Cleaning device

Abstract

The invention discloses cleaning equipment. The cleaning equipment comprises a main machine; the mechanical arm is arranged on the main machine, the mechanical arm is provided with a hidden position relative to the main machine and a working position extending out of the main machine, and when the mechanical arm is located at the hidden position, a collision plate is formed and used for detecting an obstacle; and the sensor is arranged on the mechanical arm. According to the cleaning equipment, through the linkage structure of the mechanical arm and the sensor, the control precision of the mechanical arm can be further improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511871244.1 (22) Application Date 2024.04.25 (62) Divisional Application Data 202410508662.3 2024.04.25 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Sun Bo, Tang Lin (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Zhu Hongmei (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) B25J 11 / 00(2006.01) B25J 19 / 02(2006.01) (54) Invention Title: Cleaning Equipment (57) Abstract: This invention discloses a cleaning equipment, which includes a main unit; a robotic arm disposed on the main unit, the robotic arm having a hidden position relative to the main unit and a working position extending out of the main unit, the robotic arm forming a bumper and used for detecting obstacles when in the hidden position; and a sensor disposed on the robotic arm. The cleaning equipment disclosed in this invention can further improve the control accuracy of the robotic arm through the structure of the linkage between the robotic arm and the sensor. Claims 2 pages, Description 11 pages, Drawings 6 pages, CN 121587621 A 2026.03.03 CN 1 21 58 76 21 A 1. A cleaning device, characterized in that it comprises: a main unit (40); a robotic arm (10), the robotic arm (10) being disposed on the main unit (40), the robotic arm (10) having a hidden position relative to the main unit (40) and a working position extending out of the main unit (40), the robotic arm (10) being in the hidden position forming a bumper and used for detecting obstacles; a sensor (20), the sensor (20) being disposed on the robotic arm (10). 2. The cleaning equipment according to claim 1, characterized in that the sensor (20) has a working state and a closed state, wherein the sensor (20) is in the closed state when the robotic arm (10) is in the hidden position; the sensor (20) is in the working state when the robotic arm (10) is in the working position; when the sensor (20) is in the closed state, the sensor (20) is hidden inside the robotic arm (10); and when the sensor (20) is in the working state, the sensor (20) is exposed from the robotic arm (10).3. The cleaning equipment according to claim 1, characterized in that, the robotic arm (10) has a second accommodating space inside, and the arm shell of the robotic arm (10) has a second opening corresponding to the second accommodating space, the second accommodating space and the second opening form a second storage groove; when the sensor (20) is hidden inside the robotic arm (10), the sensor (20) is stored inside the second storage groove, and the housing of the sensor (20) covers the second opening, and the housing of the sensor (20) covering the second opening is consistent with the outer contour of the arm shell around the second opening. 4. The cleaning device according to claim 1, characterized in that the robotic arm (10) comprises: a transmission arm (110), the transmission arm (110) being rotatably connected to the host (40), and the sensor (20) being movably disposed on the transmission arm (110); a gripper (120), the gripper (120) being movably disposed on the transmission arm (110), the gripper (120) having an extended position and a retracted position relative to the transmission arm (110); when the gripper (120) is in the extended position, the sensor (20) is exposed from the transmission arm (110); when the gripper (120) is in the retracted position, the sensor (20) is hidden inside the transmission arm (110). 5. The cleaning device according to claim 4, characterized in that multiple transmission arms (110) are provided, the multiple transmission arms (110) being rotatably connected to each other, and the gripper (120) being disposed on the transmission arm (110) away from the host (40). 6. The cleaning device according to claim 5, wherein the sensor (20) is disposed on the transmission arm (110) away from the host (40), or the sensor (20) is disposed between two transmission arms (110). 7. The cleaning device according to claim 4, wherein when the gripper (120) is in the retracted position, the gripper (120) is attached to the transmission arm (110); or the transmission arm (110) has a pre-set third accommodating space inside, and the arm shell of the transmission arm (110) has a third opening corresponding to the third accommodating space, the third accommodating space and the third opening forming a third receiving groove, and the gripper (120) is received in the third receiving groove of the transmission arm (110).8. The cleaning device according to claim 7, characterized in that the gripper (120) rotates relative to the transmission arm (110) to switch between the extended position and the retracted position, wherein when the gripper (120) is in the retracted position, the end face of the gripper (120) is parallel or approximately parallel to the end face of the transmission arm (110); and when the gripper (120) is in the extended position, the end face of the gripper (120) is parallel or approximately parallel to the working plane. Claims 1 / 2 page 2 CN 121587621 A 9. The cleaning device according to claim 4, characterized in that the transmission arm (110) has a through hole, and the sensor (20) comprises: a bracket (220) rotatably disposed at the through hole; and a sensor body (210) having a sensing head, the sensor body (210) being disposed on the bracket (220). 10. The cleaning equipment according to claim 4, characterized in that the robotic arm (10) further includes a drive structure, the drive structure is disposed on the transmission arm (110), the drive structure is drivenly connected to the sensor (20), and the drive structure drives the sensor (20) to switch between the closed state and the working state. Claims 2 / 2 Page 3 CN 121587621 A Cleaning Equipment

[0001] This application is a divisional application of Chinese patent application No. 202410508662.3, application date 2024-04-25, entitled "Cleaning Equipment". Technical Field

[0002] This invention belongs to the technical field of cleaning equipment, specifically relating to a cleaning equipment. Background Art

[0003] Cleaning equipment typically uses roller brushes, side brushes, and cloths to perform sweeping and mopping functions. However, the above-mentioned cleaning components have limited operation on objects around the machine body. In reality, the working environment is more complex. Obstacles may appear around the machine body that affect the movement of the cleaning equipment, or there may be garbage around the machine body that needs to be cleaned but cannot be cleaned by the above-mentioned cleaning components of the cleaning equipment, thus affecting the cleaning effect.

[0004] In order to better achieve the cleaning function, current cleaning equipment also chooses to add a robotic arm that can extend outside the machine body to grab or move obstacles, items, and garbage around the machine body. When not in use, the robotic arm can be stored in the machine body. However, the operation of the robotic arm is more complex, and the operation accuracy of the robotic arm of current cleaning equipment is difficult to guarantee. Summary of the Invention

[0005] The solution provided in the embodiments of this specification sets the sensor on the robotic arm, and by further controlling the coordination between the robotic arm and the sensor, the operation accuracy of the robotic arm can be further improved.

[0006] To solve the above-mentioned technical problems, the present invention provides a cleaning device, which includes a main unit; a robotic arm, which is mounted on the main unit and has a hidden position relative to the main unit and a working position extending out of the main unit; and a sensor, which is movably mounted on the robotic arm and is linked to the robotic arm. The sensor has a working state and a closed state. When the robotic arm is in the hidden position, the sensor is in the closed state and is hidden inside the robotic arm; when the robotic arm is in the working position, the sensor is in the working state and is exposed from the robotic arm. The robotic arm and the sensor provided by the present invention move synchronously, thereby realizing that when the robotic arm is in the working position, the sensor is in the working state, and the sensor head of the sensor in the working state is exposed, which facilitates the detection of the position that the robotic arm needs to move through the sensor head and improves the movement accuracy of the robotic arm; and by controlling the coordinated hiding of the robotic arm and the sensor, the probability of damage to the corresponding sensor is reduced.

[0007] Optionally, the host has a first accommodating space inside, and the host's casing has a first opening corresponding to the first accommodating space. The first accommodating space and the first opening form a first storage slot. When the robotic arm is in the hidden position, the robotic arm is stored inside the first storage slot, and the arm shell of the robotic arm covers the first opening. The arm shell covering the first opening is consistent with the outer contour of the casing around the first opening. When the robotic arm is stored inside the first storage slot, the robotic arm can be stored without leaving a trace inside the first storage slot, which can protect the related components of the robotic arm and improve the overall appearance consistency of the cleaning equipment, thereby enhancing the user experience.

[0008] Optionally, the robotic arm has a pre-set second accommodating space inside, and the arm shell of the robotic arm has a second opening corresponding to the second accommodating space. The second accommodating space and the second opening form a second storage groove. When the sensor is hidden inside the robotic arm, the sensor is stored inside the second storage groove, and the housing of the sensor (page 1 / 11, CN 121587621 A) covers the second opening. The housing of the sensor covering the second opening is consistent with the outer contour of the arm shell around the second opening.

[0009] Optionally, the robotic arm includes a transmission arm, which is rotatably connected to the host, and the sensor is movably disposed on the transmission arm; a gripper, which is movably disposed on the transmission arm, and the gripper has an extended position and a retracted position relative to the transmission arm; when the gripper is in the extended position, the sensor is exposed from the transmission arm; when the gripper is in the retracted position, the sensor is hidden inside the transmission arm.The synchronously moving sensors and grippers are mounted on the transmission arm, improving their coordination. Furthermore, both the grippers and sensors are concealed on one side or inside the transmission arm, enhancing the overall aesthetic consistency of the robotic arm and improving the user experience.

[0010] Optionally, multiple transmission arms are provided, rotatably connected to each other. The grippers and sensors are mounted on the transmission arm furthest from the host machine. The multiple transmission arms improve the robotic arm's flexibility, facilitating the gripping of objects at different locations. The grippers and sensors mounted on the transmission arm furthest from the host machine facilitate environmental detection, further enhancing object gripping and increasing the robotic arm's usability.

[0011] Optionally, the gripper rotates relative to the transmission arm to switch between the extended position and the retracted position. The angle between the gripper and the transmission arm in the retracted position is different from the angle in the extended position. This allows the gripper to be in contact with the lower end face of the transmission arm when in the retracted position, and at an angle to the lower end face when in the extended position. This enables the gripper to rotate to a horizontal position when the transmission arm is tilted, facilitating gripping and improving gripping efficiency.

[0012] Optionally, the gripper also has a boss. The height of the boss at the end facing away from the gripper is greater than the height of the boss at the end facing the gripper. The end face of the boss is formed as an inclined surface. The gripper is rotatably connected to the transmission arm through the inclined surface of the boss.

[0013] Optionally, the robotic arm further includes a first driving member and a transmission assembly; the first driving member is disposed on the transmission arm; the transmission assembly includes: a gear ring disposed on the inclined surface of the boss; a helical gear, the first driving member being drivenly connected to the helical gear, and the helical gear meshing with the gear ring.

[0014] Optionally, when the angle A between the inclined surface and the end face of the gripper satisfies 10°≤A≤30°, it is convenient for the gripper to switch from the transmission arm to a horizontal position, thereby enabling the gripping of the object to be cleaned on the surface, facilitating operation.

[0015] Optionally, the outer wall surface of the boss has a first limiting structure, the circumferential plane of the first limiting structure is parallel to the inclined surface, the gripper has a groove structure, at least a part of the boss extends into the interior of the groove structure, the inner wall of the groove structure has a second limiting structure, one of the first limiting part and the second limiting part is a rib and the other is an annular groove, the rib and the annular groove are slidably engaged. The combination of annular grooves and convex ribs enables the limiting of the gripper and the transmission arm, preventing the gripper and the transmission arm from disengaging.

[0016] Optionally, the cleaning device further includes a baffle connected to the junction of the gripper and the transmission arm. The baffle is located on the side of the connection away from the gripping part. The upper end face of the baffle is coplanar with the upper end face of the gripper. When the gripper is in the retracted position, the baffle is parallel to the upper end face of the transmission arm, so that when the robotic arm is in the hidden position, the baffle covers the first storage slot. When the gripper is in the extended position, the baffle is located inside the transmission arm and is angled to the lower end face of the transmission arm. By setting a baffle on the robotic arm to cover the opening of the first storage slot, the robotic arm can be stored without leaving a trace, which helps to improve the overall appearance consistency of the cleaning device and enhance the user experience.

[0017] Further, the transmission arm has a through hole, and the sensor includes a bracket, which is rotatably disposed at the through hole; a sensor body, which has a sensing head, is disposed on the bracket; and a reset member, which is disposed between the bracket and the transmission arm. When the gripper switches from the extended position to the retracted position, at least a portion of the gripper abuts against at least a portion of the bracket to drive the bracket to flip, thereby switching the sensor from the working state to the closed state. The reset member provides a driving force for the sensor to be in the open state, that is, provides a reset force for the sensing head to be exposed. When the gripper switches to the extended position, the reset force of the reset member drives the bracket to flip, thereby exposing the sensing head. The sensor adopts a structure in which the bracket, sensor body, and reset member cooperate. The overall structure is simple and does not require an additional driving structure, which is convenient for installation. At the same time, the sensor's state switching is achieved by relying on the reset force of the reset member and the abutment force of the gripper, which helps to improve the stability of the sensor's movement.

[0018] Further, the bracket includes a flip cover, which is rotatably connected to the transmission arm. A reset component is disposed between the flip cover and the transmission arm. The sensor body is disposed on the flip cover, which can cover the through hole. An abutment shaft is fixedly connected to the flip cover and abuts or separates from the gripper. When the gripper is switched to the retracted position, it abuts against the abutment shaft, thereby driving the flip cover to flip and cover the through hole. By using the flip cover and the abutment shaft, it is beneficial to achieve covering through the flip cover, thereby preventing dust and other dirt from entering the interior of the sensor. At the same time, the abutment shaft is used to abut against the gripper to facilitate the gripper to drive the sensor to switch states, so as to achieve the linkage effect between the gripper and the sensor.

[0019] The technical solution provided by the present invention has the following advantages: The robotic arm and the sensor provided by the present invention move synchronously, so that when the robotic arm is in the working position, the sensor is in the working state, and the sensor head of the sensor in the working state is exposed, which makes it convenient to detect the position that the robotic arm needs to move through the sensor head, thereby improving the control accuracy of the robotic arm; when the robotic arm is in the hidden position, the sensor is in the closed state and the sensor is hidden on the robotic arm, thereby realizing the coordinated hiding of the robotic arm and the sensor and reducing the probability of damage to the corresponding sensor.

[0020] Brief Description of the Drawings: In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 is a three-dimensional structural schematic diagram of the robotic arm provided by the present invention, wherein the gripper is in the extended position; Figure 2 is a schematic diagram of the mounting structure of the boss, transmission assembly and first driving member provided by the present invention; Figure 3 is a structural schematic diagram of the boss on the gripper provided by the present invention; Figure 4 is a structural schematic diagram of the inner side of the transmission arm provided by the present invention; Figure 5 is a three-dimensional structural schematic diagram of the sensor provided by the present invention; Figure 6 is a three-dimensional structural schematic diagram of the robotic arm provided by the present invention, wherein the gripper is in the retracted position; Figure 7 is a structural schematic diagram of the gripper abutting against the sensor provided by the present invention, wherein the gripper is in the retracted position; Figure 8 is a schematic diagram of the mounting structure of the second driving member on the gripper provided by the present invention; Figure 9 is a three-dimensional structural schematic diagram of the cleaning device provided by the present invention; Figure 10 is a three-dimensional structural schematic diagram of the cleaning device provided by the present invention; Figure 11 is a schematic diagram of the extended state of the robotic arm of the cleaning device provided by the present invention.

[0022] Explanation of reference numerals: 10, robotic arm; 110, transmission arm; 111, groove structure; 1111, annular groove; 120, gripper; 121, connecting part; 1211, boss; 12111, rib; 12112, upper end face of connecting part; 122, gripping part; 123, second driving member; 130, transmission assembly; 131, helical gear; 132, gear ring; 140, first driving member; 150, rotating shaft; 20, sensor; 210, sensor body; 220, support frame; 221, flip cover; 222, abutment shaft; 30, baffle; 40, main unit. Detailed Description

[0023] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and the above-mentioned drawings of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0025] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit the invention.

[0026] An embodiment of this specification provides a cleaning device, as shown in Figures 1 to 9. The cleaning device includes a main unit 40 and a robotic arm 10. The robotic arm 10 is mounted on the main unit 40 and has a hidden position relative to the main unit 40 and a working position extending out of the main unit 40.

[0027] In the description of the embodiment of this specification, when the main unit 40 is placed on the ground to perform cleaning work, the direction perpendicular to the ground and upward is considered upper, and the direction parallel to the ground is considered side; correspondingly, the side of the main unit 40 facing the ground is lower, the side of the main unit 40 away from the ground is upper, and the side of the main unit 40 perpendicular to the ground is side. For ease of distinction, in each embodiment of this specification, when the robotic arm is in the hidden position, the surfaces of the robotic arm structures facing and away from the working surface of the cleaning equipment can be used as end faces, wherein the surface facing the working surface of the cleaning equipment is used as the lower end face, and the surface away from the working surface of the cleaning equipment is used as the upper end face.

[0028] A first storage slot may be provided in the host 40. The first storage slot may be provided in the upper part of the host 40, or the first storage slot may be provided in the side part of the host 40. For example, a first accommodating space may be reserved in the host, and a first opening corresponding to the first accommodating space may be opened on the casing of the host to form a first storage slot. The casing of the host 40 may include an upper casing and a side casing, the upper casing being located in the upper part of the host 40, and the side casing being located in the side part of the host 40; if the first opening is opened in the side casing, the first storage slot is located in the side part of the host 40 accordingly; as shown in FIG10, if the first opening is opened in the upper casing, the first storage slot is located in the upper part of the host 40 accordingly. The robotic arm 10 is housed inside the first storage slot, thus the robotic arm 10 is in a hidden position relative to the main unit 40; the robotic arm 10 extends out from the first storage slot, corresponding to the robotic arm 10 extending out relative to the main unit 40. The robotic arm 10 is housed in the first storage slot, which allows the robotic arm 10 to be conveniently stored inside the first storage slot when not in use, without occupying additional space and improving the overall structural compactness of the cleaning equipment; when the robotic arm 10 is needed to work, it extends into the first storage slot to work, assisting the main unit in performing cleaning processing, improving the cleaning coverage and flexibility of the cleaning equipment.

[0029] The robotic arm 10 is rotatably mounted on the main unit 40 to assist in the processing of target objects around the sweeper.One end of the robotic arm 10 is rotatably mounted inside the first storage slot. When the robotic arm 10 is in the working position, the other end of the robotic arm 10 can extend out of the first storage slot, allowing the robotic arm 10 to extend out of the main unit 40 to assist in the cleaning of target objects around the sweeper. When the robotic arm 10 is not needed, it can be completely retracted into the first storage slot, achieving a hidden position relative to the main unit 40. For example, one end of the robotic arm 10 is provided with a rotating shaft 150, which is connected to a drive motor. The drive motor drives the rotating shaft 150 to rotate, causing the other end of the robotic arm 10 to extend out of the first storage slot or retract. The rotation of one end of the robotic arm relative to the main unit, allowing it to extend and retract, further improves the flexibility and range of motion of the robotic arm, thereby enhancing its ability to assist the main unit in cleaning.

[0030] Alternatively, the movement of the robotic arm can be controlled by other driving methods, such as the robotic arm 10 extending linearly relative to the host 40, so that the robotic arm 10 can switch between a hidden position relative to the host 40 and a working position extended from the host 40.

[0031] Of course, the host 40 may not have a storage slot, and a component of the cleaning equipment can be used as the robotic arm 10. For example, the impact plate of the cleaning equipment can be used as the robotic arm 10. The impact plate can be set on the host 40 through a linkage mechanism, and the impact plate can be extended relative to the host 40 through the linkage mechanism to perform auxiliary work on the periphery of the host 40; when it is not needed to assist in the work as a robotic arm, the impact plate is controlled to retract, thereby switching to a hidden position relative to the host 40, and only performing obstacle detection function as an impact plate of the host.

[0032] When the robotic arm 10 is not working, it is configured to be in a hidden position relative to the host 40, which can save space and improve the overall structural compactness of the cleaning equipment; when the robotic arm 10 needs to work, it extends from the host to work, assisting the host in performing cleaning, improving the cleaning coverage and flexibility of the cleaning equipment.

[0033] The length and extension direction of the robotic arm 10 can be set to adjust the extension length and extension direction of the robotic arm 10 relative to the host 40. In some embodiments, the robotic arm 10 may include multiple transmission arms 110, and joint connectors are provided between the transmission arms. By controlling the extension direction of each transmission arm 110 and the angle between two transmission arms 110, the extension length and extension direction of the robotic arm 10 relative to the host 40 can be controlled, which can further improve the flexibility of controlling the extension length and extension direction of the robotic arm 10. At the same time, by setting multiple transmission arms 110, it is also convenient to hide the robotic arm 10 relative to the host 40.When the robotic arm 10 is stored in the first storage slot, multiple transmission arms 110 can be used to store the multiple transmission arms 110 in the first storage slot by folding while ensuring the extension direction and extension length of the robotic arm 10, thus improving storage convenience.

[0034] The cleaning equipment also includes a sensor 20 movably mounted on the robotic arm 10. The sensor 20 can be a laser, RGB camera, infrared detector, etc., to detect the size, position, and surrounding environment of the target object to be operated by the robotic arm 10, so that the control device can accurately determine the position to be moved by the robotic arm 10 and the operation mode of the robotic arm 10, thereby improving the movement and operation accuracy of the robotic arm 10.

[0035] The sensor 20 can be hidden inside the robotic arm 10 or exposed from the robotic arm 10. For example, a second storage slot can be provided on the robotic arm 10. For example, a second accommodating space can be preset on the robotic arm 10, and a second opening can be made on the arm shell of the robotic arm 10 corresponding to the second accommodating space to form a second storage slot. The arm housing may include an upper housing, a lower housing, and a side housing. The second opening may be formed on the upper housing, the lower housing, or the side housing. As shown in Figure 10, the second opening is formed on the upper housing of the arm housing. When not in operation, the sensor 20 is stored in the second storage slot; when in operation, it extends at least partially out of the storage slot to protrude from the robotic arm 10, and detects the size, position, and surrounding environment of the target object to be operated by the robotic arm 10.

[0036] One end of the sensor 20 may be movably connected to the second storage slot. If one end of the sensor 20 can be rotatably connected to the second storage slot, the detection angle of the sensor 20 can be effectively adjusted, further improving the flexibility of adjusting the detection range of the sensor 20. Alternatively, one end of the sensor 20 may also move linearly relative to the second storage slot, such as moving up and down or moving left and right.

[0037] The sensor 20 is housed in the second storage slot, which allows the sensor 20 to be conveniently stored inside the second storage slot when not in use, without occupying additional space, improving the overall structural compactness of the robotic arm 10, and preventing the sensor 20 from being damaged by obstacles; when the sensor 20 needs to work, it extends into the second storage slot to work, assisting the robotic arm 10 in performing cleaning, and improving the execution accuracy of the robotic arm 10.

[0038] The sensor 20 can also be hidden inside the robotic arm 10 in other ways, such as when the robotic arm 10 includes multiple transmission arms, the sensor 20 can be sandwiched between two transmission arms to achieve hiding inside the robotic arm 10, etc. Specification 5 / 11 pages 8 CN 121587621 A

[0039] The sensor 20 has a working state and a closed state. When the sensor 20 is in the working state, it can perform the detection function; when the sensor 20 is in the closed state, it no longer performs the detection function.

[0040] The working state of the sensor 20 and the hiding and extending states of the robotic arm 10 can be linked.When the robotic arm 10 is in the hidden position, the control sensor 20 is hidden inside the robotic arm 10 and is in a closed state; when the robotic arm 10 is in the working position, the control sensor 20 is exposed and is in a working state.

[0041] When the robotic arm 10 switches from the hidden position to the extended position, so that when the robotic arm 10 is in the working position, the sensor 20 also switches from the hidden position to the extended position, that is, it is exposed from the robotic arm 10, and the control sensor 20 is in a working state. Thus, when the robotic arm 10 assists in processing target objects around the sweeper, the sensor 20 simultaneously detects the area near the robotic arm 10, improving the movement and operation accuracy of the robotic arm 10. When the robotic arm 10 switches from the extended position to the hidden position, and the work is finished, the sensor 20 also switches from the extended position to the hidden position and the work is finished. Therefore, when the robotic arm 10 is hidden and does not need to work, the sensor 20 can be promptly stored inside the robotic arm 10 and its work can be stopped, reducing the energy consumption of the sensor 20 and reducing the probability of the sensor 20 being contaminated or damaged.

[0042] As shown in the above embodiment, the host 40 has a first accommodating space inside, and the housing of the host 40 has a first opening corresponding to the first accommodating space. The first accommodating space and the first opening form a first storage groove. When the robotic arm 10 is in the hidden position, the robotic arm 10 is stored inside the first storage groove. Based on this structure, it can be further set that when the robotic arm 10 is in the hidden position, the arm shell of the robotic arm 10 covers the first opening, and the arm shell covering the first opening is consistent with the outer contour of the housing around the first opening. When the robotic arm is stored, the arm shell of the robotic arm covers the opening of the first storage slot, which can prevent external dust and water stains from contaminating the components on the robotic arm; further, setting the outer contour of the arm shell covering the first opening of the robotic arm to be consistent with the outer contour of the main body shell can also achieve the effect of traceless storage, thereby protecting the related components of the robotic arm while improving the overall appearance consistency of the cleaning equipment and improving the user experience.

[0043] The robotic arm 10 has a second accommodating space preset inside, and the arm shell of the robotic arm 10 has a second opening corresponding to the second accommodating space. The second accommodating space and the second opening form a second storage slot. When the sensor 20 is in the hidden position, the sensor 20 is stored inside the second storage slot. The sensor 20 may also include a shell. It can be further set that when the sensor 20 is in the hidden position, the shell of the sensor 20 covers the second opening, and the outer contour of the shell of the sensor 20 covering the second opening is consistent with the outer contour of the arm shell around the second opening.When the sensor is stored, the sensor housing covers the opening of the second storage slot, which can prevent external dust and water stains from contaminating the sensor window and detection device; furthermore, the outer contour of the sensor housing covering the second opening is made consistent with the outer contour of the robotic arm body, which can further achieve seamless storage between the robotic arm and the sensor, thereby protecting the sensor while improving the overall appearance consistency of the cleaning equipment and enhancing the user experience.

[0044] As shown in Figure 11, the upper part of the host 40 has a first storage slot for accommodating the robotic arm 10, and the upper part of the robotic arm 10 has a second storage slot for accommodating the sensor 20. When the robotic arm 10 is stored in the first storage slot, the sensor 20 is also stored in the second storage slot. Because the outer contour of the upper shell of the housing is flat, the arm shell covering the first opening of the first storage slot and the sensor 20 shell covering the second opening of the second storage slot are consistent with the outer contour of the upper shell of the housing, and are all flat. This means that after the robotic arm 10 is stored, the robotic arm and sensor shells of the cleaning equipment cover the opening of the storage slot, and the outer contours of the robotic arm and sensor shells are consistent with the outer contours of the main unit's housing, achieving a seamless storage effect. This not only protects the related components of the robotic arm and sensor, but also helps to improve the overall appearance consistency of the cleaning equipment and enhance the user experience. Instruction manual, page 6 / 11, CN 121587621 A

[0045] Alternatively, if the first opening is located on the side housing of the main unit, since the outer contour of the side housing is arc-shaped, when the robotic arm is stored in the first storage slot, the arm housing covering the first opening and the outer contour of the side housing around the first opening are consistent, forming an arc with the same curvature, thereby achieving a seamless storage effect.

[0046] The robotic arm 10 may include a transmission arm 110 and an end effector, which may be a gripper, a suction cup, a robotic hand, etc. By setting an end effector, it is convenient to perform gripping, moving, and other processing on objects around the main unit.

[0047] As shown in FIG1, the robotic arm 10 may include a transmission arm 110 and a gripper 120. The transmission arm 110 is rotatably connected to the host 40. The sensor 20 is disposed on the transmission arm 110. The gripper 120 is movably disposed on the transmission arm 110. The gripper 120 has a retracted position and an extended position relative to the transmission arm 110. When the gripper 120 is in the retracted position, the gripper 120 is attached to the transmission arm 110. Or when the gripper 120 is in the retracted position, the gripper 120 is stored in the third storage groove of the transmission arm 110. The transmission arm 110 has a third accommodating space inside. The arm shell of the transmission arm 110 has a third opening corresponding to the third accommodating space. The third accommodating space and the third opening form a third storage groove.

[0048] By setting the gripper 120, the cleaning flexibility of the robotic arm 10 around the host 40 can be further improved. For example, the gripper can be used to pick up paper balls, socks, and other garbage. When the robotic arm 10 is in the working position, the gripper 120 can be in the extended position or the retracted position. The robotic arm 10 can control the extension and retraction of the gripper as needed, improving the control flexibility of each component of the robotic arm 10. When the robotic arm 10 is in the hidden position, the gripper 120 is in the retracted position, which facilitates the storage of the robotic arm 10. The gripper 120 can rotate between the retracted position and the extended position, or it can move linearly. This is not limited here.

[0049] As shown in Figure 1, the gripper 120 can be set at the end of the transmission arm 110 away from the host 40. The gripper 120 can be rotatably connected to this end of the transmission arm 110. By controlling the rotation angle of the gripper 120, it is easier to pick up garbage. When gripper 120 is needed to work, it can extend outward relative to transmission arm 110, as shown in Figure 6. When gripper 120 is not needed, it is folded inward toward transmission arm 110 so that it fits against the transmission arm 110. The inner side of transmission arm 110 is the side facing the working surface of the cleaning device, and the corresponding outer side is the side away from the working surface of the cleaning device. The gripper is located at the end of the transmission arm away from the main unit 40, which makes it easier to handle waste such as paper balls and socks. At the same time, since grippers generally have a certain shape, it is difficult to make them consistent with the outer contour of the main unit's housing. Further controlling gripper 120 to fold inward toward transmission arm 110 allows the gripper to be hidden inside transmission arm 110 after the robotic arm is stored, facilitating seamless storage of the robotic arm.

[0050] As shown in Figure 1, the second storage slot is disposed on the upper part of the transmission arm 110, so that the sensor 20 is movably disposed on the upper part of the transmission arm 110 to detect the environmental information of the working area of ​​the gripper 120 and assist the gripper 120 in performing actions. The gripper is attached to the inner side of the transmission arm 110. Compared with the gripper being attached to the upper side of the transmission arm 110, it can also avoid the impact of the gripper folding on the detection of the sensor 20. So that even after the gripper is folded, the sensor 20 can still detect the environmental information of the working area of ​​the transmission arm 110 and assist the transmission arm 110 in performing actions.

[0051] The sensor 20 and the gripper 120 can also be controlled in a linkage manner. When the gripper 120 is in the retracted position, the sensor 20 is also in the closed state and stored in the second storage slot; when the gripper 120 is in the extended position, the sensor 20 is in the working state and is exposed from the transmission arm 110 to detect the environmental information of the working area of ​​the gripper 120.The gripper 120 on the robotic arm 10 moves synchronously with the sensor 20. When the gripper 120 is in the extended position, the sensor 20 protrudes from the transmission arm 110 to assist the gripper 120 in grasping an object at a preset position. When the gripper 120 switches to the retracted position, the sensor 20 moves synchronously and is hidden inside the transmission arm 110. The synchronously moving sensor 20 and gripper 120 are set on the transmission arm 110, which improves the coordination between the sensor 20 and the gripper 120. At the same time, both the gripper 120 and the sensor 20 have positions that are hidden on one side or inside the transmission arm 110, which is conducive to improving the operational coordination of the robotic arm 10 and the overall appearance consistency, and improving the user experience. Manual 7 / 11 pages 10 CN 121587621 A

[0052] Multiple transmission arms 110 can be provided, and multiple transmission arms 110 are rotatably connected to each other. The gripper 120 and the sensor 20 are set on the transmission arm 110 away from the host 40. The arrangement of multiple transmission arms 110 is beneficial to improving the flexibility of the robotic arm 10, thereby facilitating the gripping of objects at different positions; the gripper 120 and sensor 20 are arranged on the transmission arm 110 away from the host 40 to facilitate environmental detection, which is beneficial to gripping objects and increasing the usability of the robotic arm 10.

[0053] As shown in Figure 1, since the outline of the upper shell of the sweeping robot is usually planar, the transmission arm 110 can be a plate-like structure. At least the outline of the upper shell of the transmission arm 110 connected to the gripper 120 is also planar, that is, the upper end surface of the transmission arm 110 is planar. The end face of the gripper 120 is also set to an approximately planar structure. When the gripper 120 is attached to the transmission arm 110, the end face of the gripper 120 is parallel or approximately parallel to the upper end face of the transmission arm 110. When the gripper 120 is attached to the lower end face of the transmission arm 110, the upper end face of the gripper 120 is parallel or approximately parallel to the upper end face of the transmission arm 110, so as to facilitate seamless storage of the robotic arm 10.

[0054] The robotic arm 10 also includes a first drive member 140 and a transmission assembly 130. The first drive member 140 is disposed on the transmission arm 110. The first drive member 140 drives the gripper to move through the transmission assembly 130, switching from the retracted position to the extended position. By setting the first drive member 140 to provide driving force for the position switching of the gripper 120, the accuracy of the movement of the gripper 120 and the efficiency of use are improved. The first driving component 140 can be a rotary motor. The first driving component 140 drives the gripper 120 to rotate via the transmission assembly 130. The rotary motor structure of the first driving component 140 facilitates providing rotational driving force to the gripper 120. Alternatively, if the first driving component drives the gripper to move linearly, then the first driving component is a linear motor. The first driving component 140 can have a self-locking function, which helps maintain the position of the gripper 120, thereby improving the gripping effect of the gripper 120.

[0055] In some embodiments, the gripper 120 rotates relative to the transmission arm 110 to switch between the extended position and the retracted position, and the angle between the gripper 120 and the transmission arm 110 in the retracted position is different from the angle between the gripper 120 and the transmission arm 110 in the extended position.

[0056] The gripper 120 can rotate relative to the transmission arm 110 in a non-planar manner, so that the gripper 120 can switch between a retracted position and an extended position, and the angle between the gripper 120 and the transmission arm in the retracted position is different from the angle between the gripper 120 and the transmission arm in the extended position. This allows the end face of the gripper 120 to be parallel or approximately parallel to the end face of the transmission arm when the gripper 120 is in the retracted position, which facilitates the hiding of the gripper 120 and the seamless storage of the transmission arm 110. When the gripper 120 is in the extended position, the transmission arm 110 and the gripper 120 can be set at an angle, so that the end face of the gripper 120 is parallel or approximately parallel to the working plane when there is an angle between the end face of the transmission arm 110 and the working surface, which facilitates the gripper 120 to perform a gripping action on the working surface. This rotating structure eliminates the need for an additional pitch adjustment unit for the gripper, allowing it to be moved from its retracted position to its gripping position on the work surface without the need for a separate tilt adjustment unit. This simplifies the overall structure, facilitates movement, and reduces installation and manufacturing costs. When the gripper 120 is in the extended position, the transmission arm 110 is angled relative to it. This allows the sensor mounted on the transmission arm 110 to easily cover the gripper and its surrounding area within its field of view, enabling precise control of the gripper's movement based on sensor readings.

[0057] The gripper 120 can rotate around a preset rotation axis to rotate from the retracted position to the extended position. The preset rotation axis has a specified angle with the upper end face of the transmission arm 110 connected to the gripper. The range of the specified angle can be set as needed to ensure that the upper end face of the gripper 120 is in contact with the lower end face of the transmission arm 110 when the gripper 120 is in the retracted position, and the end face of the gripper 120 is not parallel to the end face of the transmission arm 110 when the gripper 120 is in the extended position, that is, there is an angle greater than zero and less than 180 degrees, so that the rotation of the gripper 120 is not in a plane. After the transmission arm extends, it is difficult to adjust the end face of the transmission arm to be parallel to the working surface of the cleaning equipment. By setting the rotation axis of the gripper 120 relative to the transmission arm 110 to be non-perpendicular to the transmission arm 110, after the gripper 120 rotates out from the position where it is in contact with the transmission arm 110, the end face of the gripper 120 will no longer be parallel to the end face of the transmission arm 110, and there will be an angle greater than zero and less than 180 degrees. This makes it easier to control the end face of the gripper 120 to be parallel to the working surface of the cleaning equipment, and thus facilitates the gripper 120 to perform gripping and other processing on objects on the working surface.

[0058] The gripper 120 includes a connecting portion 121 and a gripping portion 122. The gripping portion 122 is disposed on the connecting portion 121. When the gripper 120 rotates to the extended position, the gripping portion 122 is exposed at the end of the transmission arm 110, and the gripping portion 122 is located on the side of the connecting portion 121 away from the transmission arm 110. When the gripper 120 rotates to the extended position, the gripping portion 122 rotates to the front end of the transmission arm 110. The transmission assembly 130 can be disposed on the connecting portion 121 to avoid the transmission assembly 130 interfering with the movement of the gripping portion 122. The end face of the gripping portion 122 and the end face of the connecting portion 121 can be coplanar, and the surfaces at both ends of the gripping portion 122 and the connecting portion 121 are parallel. Of course, the end face of the gripping portion 122 and the end face of the connecting portion 121 can also be non-coplanar and non-parallel, as needed.

[0059] As shown in FIG2, when the gripper 120 includes a connecting part 121 and a gripping part 122, the preset rotation axis X has a specified angle with the upper end face 12112 of the connecting part. The gripper 120 can rotate around the rotation axis X to ensure that the upper end face of the gripper 120 is in contact with the lower end face of the transmission arm 110 when the gripper 120 is in the retracted position, and that the end face of the gripper 120 is at an angle with the end face of the transmission arm 110 when the gripper 120 is in the extended position. Then, by controlling the angle between multiple transmission arms, the gripper 120 is made parallel to the working surface of the cleaning equipment. Without the need for an additional pitch angle adjustment unit for the gripper, the gripper can be moved from the storage position to the required working position.

[0060] Of course, when it is necessary to flexibly adjust the angle between the end face of the gripper and the working surface, an additional pitch angle adjustment unit and a side angle adjustment unit can be configured.

[0061] A boss that is inclined relative to the end face of the gripper can be fixed on the gripper. The end face of the boss is not parallel to the end face of the gripper and has an angle. The boss 1211 can be formed on the side of the connecting part 121 facing the transmission arm 110, and the boss 1211 is integrally formed on the connecting part 121. The protrusion height of the end of the boss 1211 away from the gripping part 122 is greater than the protrusion height of the end of the boss 1211 facing the gripping part 122, so that the end face of the boss 1211 is formed as a surface that is inclined relative to the end face of the gripper, that is, the end face of the boss is not parallel to the end face of the gripper. For ease of description, the end face of the boss that has an angle with the end face of the gripper can be described as an inclined surface.

[0062] As shown in FIG2, a gear ring 132 is provided on the inclined surface, and a helical gear 131 is connected to the output shaft of the first drive member 140. The helical gear 131 meshes with the gear ring 132. Accordingly, the transmission assembly 130 includes a gear ring 132 and a helical gear 131. The helical teeth on the helical gear 131 engage with the gear ring 132 to rotate the gripper from the retracted position to the extended position.Based on the above structure and driving method, by configuring the angle between the inclined plane and the end face of the gripper, it is easy to achieve a specified angle between the rotation axis X of the gripper 120 and the end face of the transmission arm 110, ensuring that the upper end face of the gripper 120 is in contact with the lower end face of the transmission arm 110 when the gripper 120 is in the retracted position, and that the end face of the gripper 120 is at an angle with the upper end face of the transmission arm 110 when the gripper 120 is in the extended position.

[0063] The angle A between the inclined plane and the end face 12112 of the connecting part 121 satisfies the following: when the gripper 120 is in the retracted position, the upper end face of the gripper 120 is in contact with the lower end face of the transmission arm 110; when the gripper 120 is in the extended position, the lower end face of the gripper 120 is parallel to the working surface of the cleaning device. The value of the angle A can be 10°≤A≤30°, preferably A is 20°. It is understandable that when angle A satisfies 10° ≤ A ≤ 30°, it is convenient to configure the extension angle of multiple transmission arms, so that the gripper 120 can switch to a position parallel to the working surface, thereby gripping the object to be cleaned on the surface, which is convenient for operation; at the same time, taking values ​​within the above angle range can also make it convenient for the gripper 120 to avoid the transmission arm 110 during the rotation movement, avoiding interference.

[0064] The gripper 120 also includes a second driving member 123, which is disposed on the connecting part 121. The gripping part 122 includes two gripping arms arranged in pairs. The second driving member 123 drives the two gripping arms to open or close. By using the second driving member 123 to drive the two grippers 120 to open or close, it is beneficial to improve the gripping stability of the gripper 120; and since the second driving member 123 has a self-locking function, the second driving member 123 can keep the position of the two grippers 120 fixed, which is beneficial to improve the working efficiency of the gripper.

[0065] The gripper can be a flexible structure with locally reinforced ribs, allowing it to deform according to the shape of the object, thus improving the gripping ability of the gripper. The gripper has an internal arc-shaped structure. When gripping cylindrical objects, grippers without an arc surface must be used in conjunction with a parallel gripping motion mechanism; the embodiments in this specification use grippers with an arc-shaped structure, which can grip cylindrical objects without a parallel gripping motion mechanism during the rotation of the hinge, thus improving the gripping ability of the gripper.

[0066] Further, the outer wall surface of the boss 1211 has a first limiting structure, the plane of the circumferential direction of the first limiting structure is parallel to the inclined plane, the transmission arm 110 has a groove structure 111, at least a part of the boss 1211 extends into the interior of the groove structure 111, the inner wall of the groove structure 111 has a second limiting structure, one of the first limiting part and the second limiting part is a rib 12111 and the other is an annular groove 1111, the rib 12111 and the annular groove 1111 slide in fit.

[0067] Specifically, the cooperation structure of the annular groove 1111 and the rib 12111 is used to limit the movement between the gripper 120 and the transmission arm 110, preventing the gripper 120 from disengaging from the transmission arm 110. Furthermore, the plane containing the rib 12111 or the annular groove 1111 on the boss 1211 is parallel to the inclined plane, which also allows the gripper 120 to have a certain rotation angle when the boss 1211 can rotate relative to the groove structure 111. The gripper 120 with the rotation angle setting can easily keep parallel to the surface to be cleaned during the movement, improving the gripping efficiency.

[0068] The transmission arm 110 has a through hole. The sensor 20 includes a bracket 220, a sensor body 210, and a reset member. The bracket 220 is rotatably disposed at the through hole. The sensor body 210 has a sensing head and is disposed on the bracket 220. The reset member is disposed between the bracket 220 and the transmission arm 110. When the gripper 120 switches from the extended position to the retracted position, at least a portion of the gripper 120 abuts against at least a portion of the bracket 220 to drive the bracket 220 to rotate, so that the sensor 20 switches from the open state to the closed state. The sensor 20 adopts a structure in which the bracket 220, the sensor body 210, and the reset member cooperate. The overall structure is simple and does not require an additional driving structure, making it easy to install. At the same time, the state switching of the sensor 20 is achieved by relying on the reset force of the reset member and the abutment force of the gripper 120, which helps to improve the stability of the movement of the sensor 20.

[0069] The reset member provides driving force for the sensor 20 when it is in the open state, that is, provides reset force for the sensor head to be exposed. When the gripper 120 switches to the extended position, the reset force of the reset member drives the support 220 to flip, so as to expose the sensor head.

[0070] Further, the reset member can be a torsion spring.

[0071] Further, the support 220 includes a flip cover 221 and an abutment shaft 222. The flip cover 221 is rotatably connected to the transmission arm 110. The reset member is disposed between the flip cover 221 and the transmission arm 110. The sensor body 210 is disposed on the flip cover 221. The flip cover 221 can cover the through hole. The abutment shaft 222 is fixedly connected to the flip cover 221. The abutment shaft 222 abuts or separates from the gripper 120. When the gripper 120 switches to the retracted position, it can abut against the abutment shaft 222, thereby driving the flip cover 221 to flip to cover the through hole. By adopting the design of the flip cover 221 and the abutment shaft 222, it is beneficial to achieve shielding through the flip cover 221, thereby preventing dust and dirt from entering the interior of the sensor; at the same time, the abutment shaft 222 is used to abut against the gripper 120, so as to facilitate the gripper 120 to drive the sensor 20 to switch states, so as to achieve the linkage effect between the gripper 120 and the sensor 20.

[0072] In some embodiments, the cleaning device may further include a baffle 30, which is disposed on the side of the connecting portion 121 away from the gripping portion. The baffle 30 is coplanar with the upper end surface of the connecting portion and rotates together with the gripper 120. When the gripper 120 is in the retracted position, the baffle 30 is parallel to the upper end surface of the transmission arm 110. When the gripper 120 is in the extended position, the baffle 30 is located inside the transmission arm 110 and is angled to the lower end surface of the transmission arm 110.

[0073] As can be seen from the above embodiments, by setting the width and length of the housing of the robotic arm 10 to match the first storage slot, the robotic arm 10 can be completely covered by the first storage slot after being stored, protecting the relevant components of the robotic arm 10 and improving its aesthetics. When a gripper is provided at the front end of the robotic arm 10, since the gripper needs to move flexibly at the front end of the robotic arm 10, it is necessary to minimize the interference that the housing of the robotic arm 10 may cause to the movement of the gripper. This may result in the width and length of the housing of the robotic arm 10 not being able to be configured according to the size of the first storage slot. As shown in Figure 10, in the embodiment of this specification, on pages 10 / 11 of CN 121587621 A, by making part of the housing rotatable, i.e., the aforementioned baffle 30, when the housing of the robotic arm 10 cannot be configured according to the size of the first storage slot due to the gripper 120, the movable baffle 30 can be used to supplement and cover the first storage slot while avoiding interference with the movement of the gripper 120. This achieves complete coverage of the first storage slot, ensures the consistency of the machine body appearance, and prevents dust and water stains from entering the components of the robotic arm and causing damage to the components.

[0074] When the gripper 120 is in the extended position, the baffle 30 is on the outside of the transmission arm 110, which may block the detection of the sensor 20. If the baffle 30 is on the inside of the transmission arm 110, this problem can be avoided. The baffle 30 is angled to the lower end face of the transmission arm 110, which also prevents the baffle 30 from pressing against the bracket 220, causing the bracket 220 to flip, and consequently causing the sensor 20 to switch from the closed state, affecting the operation of the sensor 20.

[0075] The baffle 30 and the connecting part 121 can be fixedly connected. The connection method can be a fixed connection using fasteners such as bolts, or other methods. The baffle 30 can also have an avoidance notch to prevent interference between the baffle 30 and the transmission arm 110, which would prevent it from following the gripper 120 and thus interfere with the operation of the gripper 120.

[0076] The sensor 20 can also be driven by a drive structure, thereby achieving synchronous operation between the sensor 20 and the gripper 120. Specifically, the transmission arm 110 has a through hole, and the robotic arm 10 also includes a drive structure. The drive structure is disposed on the transmission arm 110 and is driven to connect with the sensor 20. The drive structure drives the sensor 20 to switch between a closed state and an open state.The driving structure can be a telescopic driving component, such as a telescopic motor, in which the sensor 20 is switched between the retracted position and the extended position by means of the lifting sensor 20. The driving structure can also be a rotary driving component, such as a rotary motor, in which the sensor 20 is rotated between the retracted position and the extended position by means of transmission.

[0077] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: The robotic arm 10 and the sensor 20 provided by the present invention move synchronously, so that when the robotic arm 10 is in the working position, the sensor 20 is in the working state, and the sensor head of the sensor 20 in the working state is exposed, which facilitates the detection of the position that the robotic arm 10 needs to move by means of the sensor head, thereby improving the movement accuracy of the robotic arm 10; when the robotic arm 10 is in the hidden position, the sensor 20 is in the closed state and the sensor 20 is hidden on the robotic arm 10; the robotic arm 10 is housed in the first storage slot of the host 40 to realize the storage of the robotic arm 10. When the robotic arm 10 is housed inside the first storage slot, it can be stored seamlessly inside the slot, which helps improve the overall appearance consistency of the cleaning equipment and enhances the user experience.

[0078] Obviously, the embodiments described above are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.Instruction Manual 11 / 11 Page 14 CN 121587621 A Figure 1 Figure 2 Instruction Manual Drawings 1 / 6 Page 15 CN 121587621 A Figure 3 Figure 4 Instruction Manual Drawings 2 / 6 Page 16 CN 121587621 A Figure 5 Figure 6 Instruction Manual Drawings 3 / 6 Page 17 CN 121587621 A Figure 7 Figure 8 Instruction Manual Drawings 4 / 6 Page 18 CN 121587621 A Figure 9 Instruction Manual Drawings 5 / 6 Page 19 CN 121587621 A Figure 10 Figure 11 Instruction Manual Drawings 6 / 6 Page 20 CN 121587621 A CLEANING DEVICE Abstract The present invention discloses a cleaning device comprising a main body; a robotic arm disposed on the main body, the robotic arm having a hidden position relative to the main body and an operating position extending out of the main body, wherein the robotic arm, when in the hidden position, forms a bumper and is configured to detect obstacles; and a sensor disposed on the robotic arm. With the structure in which the robotic arm cooperates with the sensor, the cleaning device disclosed in the present invention can further improve the control precision of the robotic arm. 150.

Claims

1. A cleaning device, characterized in that, include: Host (40); A robotic arm (10) is mounted on the host (40). The robotic arm (10) has a hidden position relative to the host (40) and a working position extending out of the host (40). When the robotic arm (10) is in the hidden position, it forms a collision plate and is used to detect obstacles. Sensor (20) is mounted on the robotic arm (10).

2. The cleaning equipment according to claim 1, characterized in that, The sensor (20) has a working state and a closed state. When the robotic arm (10) is in the hidden position, the sensor (20) is in the closed state; when the robotic arm (10) is in the working position, the sensor (20) is in the working state; when the sensor (20) is in the closed state, the sensor (20) is hidden inside the robotic arm (10); when the sensor (20) is in the working state, the sensor (20) is exposed from the robotic arm (10).

3. The cleaning equipment according to claim 1, characterized in that, The robotic arm (10) has a second accommodating space inside, and the arm shell of the robotic arm (10) has a second opening corresponding to the second accommodating space. The second accommodating space and the second opening form a second storage groove. When the sensor (20) is hidden inside the robotic arm (10), the sensor (20) is housed inside the second storage slot, and the housing of the sensor (20) covers the second opening. The housing of the sensor (20) covering the second opening is consistent with the outer contour of the arm housing around the second opening.

4. The cleaning equipment according to claim 1, characterized in that, The robotic arm (10) includes: A transmission arm (110) is rotatably connected to the host (40), and the sensor (20) is movably mounted on the transmission arm (110); A gripper (120) is movably disposed on the transmission arm (110), and the gripper (120) has an extended position and a retracted position relative to the transmission arm (110); When the gripper (120) is in the extended position, the sensor (20) is exposed from the transmission arm (110); when the gripper (120) is in the retracted position, the sensor (20) is hidden inside the transmission arm (110).

5. The cleaning equipment according to claim 4, characterized in that, Multiple transmission arms (110) are provided, and the multiple transmission arms (110) are rotatably connected to each other. The gripper (120) is provided on the transmission arm (110) that is away from the host (40).

6. The cleaning equipment according to claim 5, characterized in that, The sensor (20) is disposed on the transmission arm (110) away from the host (40), or the sensor (20) is disposed between the two transmission arms (110).

7. The cleaning equipment according to claim 4, characterized in that, When the gripper (120) is in the retracted position, the gripper (120) is attached to the transmission arm (110); or the transmission arm (110) has a third accommodating space inside, and the arm shell of the transmission arm (110) has a third opening corresponding to the third accommodating space. The third accommodating space and the third opening form a third storage groove, and the gripper (120) is stored in the third storage groove of the transmission arm (110).

8. The cleaning equipment according to claim 7, characterized in that, The gripper (120) rotates relative to the transmission arm (110) to switch between the extended position and the retracted position. When the gripper (120) is in the retracted position, the end face of the gripper (120) is parallel or approximately parallel to the end face of the transmission arm (110). When the gripper (120) is in the extended position, the end face of the gripper (120) is parallel or approximately parallel to the working plane.

9. The cleaning equipment according to claim 4, characterized in that, The transmission arm (110) has a through hole, and the sensor (20) includes: a bracket (220) rotatably disposed at the through hole; and a sensor body (210) having a sensing head disposed on the bracket (220).

10. The cleaning equipment according to claim 4, characterized in that, The robotic arm (10) also includes a drive structure, which is disposed on the transmission arm (110). The drive structure is driven to connect with the sensor (20), and the drive structure drives the sensor (20) to switch between the closed state and the working state.

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