment of the utility model includes a machine body 110, a mechanical arm 130 and a trigger assembly 120, wherein an arm bin 111 for accommodating the mechanical arm 130 is provided on the machine body 110, and the mechanical arm 130 is connected to the machine body 110 through a connecting structure, and can be extended or stored in the arm bin 111 through a bin opening 112. Thus, the mechanical arm 130 can move with the movement of the machine body 110 to reach the target position, and the mechanical arm 130 can extend out of the bin opening 112 to grasp or move obstacles, objects, and garbage near the cleaning device 100, so as to better realize the autonomous cleaning function. It is understandable that the above-mentioned objects can also be objects required by users, such as remote controls, apples, etc., which are not listed one by one here. Among them, the setting of the arm bin 111 provides a storage space for the robot arm 130, so that the robot arm 130 can be stored in the arm bin 111 after being folded, reducing the space occupied by the robot arm 130, making the overall volume of the cleaning equipment 100 smaller, convenient for storage and movement, and conducive to improving the aesthetic appearance of the cleaning equipment 100.

[0044] The cleaning device 100 in this embodiment is provided with a trigger assembly 120 on the machine body 110, and the trigger assembly 120 is located on the periphery of the port 112. The trigger assembly 120 is configured to send a signal when subjected to mechanical stress. In this way, when the mechanical arm 130 is folded and stored in the arm bin 111 or the arm bin 111 is extended, a human hand or a foreign object near the port 112 contacts or collides with the trigger assembly 120, so that the trigger assembly 120 is subjected to mechanical stress and sends a signal, indicating that the trigger assembly 120 contacts or collides with the human hand or the foreign object. There is a risk of human hands or foreign objects being caught in the opening of the warehouse. Therefore, it is convenient for the robot arm 130 or the cleaning equipment 100 to take corresponding actions according to the signal. For example, the control device of the cleaning equipment 100 controls the robot arm 130 to stop moving according to the signal, so as to avoid the possibility of human hands or foreign objects being caught in the opening of the warehouse due to the robot arm 130 continuing to move, thereby reducing personal injury or financial losses caused by the robot arm 130 extending the arm warehouse 111 and retracting the arm warehouse 111, which is beneficial to improving the safety of the use of the robot arm 130 and enhancing user satisfaction.

[0045] The trigger assembly 120 is located on the peripheral side of the bay opening 112 , and may be located on the outer peripheral side of the bay opening 112 , or located on the inner peripheral side of the bay opening 112 , or located on both the inner peripheral side and the outer peripheral side of the bay opening 112 .

[0046] The connection structure may be at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic structure. The connection structure may realize a detachable connection between the robot arm 130 and the machine body 110, so that the robot arm 130 can be easily disassembled and separated from the machine body 110 through the connection structure for maintenance, which is simple to operate and convenient to maintain.

[0047] In some possible embodiments provided by the present utility model, the cleaning device 100 further includes a control device, which is electrically connected to the robotic arm 130 and the touch component 120. The control device is configured to control the robotic arm 130 to stop working according to the signal sent by the touch component 120.

[0048] Among them, the control device can control the motion state of the robotic arm 130. For example, the control device can control the robotic arm 130 to unfold and extend out of the arm bin 111, and control the robotic arm 130 to fold and store it in the arm bin 111. The control device is electrically connected to the touch component 120. In this way, when a human hand or foreign object near the hatch 112 touches the touch component 120 and causes the touch component 120 to send a signal during the process of the robotic arm 130 extending out of the arm bin 111 or folding and retracting into the arm bin 111, it indicates that there is a risk of the human hand or foreign object being pinched at the hatch 112. Therefore, the control device can control the robotic arm 130 to stop moving according to the signal sent by the touch component 120, which can avoid the possibility of the robotic arm 130 continuing to move and pinching the human hand or foreign object between the arm bin 111 and the robotic arm 130, or can avoid the possibility of the robotic arm 130 continuing to move and causing injury to the human hand or damage to the foreign object, and can avoid personal injury or financial loss caused during the process of the robotic arm 130 folding and storing into the arm bin 111 or extending out of the arm bin 111, which is beneficial to improving the safety of using the robotic arm 130 and enhancing the user's satisfaction.

[0049] In some possible embodiments provided by the present utility model, the touch component 120 includes: a touch member 121 and a touch switch 122. The touch member 121 is distributed on the periphery of the hatch 112 and is provided with a first avoidance opening 1211 in the middle for avoiding the robotic arm 130. The touch member 121 can float up and down relative to the machine body 110. The touch switch 122 is located between the touch member 121 and the machine body 110. The touch member 121 is configured to trigger the touch switch 122 to send a signal when floating downward relative to the machine body 110.

[0050] In this embodiment, since the touch member 121 is distributed on the periphery of the hatch 112 and can float up and down relative to the machine body 110, and the touch switch 122 is located between the touch member 121 and the machine body 110, for example, the touch switch 122 is located below the touch member 121. In this way, when a human hand or foreign object touches or contacts the touch member 121, it will cause the touch member 121 to float downward relative to the machine body 110 and trigger the touch switch 122 to send a signal. Thus, the robotic arm 130 can stop moving according to the signal, avoiding the possibility of the robotic arm 130 continuing to move and pinching the human hand or foreign object at the hatch 112, reducing personal injury or financial loss caused during the process of the robotic arm 130 folding and storing into the arm bin 111 or extending out of the arm bin 111, which is beneficial to improving the safety of using the robotic arm 130 and enhancing the user's satisfaction.

[0051] Among them, the setting of the first avoidance opening 1211 enables the robotic arm 130 to extend outside the arm bin 111 through the first avoidance opening 1211 or to be folded and stored inside the arm bin 111 from outside the arm bin 111 through the first avoidance opening 1211. Moreover, during the movement of the robotic arm 130, it will not contact the trigger member 121, avoiding the possibility that the robotic arm 130 accidentally touches the trigger member 121 and causes the trigger switch 122 to send a false signal, and improving the accuracy of the anti-pinch detection of the trigger assembly 120 at the hatch 112.

[0052] Among them, the trigger member 121 can float up and down relative to the machine body 110, so that after the trigger member 121 contacts a human hand or a foreign object, it can move downward to act on the trigger switch 122 and cause the trigger switch 122 to trigger a signal. When the human hand or foreign object leaves the trigger member 121, the trigger member 121 can move upward to reset to the initial position.

[0053] In the above embodiment, the number of trigger switches 122 is one or more. The multiple trigger switches 122 are distributed at intervals along the circumference of the trigger member 121 between the trigger member 121 and the machine body 110, so that the downward movement of different positions of the trigger member 121 relative to the machine body 110 can trigger the trigger switch 122 to send a signal, which is beneficial to improving the comprehensiveness and accuracy of the anti-pinch detection of the entire trigger assembly 120.

[0054] Specifically, the trigger switch 122 can be at least one of a mechanical switch, an optoelectronic switch, a piezoelectric switch, and a touch switch. It can be understood that when the number of trigger switches 122 is multiple, the multiple trigger switches 122 can be of the same type or different types.

[0055] Specifically, the trigger switch 122 can be connected to the machine body 110 through at least one of a bolt structure, a clamping structure, a plugging structure, a mortise and tenon structure, and an adhesive.

[0056] In some possible embodiments provided by the present utility model, the trigger assembly 120 further includes: an elastic member 123. The first end of the elastic member 123 is connected to the trigger member 121, and the second end of the elastic member 123 is connected to the machine body 110. By connecting the trigger member 121 and the machine body 110 through the elastic member 123, a floating connection between the trigger member 121 and the machine body 110 can be realized, so that after the trigger member 121 contacts a human hand or a foreign object, it can move downward to act on the trigger switch 122 and cause the trigger switch 122 to trigger a signal. When the human hand or foreign object leaves the trigger member 121, under the action of the elastic member 123, the trigger member 121 can reset to the initial position.

[0057] Specifically, the elastic member 123 can be a spring, a tension spring, a torsion spring, a spring sheet, a elastic glue, or other elastic members 123 that meet the requirements.

[0058] Specifically, the number of elastic members 123 can be one or more. The multiple elastic members 123 are distributed at intervals along the circumferential direction of the trigger member 121 between the trigger member 121 and the machine body 110, so that each part of the trigger member 121 has good floating property with the machine body 110 at the corresponding position, which is beneficial to improving the uniformity of the up-and-down floating of the entire trigger member 121 relative to the machine body 110, and is beneficial to improving the comprehensiveness and accuracy of the anti-pinch detection of the entire trigger assembly 120.

[0059] Specifically, the first end of the elastic member 123 can be connected to the trigger member 121 through at least one of a bolt structure, a clamping structure, a plugging structure, a mortise-and-tenon structure, a hook structure, and an adhesive. The second end of the elastic member 123 can be connected to the machine body 110 through at least one of a bolt structure, a clamping structure, a plugging structure, a mortise-and-tenon structure, a hook structure, and an adhesive.

[0060] Further, a first limiting portion 1212 is provided on the side of the trigger member 121 facing the trigger switch 122. The first limiting portion 1212 is connected to the first end of the elastic member 123. Among them, the first limiting portion 1212 can be a connecting column, a hook, a socket, etc. Specifically, as Figure 9 shown, the first limiting portion 1212 is a connecting column.

[0061] In some possible implementation embodiments provided by the present invention, the trigger assembly 120 further includes: a limiting member 124. The first end of the limiting member 124 is connected to the trigger member 121. A limiting hole is provided on the machine body 110. The second end of the limiting member 124 passes through the limiting hole and can move up and down along the limiting hole.

[0062] Since the trigger switch 122 is located between the trigger member 121 and the machine body 110, that is, the trigger switch 122 can be understood to be below the trigger member 121 in the vertical direction. If the trigger member 121 shakes in the horizontal direction relative to the machine body 110 under mechanical stress, there may be a situation where the trigger member 121 cannot make the trigger switch 122 send a signal. Therefore, there is a problem of anti-pinch leakage detection in the trigger assembly 120. For this reason, in this embodiment, by adding the limiting member 124, the limiting member 124 and the limiting hole on the machine body 110 cooperate to be able to limit the movement of the limiting member 124 relative to the limiting hole. Since the trigger member 121 is connected to the limiting member 124, the movement of the trigger member 121 relative to the machine body 110 can be limited and guided, so that the trigger member 121 can move up and down more accurately in the vertical direction relative to the machine body 110, reducing the possibility of the trigger member 121 shaking in the horizontal direction relative to the machine body 110, and greatly improving the detection accuracy of the trigger assembly 120.

[0063] Specifically, the number of the limiting members 124 can be one or more. The plurality of limiting members 124 are circumferentially spaced apart between the triggering member 121 and the machine body 110, so that each part of the triggering member 121 can move up and down well in the vertical direction relative to the machine body 110, improving the accuracy of the entire triggering member 121 moving up and down in the vertical direction, reducing the possibility of the triggering member 121 shaking relative to the machine body 110, and improving the good anti-pinch detection accuracy of the triggering assembly 120.

[0064] Specifically, the first end of the limiting member 124 can be connected to the triggering member 121 by at least one of a bolt structure, a clamping structure, a plugging structure, a mortise and tenon structure, a hook structure, and an adhesive.

[0065] Further, a second limiting portion 1213 is provided on the side of the triggering member 121 facing the trigger switch 122. The second limiting portion 1213 cooperates with the first end of the limiting member 124 to realize the connection with the limiting member 124. Among them, the second limiting portion 1213 can be a connecting column, a hook, a socket, etc. Specifically, as Figure 9 shown, the second limiting portion 1213 is a connecting column, and the connecting column is a hollow structure. The first end of the limiting member 124 can be inserted into the hollow structure of the second limiting portion 1213.

[0066] Further, a threaded structure is provided in the hollow structure of the second limiting portion 1213. The limiting member 124 can be a screw. The first end of the screw is connected to the second limiting portion 1213 through the threaded structure, and the second end of the screw passes through the through hole in the bin wall.

[0067] Further, a head is provided at the second end of the limiting member 124. The head can be clamped in the through hole. Thus, by cooperating the head and the through hole, the movement range of the triggering member 121 relative to the machine body 110 can be restricted, so that under the action of the elastic member 123, after the mechanical stress on the triggering member 121 disappears, the triggering member 121 can accurately return to the initial position.

[0068] In some examples, the limiting member 124 does not protrude from the surface of the triggering member 121 away from the trigger switch 122. For example, the first end of the limiting member 124 is connected to the side of the triggering member 121 facing the trigger switch 122, or the first end of the limiting member 124 passes through the triggering member 121 and does not protrude from the surface of the triggering member 121 away from the trigger switch 122. Thus, it can be ensured that the limiting member 124 does not protrude from the surface of the triggering member 121 away from the trigger switch 122, making the surface of the triggering member 121 facing the outside neat and beautiful, and improving the aesthetic property of the product appearance.

[0069] In some possible embodiments provided by the present utility model, the cleaning device 100 further includes a chamber door, which is movably connected to the machine main body 110 and can open or close the chamber opening 112. Thus, after the robotic arm 130 is folded and stored in the arm chamber 111, the chamber door can close the chamber opening 112 to reduce or prevent dust and liquid from entering the arm chamber 111 and causing the robotic arm 130 to malfunction, which is beneficial to improving the service life of the robotic arm 130 and the overall reliability of the cleaning device 100. It can be understood that when the robotic arm 130 needs to extend out of the arm chamber 111 for grasping operations, the chamber door can move relative to the machine main body 110 to open the chamber opening 112.

[0070] Further, since the triggering assembly 120 is located on the periphery of the chamber opening 112, when the chamber door closes the chamber opening 112, the chamber door is located above the triggering assembly 120, that is, the chamber door is opposite to the surface of the triggering member 121 away from the trigger switch 122. By the limiting member 124 not protruding from the surface of the triggering member 121 away from the trigger switch 122, the setting of the limiting member 124 does not interfere with the chamber door closing the chamber opening 112, improving the smoothness of the chamber door closing the chamber opening 112.

[0071] Further, the chamber door is connected to the machine main body 110 through a transmission assembly. When the transmission assembly works, it can drive the chamber door to move relative to the machine main body 110 to open or close the chamber opening 112. Among them, a second avoidance opening 1214 is further formed on the triggering member 121. The second avoidance opening 1214 is used to avoid the transmission assembly, so as to reduce the possibility of contact between the transmission assembly, the chamber door and the triggering member 121 during the process of the transmission assembly driving the chamber door to move, so that the movement of the transmission assembly and the chamber door will not contact the triggering member 121 and cause mechanical stress to the triggering member, thereby improving the accuracy and reliability of the anti-pinch detection of the triggering assembly 120.

[0072] In some possible embodiments provided by the present utility model, the elastic member 123 is sleeved outside the limiting member 124, or the elastic member 123 and the limiting member 124 are spaced apart along the circumference of the triggering member 121. Thus, the requirements for different arrangement methods of the elastic member 123 and the limiting member 124 can be met.

[0073] Among them, the elastic member 123 and the limiting member 124 are spaced apart along the circumference of the triggering member 121, so that the elastic member 123 and the limiting member 124 can support the triggering member 121 from different positions, which is beneficial to improving the smoothness and uniformity of the up and down floating of the triggering member 121 relative to the machine main body 110, and further improving the anti-pinch detection accuracy of the triggering assembly 120.

[0074] In some possible embodiments provided by the present utility model, a buffer portion 1215 is formed on or connected to the side of the triggering member 121 facing the trigger switch 122, and the buffer portion 1215 corresponds to the trigger switch 122.

[0075] Since there is a possibility that the actuating member 121 contacts and touches the actuating switch 122 during the downward movement under mechanical stress. For example, when the actuating switch 122 is a mechanical switch, a touch switch, or a piezoelectric switch, the actuating member 121 will contact the mechanical switch, the touch switch, or the piezoelectric switch during the downward movement under mechanical stress, causing the mechanical switch, the touch switch, or the piezoelectric switch to send a signal. When the actuating member 121 touches the actuating switch 122 frequently, or when the mechanical stress is relatively large, there is a situation where the actuating member 121 and the actuating switch 122 are damaged.

[0076] Therefore, in this embodiment, a buffer portion 1215 is formed or connected to the side of the actuating member 121 facing the actuating switch 122. The buffer portion 1215 corresponds to the actuating switch 122, so that the buffer portion 1215 plays a good buffering role in the touch between the actuating member 121 and the actuating switch 122, thereby reducing the situation where the actuating member 121 and the actuating switch 122 are damaged due to the frequent touch between the actuating member 121 and the actuating switch 122 or relatively large mechanical stress, greatly improving the service life of the actuating member 121 and the actuating switch 122, and improving the overall reliability of the actuating assembly 120.

[0077] Specifically, the buffer portion 1215 can be formed on the actuating member 121. For example, the buffer portion 1215 and the actuating member 121 are of an integral structure. Or, the buffer portion 1215 can be connected to the actuating member 121. For example, the buffer portion 1215 and the actuating member 121 are of a split structure, and the buffer portion 1215 can be connected to the actuating member 121 through a bolt structure, a plug-in structure, a snap-fit structure, a mortise and tenon structure, an adhesive, etc. Specifically, the buffer portion 1215 can be a silicone pad, a rubber pad, etc.

[0078] In some possible embodiments provided by the present utility model, the actuating member 121 moves 0.2 mm to 0.5 mm in the direction close to the actuating switch 122 to cause the actuating switch 122 to send a signal.

[0079] That is to say, when the actuating member 121 is under mechanical stress, moving 0.2 mm to 0.5 mm in the direction close to the actuating switch 122 can trigger the actuating switch 122 to act and send a signal. Therefore, the sensitivity of triggering the actuating switch 122 is improved, which is beneficial to improving the sensitivity of pinch detection of the actuating assembly 120.

[0080] Specifically, when the actuating member 121 moves 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm, or other distances in the direction close to the actuating switch 122, the actuating switch 122 can be triggered to act and send a signal.

[0081] Specifically, when the trigger switch 122 is a mechanical switch, a touch switch, or a piezoelectric switch, the distance between the mechanical switch, the touch switch, the piezoelectric switch and the trigger member 121 can be from 0.2 mm to 0.5 mm. As Figure 9 shown, taking the trigger switch 122 as a mechanical switch as an example, the distance between the mechanical switch and the trigger member 121 is D1, and the size of D1 is from 0.2 mm to 0.5 mm.

[0082] It can be understood that when the trigger switch 122 is an optoelectronic switch, when the trigger member 121 is under mechanical stress, it moves 0.2 mm to 0.5 mm in the direction close to the optoelectronic switch, and the optoelectronic switch can be triggered to send a signal.

[0083] In some possible embodiments provided by the present utility model, the trigger assembly 120 further includes a piezoelectric film, and the piezoelectric film is located on the inner peripheral side of the bin opening 112.

[0084] The piezoelectric film is a special piezoelectric material. Its piezoelectric effect means that when an external mechanical stress acts on the piezoelectric material, it will cause a change in the charge distribution in the piezoelectric material proportional to the stress, thereby generating a voltage difference to transmit a signal. Specifically, when a hand or a foreign object touches or collides with the piezoelectric film, the piezoelectric film will be subjected to mechanical stress to send a signal.

[0085] In this embodiment, by arranging the piezoelectric film on the periphery of the bin opening 112, when a hand or a foreign object near the bin opening 112 touches or touches the piezoelectric film, the piezoelectric film will be subjected to mechanical stress and send a signal. Thus, the robotic arm 130 can stop moving according to the signal, avoiding the possibility that the robotic arm 130 continues to move and clamp a hand or a foreign object, reducing the possibility that a hand or a foreign object is clamped at the bin opening 112 during the process of the robotic arm 130 being folded and stored in the arm bin 111 or extended from the arm bin 111, reducing the personal injury or financial loss caused during the process of the robotic arm 130 returning to the bin and leaving the bin, which is beneficial to improving the safety of using the robotic arm 130 and enhancing the user's satisfaction.

[0086] Specifically, the piezoelectric film can be connected to the bin wall through at least one of a bolt structure, a plug-in structure, a snap structure, a tenon and mortise structure, and an adhesive.

[0087] Furthermore, the piezoelectric film can be arranged along the periphery of the bin opening 112 to surround the entire bin opening 112, thereby improving the comprehensiveness of the anti-pinch detection of the piezoelectric film.

[0088] In some possible embodiments provided by the present utility model, a convex platform structure 113 is provided on the inner peripheral side of the bin opening 112 inside the arm bin 111, and the trigger assembly 120 is installed on the convex platform structure 113.

[0089] The provision of the boss structure 113 provides an installation space for the touch component 120. For example, the touch component 120 includes a touch member 121, a touch switch 122, an elastic member 123, etc. The touch switch 122, the elastic member 123, etc. can be installed on the boss structure 113, and the touch member 121 is floatingly arranged on the boss structure 113 through the elastic member 123. When the touch component 120 includes a piezoelectric film, the piezoelectric film can be directly connected to the boss structure 113.

[0090] Furthermore, the boss structure 113 is wound around the circumferential side of the bin opening 112, that is to say, the boss structure 113 is arranged on the entire circumferential side of the bin opening 112. Thus, the touch member 121 or the voltage film of the touch component 120 is distributed on the entire circumferential side of the bin opening 112, thereby improving the comprehensiveness of the anti-pinch detection of the touch component 120.

[0091] In some possible implementation embodiments provided by the present utility model, the touch component 120 protrudes from the plane where the bin opening 112 faces the outside of the arm bin 111. That is to say, on the appearance surface of the machine body 110, the outer surface of the touch component 120 protrudes from the plane where the bin opening 112 faces the outside of the arm bin 111. For example, the outer surface of the touch member 121 protrudes from the plane where the bin opening 112 faces the outside of the arm bin 111, or the outer surface of the piezoelectric film protrudes from the plane where the bin opening 112 faces the outside of the arm bin 111. In this way, it is easier for the human hand or foreign object near the bin opening 112 to come into contact with the touch component 120, so that the touch member 121 moves downward under mechanical stress to cause the touch switch 122 to send a signal, or the piezoelectric film is subjected to mechanical stress to send a signal, so as to realize the anti-pinch detection of the touch component 120, reduce the possibility of clamping the human hand or foreign object at the bin opening 112 during the process of folding and storing the robotic arm 130 into the arm bin 111 or extending the robotic arm 130 out of the arm bin 111, reduce the personal injury or financial loss caused during the process of the robotic arm 130 returning to the bin and leaving the bin, which is beneficial to improving the safety of using the robotic arm 130 and enhancing the user's satisfaction.

[0092] In some possible implementation embodiments provided by the present utility model, the distance between the end face of the touch component 120 facing the outside of the arm bin 111 and the plane where the bin opening 112 faces the outside of the arm bin 111 is 1 mm to 2 mm. Specifically, the distance between the end face of the touch component 120 facing the outside of the arm bin 111 and the plane where the bin opening 112 faces the outside of the arm bin 111 can be 1 mm, 1.5 mm, 1.8 mm, 2 mm, or other distances. Thus, the distance between the end face of the touch component 120 facing the outside of the arm bin 111 and the plane where the bin opening 112 faces the outside of the arm bin 111 is reasonable, and it can be relatively easily contacted by the human hand or foreign object near the bin opening, playing a good anti-pinch protection role. At the same time, it has little impact on the cleanliness and aesthetics of the product appearance surface.

[0093] Specifically, the distance by which the outer surface of the trigger member 121 protrudes from the plane where the bin opening 112 faces the outside of the arm bin 111 is 1 mm to 2 mm, or the distance by which the outer surface of the piezoelectric film protrudes from the plane where the bin opening 112 faces the outside of the arm bin 111 is 1 mm to 2 mm.

[0094] In some possible embodiments provided by the present utility model, the robotic arm 130 includes a fixed base, a first robotic joint, and a connecting arm. The fixed base is connected inside the arm bin 111. The first robotic joint connects the fixed base and the connecting arm and enables the connecting arm to be foldable or expandable relative to the fixed base. The first robotic joint is set as a non-self-locking structure.

[0095] That is to say, the robotic arm 130 is installed in the arm bin 111 through the fixed base. The first robotic joint connects the fixed base and the connecting arm, so that the connecting arm can be foldable or expandable relative to the fixed base to realize the robotic arm 1130 extending out of or retracting into the arm bin 111. By setting the first robotic joint as a non-self-locking structure, in this way, after the robotic arm 130 stops moving according to the signal sent by the trigger assembly 120, if a human hand or foreign object is clamped at the bin opening 112, due to the first robotic joint being a non-self-locking structure, the connecting arm connected to the first robotic joint can be pushed reversely by an external force to make the connecting arm expand relative to the fixed base to release the clamped hand or foreign object, improving the safety of using the robotic arm 130 and enhancing the user's satisfaction.

[0096] It can be understood that the robotic arm 130 may further include a support arm and a robotic hand. The number of support arms can be one. Both ends of one support arm are respectively connected to the connecting arm and the robotic hand through other robotic joints; or the number of robotic arms 130 can be at least two. At least two support arms are sequentially connected through other robotic joints, so that at least two support arms are taken as a whole, and both ends of which are respectively connected to the connecting arm and the robotic hand through other robotic joints. Thus, through the cooperation of the fixed base, the connecting arm, and the support arm, the expansion or folding movement of the robotic arm 130 can be realized, and the picking up or placing of the target object can be realized through the robotic hand. It can be understood that the other robotic joints can be the same as or different from the first robotic joint. The other robotic joints can be the same robotic joints or different robotic joints.

[0097] In the description of the present utility model, the term "a plurality of" means two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model; terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0098] For those skilled in the art, the present utility model can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A cleaning device (100), characterized in that, Comprising: A machine body (110), an arm bin (111) is provided on the machine body (110), and a bin opening (112) is provided on the arm bin (111); A robotic arm (130) and a connection structure, the robotic arm (130) is connected to the machine body (110) through the connection structure, and can be extended or retracted into the arm bin (111) through the bin opening (112); A trigger assembly (120), the trigger assembly (120) is provided on the machine body (110), on the periphery of the bin opening (112), and the trigger assembly (120) is configured to send a signal when subjected to mechanical stress.

2. The cleaning device (100) according to claim 1, characterized in that, The trigger assembly (120) includes: A trigger member (121) and a trigger switch (122), the trigger member (121) is distributed on the periphery of the bin opening (112) and a first avoidance opening (1211) for avoiding the robotic arm (130) is provided in the middle, the trigger member (121) can float up and down relative to the machine body (110), the trigger switch (122) is located between the trigger member (121) and the machine body (110), and the trigger member (121) is configured to trigger the trigger switch (122) to send a signal when floating down relative to the machine body (110).

3. The cleaning device (100) according to claim 2, characterized in that, The trigger assembly (120) further includes: An elastic member (123), a first end of the elastic member (123) is connected to the trigger member (121), and a second end of the elastic member (123) is connected to the machine body (110).

4. The cleaning device (100) according to claim 3, characterized in that, The trigger assembly (120) further includes: A limiting member (124), a first end of the limiting member (124) is connected to the trigger member (121), a limiting hole is provided on the machine body (110), and a second end of the limiting member (124) passes through the limiting hole and can move up and down along the limiting hole.

5. The cleaning device (100) according to claim 2, characterized in that A buffer portion (1215) is formed or connected to the side of the trigger member (121) facing the trigger switch (122), and the buffer portion (1215) corresponds to the trigger switch (122).

6. The cleaning device (100) according to claim 4, characterized in that The limiting member (124) does not protrude from the surface of the trigger member (121) away from the trigger switch (122).

7. The cleaning device (100) according to claim 4, characterized in that A first limiting portion (1212) is provided on the side of the trigger member (121) facing the trigger switch (122), and the first limiting portion (1212) is connected to the first end of the elastic member (123); and / or A second limiting portion (1213) is provided on the side of the trigger member (121) facing the trigger switch (122), and the second limiting portion (1213) is connected to the first end of the limiting member (124).

8. The cleaning device (100) according to claim 4, characterized in that A plurality of the touch switches (122) are distributed at intervals along the circumferential direction of the touch member (121); and / or A plurality of the elastic members (123) are arranged at intervals along the circumferential direction of the touch member (121); and / or A plurality of the limiting members (124) are arranged at intervals along the circumferential direction of the touch member (121).

9. The cleaning device (100) according to claim 2, characterized in that, The touch member (121) moves 0.2 mm to 0.5 mm in the direction close to the touch switch (122), so that the touch switch (122) sends a signal.

10. The cleaning device (100) according to claim 1, wherein The touch assembly (120) further includes a piezoelectric film, and the piezoelectric film is located on the circumferential side of the bin opening (112).

11. The cleaning device (100) according to claim 1, characterized in that, A boss structure (113) is arranged on the inner circumference of the bin opening (112) inside the arm bin (111), and the touch assembly (120) is installed on the boss structure (113).

12. The cleaning device (100) according to claim 1, wherein The touch assembly (120) protrudes from the bin opening (112) towards the plane where the outside of the arm bin (111) is located.

13. The cleaning device (100) according to claim 12, wherein The distance between the end face of the touch assembly (120) facing the outside of the arm bin (111) and the plane where the bin opening (112) facing the outside of the arm bin (111) is located is 1 mm to 2 mm.

14. The cleaning device (100) according to claim 1, characterized in that, Further included is A control device, which is electrically connected to the robotic arm (130) and the touch assembly (120), and the control device is used to control the robotic arm (130) to stop working according to the signal sent by the touch assembly (120).

15. The cleaning device (100) according to claim 1, characterized in that, The robotic arm (130) includes a fixed seat, a first robotic joint, and a connecting arm. The fixed seat is connected inside the arm bin (111). The first robotic joint connects the fixed seat and the connecting arm, and enables the connecting arm to be foldable or unfoldable relative to the fixed seat. The first robotic joint is set as a non-self-locking structure.

16. The cleaning device (100) according to claim 1, characterized in that, Further included is A bin door, which is movably connected to the machine body (110) and can open or close the bin opening (112).

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