Automatic cleaning equipment and automatic cleaning system

Abstract

The invention provides automatic cleaning equipment and an automatic cleaning system. The automatic cleaning equipment comprises an equipment body and a mechanical arm, a bin is arranged on the equipment body, the mechanical arm can be stored in the bin, a plurality of walking wheels are arranged on the equipment body, and the bin is arranged among the multiple walking wheels. And the mechanical arm can be stored by arranging the bin, and when the mechanical arm is not used, the space occupied by the automatic cleaning equipment is reduced. The bin is arranged among the walking wheels, so that distribution of the overall gravity center of the automatic cleaning equipment is more reasonable. In the running process of the automatic cleaning equipment, the gravity center can stably fall within the supporting range formed by the walking wheels, and the situation that the automatic cleaning equipment inclines, shakes or loses balance in the walking process due to the fact that the weight distribution of parts such as a mechanical arm is not uniform can be effectively prevented; therefore, it is guaranteed that the automatic cleaning equipment can keep a stable walking posture under various terrains and working states, and the safety and reliability of equipment operation are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment, and specifically relates to an automatic cleaning equipment and an automatic cleaning system. Background Art

[0002] As people's living standards continue to improve, automatic cleaning systems have emerged. Capable of automatically performing a range of cleaning functions, such as sweeping and mopping, without human intervention, automatic cleaning systems have become a popular smart home product, easily integrating into people's lives and bringing great convenience to family life.

[0003] In existing technologies, automatic cleaning devices can perform vacuuming and mopping operations. However, in actual work scenarios, there is often debris on the ground that blocks the automatic cleaning device's path. When encountering debris on the ground, existing automatic cleaning devices usually bypass the debris, resulting in the debris not being cleaned, affecting the cleaning effect. If a robotic arm is added to the automatic cleaning device, the robotic arm can be used to remove the obstacle. However, the addition of the robotic arm will increase the overall size of the cleaning device, which does not meet the requirements of being light, thin and compact, and cannot be adapted to low-rise work scenarios. In addition, the added robotic arm will also affect the walking stability of the cleaning device. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present application is to provide an automatic cleaning device and an automatic cleaning system, which can ensure that the automatic cleaning device has good walking stability when a chamber and a robotic arm are set on the automatic cleaning device.

[0005] In order to solve the above problems, the first aspect of the present application provides an automatic cleaning device, including a device body and a robotic arm, the device body is provided with a chamber, the robotic arm can be stored in the chamber, the device body is provided with multiple running wheels, and the chamber is provided between the multiple running wheels.

[0006] Optionally, the multiple walking wheels include a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are arranged along the horizontal axis direction of the equipment body, the chamber extends along the horizontal axis direction, and the projection of the chamber in the vertical plane where the center lines of the first driving wheel and the second driving wheel are located is located between the first driving wheel and the second driving wheel.

[0007] Optionally, the multiple walking wheels include a driven wheel, which is arranged on the front side of the chamber along the moving direction of the automatic cleaning equipment, and the middle section of the chamber along the horizontal axis direction is within the range surrounded by the driven wheel, the first driving wheel and the second driving wheel.

[0008] Optionally, the automatic cleaning device includes a roller brush assembly, the chamber is arranged on the front side of the roller brush assembly along the travel direction of the automatic cleaning device, and the extension direction of the chamber is parallel to the extension direction of the rotation axis of the roller brush assembly.

[0009] Optionally, the device body includes an upper shell and a lower shell, the chamber is formed on the lower shell, the opening of the chamber is set upward, and the upper shell is provided with a through slot corresponding to the opening so that the robotic arm enters and exits the chamber through the through slot.

[0010] Optionally, the automatic cleaning equipment includes a mounting plate, which is connected to the robotic arm, and a positioning hole and an assembly hole are formed on the mounting plate. A positioning member is provided on the bottom of the chamber, and the positioning member is used to pass through the positioning hole for positioning. A fastener passes through the bottom of the chamber and the assembly hole to be connected to the robotic arm.

[0011] Optionally, a space-avoiding portion is formed on the mounting plate, and the turntable of the robotic arm is located in the space-avoiding portion.

[0012] Optionally, the automatic cleaning device includes a functional part, which is arranged in the device body, and the robotic arm is connected to the functional part; the functional part includes a power supply or a controller.

[0013] Optionally, the device body includes a channel, the channel is connected to the functional part, the open end of the channel is connected to the chamber, and the cable of the robotic arm passes through the channel to be connected to the functional part.

[0014] Optionally, the device body includes a limiting member, which is connected to the inner wall of the chamber or is formed on the inner wall of the chamber, and is used to limit the cable.

[0015] Optionally, a fixing groove is formed in the chamber, and the fixing groove is used to accommodate the cable, and the limiting member is located above the fixing groove or in the fixing groove.

[0016] Optionally, the device body includes a cover plate, which is used to be connected to the inner wall of the chamber and to cover the cable, the limiting member and the fixing groove.

[0017] Optionally, the center line that bisects the length of the automatic cleaning device along the direction of travel is the longitudinal center line, the chamber wall close to the longitudinal center line is arranged parallel to the longitudinal center line, and the minimum distance between the chamber and the longitudinal center line is 15 mm to 25 mm.

[0018] Optionally, a midline that bisects the length of the automatic cleaning device along the horizontal axis is a transverse midline, and the maximum distance between the two ends of the chamber along the horizontal axis and the transverse midline is 105 mm to 115 mm.

[0019] Optionally, the center point of the chamber along the transverse axis is located on the transverse midline.

[0020] Optionally, the robotic arm includes a rotating base, a robotic arm and a plurality of arm segments hinged in sequence, the rotating base is arranged on the mounting plate, and among the plurality of arm segments hinged in sequence, the arm segment at one end is hinged to the rotating base, and the arm segment at the other end is rotatably connected to the robotic arm. When the robotic arm is stored in the compartment, at least some of the arm segments are overlapped in the compartment.

[0021] Optionally, the multiple arm sections include a support arm, a connecting arm and a working arm that are hinged in sequence, the support arm is hinged on the rotating seat, the rotating seat can drive the support arm to rotate, and the manipulator is rotatably connected to one end of the working arm away from the connecting arm.

[0022] Optionally, the robotic arm further includes a driving member, which is disposed on the mounting plate and connected to the rotating seat to drive the rotating seat to rotate.

[0023] Optionally, when the robotic arm is stored in the chamber, the support arm is stacked above the mounting plate, the driving member and the support arm are arranged along the transverse axis of the equipment body, the connecting arm is stacked above the driving member and the support arm, the working arm and the robotic arm are stacked above the connecting arm, and the working arm and the robotic arm extend along the transverse axis of the equipment body and are arranged in sequence.

[0024] Optionally, a first joint mechanism is provided between the supporting arm and the connecting arm, and the first joint mechanism is used to drive the connecting arm to rotate on the supporting arm. A second joint mechanism is provided between the connecting arm and the working arm, and the second joint mechanism is used to drive the working arm to rotate on the connecting arm. The chamber includes a first accommodating section, a second accommodating section and a third accommodating section arranged in sequence along the horizontal axis direction of the equipment body. The width of the first accommodating section and the third accommodating section is greater than the width of the second accommodating section. When the robotic arm is stored in the chamber, the first joint mechanism is in the third accommodating section, and the second joint mechanism is in the first accommodating section.

[0025] Optionally, the width of the second accommodating section is 35mm to 45mm; and / or the width of the first accommodating section and the third accommodating section is 50mm to 60mm; and / or the length of the second accommodating section is 110mm to 130mm; and / or the length of the first accommodating section and the third accommodating section is 40mm to 60mm.

[0026] Optionally, when the robotic arm is stored in the chamber, the inner wall of the chamber is adapted to the circumferential outer contour of the robotic arm, and the gap between the inner wall of the chamber and the circumferential outer contour of the robotic arm is greater than 2 mm; the bottom of the chamber is adapted to the bottom surface of the robotic arm, and the gap between the bottom of the chamber and the bottom surface of the robotic arm is greater than 0.5 mm; the opening of the chamber is adapted to the path of the robotic arm when passing through.

[0027] Optionally, the center of gravity of the robotic arm is within a range enclosed by the driven wheel, the first driving wheel, and the second driving wheel.

[0028] Optionally, the mounting plate is in the shape of an elongated strip and extends along the horizontal axis of the device body, and the rotating seat is arranged on the top surface of the middle portion of the mounting plate in the length direction.

[0029] Optionally, the automatic cleaning device includes a door body, which is movable relative to the device body to open or close the opening of the chamber.

[0030] Optionally, a trigger assembly is provided around the hatch, and the trigger assembly is configured to send a signal when subjected to mechanical stress. When the door body closes the hatch, the trigger assembly is located between the door body and the device body.

[0031] Optionally, the touch assembly includes a touch member and a touch switch, the touch member is distributed on the peripheral side of the port, the touch member can float relative to the device body, and the touch switch is located between the touch member and the device body so that the touch member can contact the touch switch and trigger the touch switch to send a signal.

[0032] Optionally, 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 device body.

[0033] Optionally, an emergency stop button is provided on the equipment body, and the emergency stop button is located on the outer peripheral side of the warehouse opening.

[0034] Optionally, the emergency stop button is arranged outside the moving path of the door body.

[0035] Optionally, the device body includes a frame, the frame is arranged along the circumference of the warehouse opening, and the emergency stop button is arranged on the frame.

[0036] Optionally, function adjustment buttons are provided on the device body on the outer peripheral side of the door body.

[0037] Optionally, the function adjustment button is arranged outside the moving path of the door body.

[0038] In a second aspect of the present application, an automatic cleaning system is provided, comprising a base station and the automatic cleaning device as described above, wherein the automatic cleaning device is adapted to be docked on the base station.

[0039] Beneficial effects

[0040] An automatic cleaning device and an automatic cleaning system provided in the embodiments of the present invention can store a robotic arm by providing a chamber on the device body, thereby reducing the space occupied by the automatic cleaning device when the robotic arm is not in use. By providing the chamber between a plurality of running wheels, the distribution of the overall center of gravity of the automatic cleaning device is made more reasonable. During the operation of the automatic cleaning device, the center of gravity can fall relatively stably within the support range formed by the running wheels, which can effectively prevent the automatic cleaning device from tilting, shaking or losing balance while walking due to uneven weight distribution of components such as the robotic arm, thereby ensuring that the automatic cleaning device can maintain a stable walking posture in various terrains and working conditions, thereby improving the safety and reliability of the device operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A bottom view of the automatic cleaning device according to an embodiment of the present application;

[0042] Figure 2 A top view of the upper shell and the lower shell of an embodiment of the present application;

[0043] Figure 3 This is a schematic diagram of the three-dimensional structure of the upper shell and the lower shell of an embodiment of the present application;

[0044] Figure 4 A top view of the lower housing and mounting plate of an embodiment of the present application;

[0045] Figure 5 A cross-sectional view of a portion of the structure of an automatic cleaning device according to an embodiment of the present application;

[0046] Figure 6 This is a schematic structural diagram of a mounting plate according to an embodiment of the present application;

[0047] Figure 7 This is a schematic structural diagram of the automatic cleaning device according to an embodiment of the present application from a first perspective;

[0048] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0049] Figure 9 This is a schematic structural diagram of the automatic cleaning device according to an embodiment of the present application from a second perspective;

[0050] Figure 10 for Figure 9 Enlarged view of point B in the middle;

[0051] Figure 11 This is a schematic diagram of the structure of the robotic arm of an embodiment of the present application when it is unfolded;

[0052] Figure 12 This is a schematic structural diagram of the robotic arm of the automatic cleaning device according to an embodiment of the present application when folded;

[0053] Figure 13 This is a schematic diagram of the structure of the robotic arm of an embodiment of the present application when folded;

[0054] Figure 14 This is a schematic structural diagram of the robotic arm of the automatic cleaning device according to an embodiment of the present application when it is folded again;

[0055] Figure 15 This is a schematic structural diagram of the robotic arm of the automatic cleaning device according to an embodiment of the present application when it is further unfolded;

[0056] Figure 16 This is a schematic structural diagram of a touch assembly according to an embodiment of the present application;

[0057] Figure 17 This is a schematic structural diagram of the automatic cleaning device according to an embodiment of the present application from a third perspective;

[0058] Figure 18 for Figure 17 Enlarged view of point C in the middle.

[0059] The reference numerals indicate:

[0060] 110. Equipment body; 111. Upper housing; 112. Lower housing; 113. Chamber; 1131. First accommodating section; 1132. Second accommodating section; 1133. Third accommodating section; L1. Longitudinal center line; L2. Horizontal center line; 120. Mounting plate; 121. Positioning hole; 122. Assembly hole; 123. Clearance; 124. Groove; 130. Robotic arm; 131. Rotating seat; 132. Support arm; 133. Connecting arm; 134. Working arm; 135. Robotic hand; 136. Driving element; 1 37. First joint mechanism; 138. Second joint mechanism; 140. Positioning member; 150. Fastener; 160. Cover; 170. Cable; 180. Socket; 190. Limiting member; 200. Fixing slot; 210. Touch assembly; 211. Touch member; 212. Touch switch; 213. Elastic member; 220. Emergency stop button; 230. Frame; 240. Function adjustment button; 310. First driving wheel; 320. Second driving wheel; 330. Driven wheel; 400. Roller brush assembly; 500. Door body. DETAILED DESCRIPTION

[0061] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 understood as limiting the present invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0063] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0064] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0065] See also Figures 1 to 18 As shown, according to the first aspect of an embodiment of the present application, an automatic cleaning device is provided, including a device body 110 and a robotic arm 130, a chamber 113 is provided on the device body 110, the robotic arm 130 can be stored in the chamber 113, a plurality of running wheels are provided on the device body 110, and the chamber 113 is provided between the plurality of running wheels.

[0066] By providing a chamber 113 on the device body 110, the robotic arm 130 can be stored, and when the robotic arm 130 is not in use, the space occupied by the automatic cleaning device is reduced. By providing the chamber 113 between a plurality of running wheels, the distribution of the overall center of gravity of the automatic cleaning device is made more reasonable. During the operation of the automatic cleaning device, the center of gravity can fall relatively stably within the support range formed by the running wheels, which can effectively prevent the automatic cleaning device from tilting, shaking or losing balance during walking due to uneven weight distribution of components such as the robotic arm 130, thereby ensuring that the automatic cleaning device can maintain a stable walking posture in various terrains and working conditions, thereby improving the safety and reliability of the equipment operation.

[0067] Since the robot arm 130 is heavy, the chamber 113 is set between multiple running wheels so that each running wheel can share the weight of the robot arm 130 more evenly. The uniform force distribution can reduce the wear of the running wheels and thus extend the service life of the running wheels. At the same time, it can also ensure that the automatic cleaning equipment has good support and traction, successfully completes the cleaning task, and avoids walking difficulties or jamming due to excessive local force.

[0068] The compartment 113 is disposed within the device body 110 and has an opening through which the robotic arm 130 can be moved into or out of the compartment 113. The opening is disposed on the top surface of the device body 110 and is oriented in a direction. The robotic arm 130 can be deployed upward through the opening to move out of the compartment 113, or folded downward to be stored in the compartment 113.

[0069] There are multiple running wheels, which are arranged at the bottom of the equipment body 110 and protrude downward, and then pressed on the ground to achieve walking on the ground.

[0070] Specifically, the plurality of running wheels are distributed in different areas of the bottom of the device body 110 and are roughly evenly distributed, thereby ensuring a good and stable support effect. The compartment 113 is set between the plurality of running wheels, that is, the compartment 113 is roughly within the area surrounded by the plurality of running wheels.

[0071] More specifically, the chamber 113 is disposed between the plurality of running wheels. The chamber 113 and the plurality of running wheels may be located in the same horizontal plane, with the chamber 113 located between the plurality of running wheels. Alternatively, the chamber 113 and the plurality of running wheels may be projected in the same horizontal plane, with the projection of the chamber 113 located between the projections of the plurality of running wheels.

[0072] It should be noted that the chamber 113 is within the range surrounded by the multiple running wheels, which means that the chamber 113 is arranged between the multiple running wheels.

[0073] like Figure 1 As shown, the plurality of traveling wheels include a first driving wheel 310 and a second driving wheel 320, and the first driving wheel 310 and the second driving wheel 320 are arranged along the horizontal axis direction of the device body 110, as shown in FIG. Figure 2 As shown, the chamber 113 extends along the horizontal axis, and a projection of the chamber 113 in a vertical plane where the axis lines of the first driving wheel 310 and the second driving wheel 320 are located is located between the first driving wheel 310 and the second driving wheel 320 .

[0074] This creates a more stable support structure for the automatic cleaning device in the lateral direction, ensuring good stability. During operation, the first driving wheel 310 and the second driving wheel 320 can jointly bear the weight of the automatic cleaning device, effectively reducing the risk of the automatic cleaning device tipping over or sliding due to uneven force, thereby improving the stability and safety of the automatic cleaning device.

[0075] The chamber 113 is set to extend along the horizontal axis, and by setting the position of the chamber 113, the projection of the chamber 113 on the line connecting the first driving wheel 310 and the second driving wheel 320 is located between the first driving wheel 310 and the second driving wheel 320, thereby fully utilizing the space in the horizontal axis direction of the equipment body 110, making the structure of the automatic cleaning equipment more compact, avoiding space waste, providing more possibilities for the layout of other components, helping to optimize the overall layout inside the equipment, making the connection and collaborative work between the various components smoother, and improving the integration and space utilization of the equipment.

[0076] The horizontal axis direction of the device body 110 is the direction in the horizontal plane that is perpendicular to the forward direction of the automatic cleaning device, and can also be understood as the left and right direction of the automatic cleaning device.

[0077] The axis lines of the first driving wheel 310 and the second driving wheel 320 are collinear and are a horizontally extending straight line. The projection plane is a vertical plane passing through the straight line. The projection of the chamber 113 in the vertical plane is located between the first driving wheel 310 and the second driving wheel 320.

[0078] Specifically, the first driving wheel 310 and the second driving wheel 320 are respectively connected to the power device of the automatic cleaning device, so that the power device can drive the first driving wheel 310 and the second driving wheel 320 to rotate, thereby enabling the automatic cleaning device to move on the ground.

[0079] like Figure 1 As shown, in one embodiment, the first driving wheel 310 can be set on the right side of the device body 110 in the direction of travel, and can also be called the right wheel. The second driving wheel 320 can be set on the left side of the device body 110 in the direction of travel, and can also be called the left wheel.

[0080] like Figure 1 As shown, the multiple walking wheels include a driven wheel 330, which is arranged on the front side of the chamber 113 along the moving direction of the automatic cleaning equipment, and the middle section of the chamber 113 along the horizontal axis direction is within the range surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320.

[0081] By providing the driven wheel 330, the support for the automatic cleaning equipment is made more stable. The driven wheel 330, the first driving wheel 310 and the second driving wheel 320 together constitute a more stable support structure. During the movement of the automatic cleaning equipment, the middle section of the chamber 113 is within the range enclosed by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320, so that the weight of the automatic cleaning equipment can be more evenly distributed on each running wheel, which can effectively reduce problems such as running wheel slippage or equipment tilting caused by excessive local force, and can better maintain the balance and stability of the equipment, ensure the smooth movement of the equipment, and improve the continuity and reliability of the cleaning operation.

[0082] The driven wheel 330 , the first driving wheel 310 and the second driving wheel 320 form an isosceles triangle structure, wherein the driven wheel 330 is the vertex, and the first driving wheel 310 and the second driving wheel 320 are the two base corners.

[0083] The driven wheel 330 is located in front of the midpoint of the chamber 113 in the horizontal direction. The longitudinal direction of the chamber 113 is the horizontal direction.

[0084] The middle section of the chamber 113 along the transverse axis refers to the middle section of the chamber 113 along the transverse axis of the automatic cleaning device. Since the chamber 113 extends along the transverse axis, the middle section of the chamber 113 along the longitudinal direction is within the range enclosed by the driven wheel 330, the first driving wheel 310, and the second driving wheel 320.

[0085] Specifically, in the chamber 113 , a portion located in the middle two-thirds or more is within a range surrounded by the driven wheel 330 , the first driving wheel 310 , and the second driving wheel 320 .

[0086] like Figure 1 As shown, the automatic cleaning device includes a roller brush assembly 400, and the chamber 113 is arranged on the front side of the roller brush assembly 400 along the moving direction of the automatic cleaning device. The extension direction of the chamber 113 is parallel to the extension direction of the rotation axis of the roller brush assembly 400.

[0087] Since the roller brush assembly 400 is relatively heavy and occupies a large space, by setting the chamber 113 on the front side of the moving direction of the roller brush assembly 400 and making the extension direction of the chamber 113 parallel to the extension direction of the rotation axis of the roller brush assembly 400, the driven wheel 330, the first driving wheel 310 and the second driving wheel can more evenly share the weight of the roller brush assembly 400 and the robotic arm 130, further ensuring the stability of the overall center of gravity of the automatic cleaning equipment.

[0088] When the automatic cleaning device is operating, the robotic arm 130 cooperates with the roller brush assembly 400 to clean the floor. Specifically, the robotic arm 130 can first clear larger debris on the floor ahead, such as removing items that may get stuck in the roller brush assembly 400, such as wires, clothing, and other items, out of the path of the automatic cleaning device. The roller brush assembly 400 then performs regular cleaning operations on the floor, preventing debris from interfering with the normal operation of the roller brush assembly 400 and ensuring that the roller brush assembly 400 can continuously and efficiently clean the floor without frequent shutdowns or adjustments due to debris problems, thereby improving overall cleaning efficiency and reducing cleaning time.

[0089] After the robotic arm 130 clears debris in front, the roller brush assembly 400 then cleans the floor, promptly removing fine pollutants such as dust and debris that may be generated during the operation of the robotic arm 130, preventing these pollutants from being scattered on the floor and causing secondary contamination. Furthermore, due to the positional relationship between the chamber 113 and the roller brush assembly 400, dust and other pollutants generated during the cleaning process can be more smoothly sucked into the dust box or dust collection device inside the device by the roller brush assembly 400, further improving the cleaning effect and leaving the floor cleaner and tidier.

[0090] The chamber 113 is parallel to the roller brush assembly 400 , and the chamber 113 is adjacent to the roller brush assembly 400 .

[0091] The device body 110 includes an upper shell 111 and a lower shell 112. The chamber 113 is formed on the lower shell 112. The opening of the chamber 113 is set upward. The upper shell 111 is provided with a through slot corresponding to the opening so that the robot arm 130 can enter and exit the chamber 113 through the through slot.

[0092] The chamber 113 is formed in the lower shell 112 with the opening facing upward, and cooperates with the through slot of the upper shell 111, so that the robotic arm 130 can smoothly enter or leave the chamber 113 through the through slot, and can return to the storage position quickly and accurately, thereby improving the convenience of using the equipment.

[0093] Among them, the upper shell 111 and the lower shell 112 are buckled together, that is, the upper shell 111 is buckled on the top of the lower shell 112, so that the upper shell 111 and the lower shell 112 enclose an internal space, which provides an installation position for other components of the automatic cleaning device.

[0094] The chamber 113 has walls that protrude upward from the lower housing 112, thereby forming the chamber 113. The upper housing 111 is provided with a through slot that generally passes through the upper housing 111 in the vertical direction. The through slot is aligned with the opening of the chamber 113, thereby providing space for the robotic arm 130 to enter and exit.

[0095] Specifically, the chamber 113 is integrally formed on the lower shell 112, and the through slot is integrally formed on the upper shell 111. The shape of the through slot is adapted to the opening of the chamber 113, and the size can be slightly larger than the size of the opening to avoid scratching with the robot arm 130.

[0096] In one embodiment, Figure 4 and Figure 5 As shown, the automatic cleaning device includes a mounting plate 120, which is connected to a robotic arm 130. A positioning hole 121 and an assembly hole 122 are formed on the mounting plate 120. A positioning member 140 is provided on the bottom of the chamber 113. The positioning member 140 is used to pass through the positioning hole 121 for positioning. The fastener 150 passes through the bottom of the chamber and the assembly hole 122 and is connected to the robotic arm.

[0097] When assembling the automatic cleaning device, the mounting plate 120 is connected to the robotic arm 130 so that the robotic arm 130 and the mounting plate 120 form a whole. During the assembly process, the whole formed by the robotic arm 130 and the mounting plate 120 is assembled to the device body 110. In the initial assembly, the positioning hole 121 on the mounting plate 120 can be aligned with the positioning member 140 on the bottom of the bin, and then the whole formed by the robotic arm 130 and the mounting plate 120 can be positioned on the device body 110, completing the preliminary positioning of the robotic arm 130 and the mounting plate 120. After that, the fastener 150 can be used to vertically pass through the bin bottom and the assembly hole 122 of the bin chamber 113 and then connected to the robotic arm 130, and then the robotic arm 130 can be connected to the bin bottom. Based on this, the fixation of the robotic arm 130 can be completed, and the assembly of the cleaning device can be completed.

[0098] By providing the mounting plate 120, the positioning member 140 and the fastener 150, the robotic arm 130 can at least be positioned by the positioning member 140 and the fastener 150, making the fixation of the robotic arm 130 more reliable. During the assembly process, the positioning hole 121 on the mounting plate 120 can be used in conjunction with the positioning member 140 to achieve preliminary positioning of the robotic arm 130, thereby improving assembly efficiency. By providing the mounting plate 120, the contact area between the overall structure formed by the mounting plate 120 and the robotic arm 130 and the bottom plate of the device body 110 is larger, which can reduce the gap between the robotic arm 130 and the device body 110 and limit the amplitude of the shaking of the robotic arm 130. Combined with the positioning member 140 and the fastener 150, the fixation of the robotic arm 130 can be made more reliable.

[0099] It is understood that the positioning member 140 can be a bump or a column formed on the device body 110, specifically a bump or a column formed on the bottom of the lower housing 112. The contour of the positioning hole 121 is adapted to the contour of the positioning member 140, and the positioning hole 121 is slightly larger than the positioning member 140, so that the positioning member 140 can be inserted into the positioning hole 121. After the positioning member 140 is inserted into the positioning hole 121, the swing of the mounting plate 120 based on the robot arm 130 can be restricted.

[0100] It is understandable that the fastener 150 may include any structure capable of connecting different objects, such as bolts, screws, rivets, clamps, expansion screws, etc.

[0101] It can be understood that a through hole is vertically provided on the bottom of the chamber 113, and the through hole passes through the bottom of the chamber vertically, that is, passes through the lower shell 112. When the fastener 150 is assembled, the fastener 150 can pass through the through hole on the side of the lower shell 112 away from the robotic arm 130, and then pass through the assembly hole 122, and finally connect to the robotic arm 130. This arrangement facilitates the assembly of the fastener 150, and the bottom of the equipment body 110 can have a larger operating space, and can also make the connection between the equipment body 110, the mounting plate 120 and the robotic arm 130 more reliable.

[0102] The mounting plate 120 is in a long strip shape and extends along the horizontal axis of the device body 110 .

[0103] Specifically, the length of the mounting plate 120 is 120 mm to 200 mm, the width of the mounting plate 120 is 25 mm to 50 mm, and the thickness of the mounting plate 120 is 2 mm to 5 mm, so that the mounting plate 120 is flat, which facilitates the processing and installation of the mounting plate 120, and can have a larger contact area with the robotic arm 130, which can improve the installation strength.

[0104] Among them, the mounting plate 120 extends along the horizontal axis, which is beneficial to the spatial layout and compact structure, and is also beneficial to the fixation of the robotic arm 130. At the same time, the robotic arm 130 is fixed to the front of the automatic cleaning device body 110. The robotic arm 130 mainly operates the area in front of the automatic cleaning device body 110, and the activity space range is larger, making it more convenient to grab items.

[0105] like Figure 6 As shown, a space-avoiding portion 123 is formed on the mounting plate 120 , and the turntable of the robot arm 130 is located in the space-avoiding portion 123 .

[0106] A gap 123 can be formed on the mounting plate 120, and the robotic arm 130 can use the space of the gap 123 to rotate. Combined with the extension and retraction of the robotic arm 130, the movable space of the robotic arm 130 can be increased, and the robotic arm 130 can grab objects. For example, when an object is in front of the direction of travel of the automatic cleaning device, the robotic arm 130 can grab the obstacle and transfer the obstacle to other areas that do not hinder the normal operation of the automatic cleaning device, which can make the operation of the automatic cleaning device smoother.

[0107] Among them, a gap avoidance portion 123 is formed on the mounting plate 120, and the robotic arm 130 can be assembled using the gap avoidance portion 123, which can reduce the assembly height of the robotic arm 130 and make the center of gravity of the robotic arm 130 lower, thereby further reducing the probability of the robotic arm 130 tipping over, and making the automatic cleaning equipment safer to operate.

[0108] It is understandable that the turntable is a component that enables the robotic arm 130 to rotate relative to the lower housing 112 . Such a configuration can increase the operating range of the robotic arm 130 .

[0109] Specifically, the bottom thickness of the mounting plate 120 is 2mm to 5mm. This not only ensures the firm fixation of the robotic arm 130, but also reduces the thickness of the mounting plate 120 as much as possible, thereby reducing the assembly depth of the robotic arm 130. On the one hand, a larger robotic arm 130 can be assembled in the same space, making it easier for the robotic arm 130 to grab objects. On the other hand, the center of gravity of the robotic arm 130 can be lowered, especially when the robotic arm 130 is in the storage state. The robotic arm 130 can be stored in the lower shell 112, which can make the movement of the automatic cleaning device more stable. On the other hand, the weight of the automatic cleaning device can be reduced, thereby reducing the energy consumption of the automatic cleaning device when it moves.

[0110] Specifically, in order to ensure the mechanical strength of the mounting plate 120 , the mounting plate 120 may be made of steel.

[0111] In one embodiment, Figure 2 As shown, positioning ribs are formed on the bottom wall of the chamber 113, such as Figure 6 As shown, a groove 124 is formed on the peripheral side of the mounting plate 120 , and at least part of the positioning rib is located in the groove 124 .

[0112] Among them, by providing positioning ribs and grooves 124, the mounting plate 120 can be accurately positioned in the chamber 113. At the same time, in order to ensure the mechanical strength of the installation, the mounting plate 120 is usually made of a high-strength material, such as steel or other metal materials. In order to reduce the weight of the automatic cleaning device, the main body of the automatic cleaning device is usually made of a resin material. The mechanical strength of the lower shell 112 is relatively low, and there is a risk of deformation of the lower shell 112. When the lower shell 112 is deformed, the fixing strength of the robot arm 130 will also be affected. A groove 124 can be formed on the mounting plate 120, and a positioning rib can be formed on the lower shell 112. When the mounting plate 120 is assembled on the lower shell 112, the positioning rib is inserted into the groove 124, which can increase the strength of the lower shell 112 and the contact area between the lower shell 112 and the mounting plate 120, thereby making the fixation of the robot arm 130 more reliable.

[0113] Specifically, there are multiple grooves 124, which are spaced apart and distributed around the circumference of the mounting plate 120. This arrangement, on the one hand, allows for the formation of more positioning ribs on the lower housing 112, further improving its strength; on the other hand, the distribution of the grooves 124 around the circumference of the mounting plate 120 facilitates the insertion of the positioning ribs into the grooves 124.

[0114] The automatic cleaning device includes functional parts, which are arranged in the device body 110 and the robot arm 130 is connected to the functional parts; the functional parts include a power supply or a controller.

[0115] Among them, the functional part is connected to the robotic arm 130, and the functional part can power on the robotic arm 130, and can control the operation of the robotic arm 130, making the use of the robotic arm 130 more convenient.

[0116] like Figure 10 、 Figure 17 and Figure 18 As shown, the device body 110 includes a channel 180 , which leads to the functional component. The open end of the channel 180 leads to the chamber 113 , and the cable 170 of the robot arm 130 passes through the channel 180 and is connected to the functional component.

[0117] Among them, in addition to the connection and fixation on the mechanical structure, the robotic arm 130 may also involve power-on or communication control. In traditional technology, the power-on or communication connection of the robotic arm 130 is also relatively cumbersome. Figure 10 、 Figure 17 and Figure 18In a feasible embodiment, the automatic cleaning equipment may further include a channel 180 provided at the chamber 113 and connected to the functional part. Based on this, the cable 170 of the robot arm 130 can pass through the channel 180 to connect with the functional part, thereby completing the rapid assembly of the electrical connection and communication connection of the robot arm 130, which can further improve the assembly efficiency.

[0118] Among them, a plug can be formed at the end of the cable 170, and a socket can be formed at the channel 180. The plug is directly inserted into the socket 180 to establish a quick connection between the plug and the socket 180, making the electrical connection and communication connection of the robotic arm 130 more convenient.

[0119] like Figure 9 and Figure 10 As shown, the device body 110 includes a limiting member 190 , which is connected to the inner wall of the chamber 113 or formed on the inner wall of the chamber 113 . The limiting member 190 is used to limit the cable 170 .

[0120] Among them, considering that the robotic arm 130 needs to move, such as may involve extension, storage, rotation or swinging, etc., the movement of the robotic arm 130 may cause the cable 170 to move or the robotic arm 130 may easily scratch the cable 170. Based on this, the automatic cleaning equipment can also include a limiter 190, and the limiter 190 can limit the cable 170 to prevent the cable 170 from unexpected movement, and can reduce the probability of contact and scratching between the robotic arm 130 and the cable 170, so that the communication connection and electrical connection of the robotic arm 130 are more reliable.

[0121] Specifically, there may be multiple limiting members 190 , and the multiple limiting members 190 are spaced apart along the arrangement direction of the cables 170 , which can further improve the limiting effect of the cables 170 .

[0122] like Figure 9 and Figure 10 As shown, a fixing groove 200 is formed in the chamber 113 , and the fixing groove 200 is used to accommodate the cable 170 . The limiting member 190 is located above the fixing groove 200 or in the fixing groove 200 .

[0123] Among them, if the cable 170 of the robot arm 130 is directly set in the chamber 113, there is still a probability that the robot arm 130 will scratch the cable 170, especially when the robot arm 130 is in the storage state, the robot arm 130 is particularly likely to press on the cable 170, which is easy to cause damage to the cable 170. Based on this, by forming a fixing groove 200 in the chamber 113, the cable 170 can be sunk in the fixing groove 200, which can greatly reduce the probability of contact between the robot arm 130 and the cable 170. At the same time, through the formation of the fixing groove 200, the inner wall of the fixing groove 200 can also limit the cable 170, which can further reduce the probability of the cable 170 moving.

[0124] Furthermore, the stopper 190 can be formed on the inner wall of the fixing groove 200. This arrangement of the stopper 190 does not excessively occupy the space in the chamber 113, or in other words, the stopper 190 does not protrude from the chamber 113. The stopper 190 does not interfere with the storage of the robotic arm 130, which can help reduce the height of the automatic cleaning device, making the structure of the automatic cleaning device more compact. The lower height of the automatic cleaning device makes it easier to access low areas, such as under sofas and beds, which are often difficult to reach with traditional cleaning tools. A low-profile automatic cleaning device can more effectively remove dust and dirt from these areas, thereby improving overall cleaning coverage. Low-profile automatic cleaning devices are generally more flexible, allowing them to easily move between furniture and avoid collisions. This flexibility not only improves cleaning efficiency but also reduces the risk of damage to the automatic cleaning device during operation. For users, low-profile automatic cleaning devices are easier to store and do not take up too much space. Low-profile automatic cleaning devices are suitable for a wider range of cleaning scenarios, such as homes, offices, and shopping malls. Especially in some places with high cleaning requirements, such as hospitals and laboratories, low-height automatic cleaning equipment can more effectively meet cleaning needs.

[0125] like Figure 7 and Figure 8 As shown, the device body 110 includes a cover plate 160 , which is used to be connected to the inner wall of the chamber 113 and to cover the cable 170 , the limiting member 190 and the fixing groove 200 .

[0126] By providing the cover plate 160 and allowing the cover plate 160 to cover the cable 170, the stopper 190, and the channel 180, the appearance of the chamber 113 can be made neater, the intrusion of dust into the fixing groove 200 and the channel 180 can be reduced, and the probability of contact between the robot arm 130 and the cable 170 can be further reduced. This can make the use of the automatic cleaning device safer, especially the operation of the robot arm 130 safer.

[0127] The cover plate 160 may be connected to the chamber 113 by means of snap connection or bolt fixing, which can make the connection strength more reliable and facilitate disassembly.

[0128] Specifically, there are multiple cover plates 160, which are snap-fitted to the inner wall of the chamber 113 and also cover the channel 180. This facilitates covering the narrow and long fixing slots 200, facilitating assembly of the cover plates 160, and simultaneously facilitating sealing the channel 180, making the chamber 113 of the automatic cleaning device tidier and safer.

[0129] like Figure 1 and Figure 2 As shown, the center line that bisects the length of the automatic cleaning device along the traveling direction is the longitudinal center line. Figure 1 and Figure 2 The wall of the chamber 113 near the longitudinal midline is arranged parallel to the longitudinal midline, and the minimum distance between the wall and the longitudinal midline is 15 mm to 25 mm.

[0130] The longitudinal dividing line extends along the horizontal axis, thereby dividing the automatic cleaning device into two parts of the same length in the longitudinal direction.

[0131] Among them, by setting the minimum distance between the chamber 113 and the longitudinal center line to be 15mm to 25mm, it is possible to effectively avoid the automatic cleaning equipment from tilting or shifting due to excessive weight differences, thereby improving the stability of the equipment during straight-line movement and turning, reducing the risk of rollover or loss of control due to unstable center of gravity, and ensuring that the automatic cleaning equipment can move smoothly in various ground environments and complete cleaning tasks.

[0132] Specifically, in one embodiment, the minimum distance between the chamber 113 and the longitudinal midline is 20 mm.

[0133] like Figure 1 and Figure 2 As shown, the midline that divides the length of the automatic cleaning device along the horizontal axis into two equal parts is the transverse midline. Figure 1 and Figure 2 In the figure, L2 is a horizontal midline. The maximum distance between the two ends of the chamber 113 along the horizontal axis and the horizontal midline is 105 mm to 115 mm.

[0134] The transverse dividing line extends in a horizontal plane and perpendicular to the transverse axis, thereby dividing the automatic cleaning device into two parts of the same length in the transverse direction.

[0135] Among them, by setting the maximum distance between the two ends of the chamber 113 along the horizontal axis and the horizontal center line to be 105mm to 115mm, the stability of the equipment during straight-line movement and turning can be improved, and the risk of rollover or loss of control due to unstable center of gravity can be reduced, ensuring that the automatic cleaning equipment can move smoothly in various ground environments and complete cleaning tasks.

[0136] Specifically, in one embodiment, the maximum distance between the two ends of the chamber 113 along the horizontal axis and the horizontal midline is 110 mm.

[0137] The center point of the chamber 113 along the horizontal axis is on the horizontal midline. That is, the chamber 113 is symmetrically distributed relative to the device body 110 in the horizontal axis. During the operation of the automatic cleaning device, the force exerted on the dynamic cleaning device in the horizontal axis direction is more balanced. For example, when the device turns, the lateral force exerted on the running wheels on the left and right sides can be better balanced, reducing the risk of the device sliding or tilting due to uneven force, improving the stability and safety of the device when moving in the horizontal axis direction, ensuring that the device can smoothly complete various cleaning tasks, and avoiding affecting the cleaning effect or causing damage to the equipment due to instability.

[0138] By setting the center point of the chamber 113 along the horizontal axis to be on the horizontal midline, the overall center of gravity distribution in the horizontal axis is optimized. Since the chamber 113 contains components such as the robotic arm 130, the weight distribution has a greater impact on the center of gravity of the entire device. When the center point of the chamber 113 is located on the horizontal midline, the center of gravity of the device in the horizontal axis is closer to the ideal balance position, making the load on the front and rear wheels of the device more even during travel, reducing the problem of excessive wear of the travel wheels or forward or backward tilting of the device due to the shift in the center of gravity, further improving the stability and smoothness of the device's travel, extending the service life of components such as the travel wheels, and reducing energy consumption during the operation of the device.

[0139] The chamber 113 is a rectangular parallelepiped structure, with its length being the horizontal axis. The center point of the chamber 113 along the horizontal axis is located on the horizontal midline, that is, the left half of the chamber 113 in the length direction is disposed within the left half of the automatic cleaning device, and the right half of the chamber 113 in the length direction is disposed within the right half of the automatic cleaning device.

[0140] The robotic arm 130 includes a rotating base 131, a robotic arm 135 and a plurality of arm segments hinged in sequence. The rotating base 131 is arranged on the mounting plate 120. Among the plurality of arm segments hinged in sequence, the arm segment at one end is hinged to the rotating base 131, and the arm segment at the other end is rotatably connected to the robotic arm 135. When the robotic arm 130 is stored in the chamber 113, at least some of the arm segments are overlapped in the chamber 113.

[0141] By enabling the multiple sequentially articulated arm sections to stack when stored in chamber 113, the space in chamber 113 is fully utilized, minimizing the space occupied by robotic arm 130 when stored. This prevents the robotic arm 130 from occupying excessive internal space in the device due to extended robotic arm 130, ensuring the compactness of the overall structure. For example, when the device is not performing cleaning operations, robotic arm 130 can be neatly stored in chamber 113 without affecting the normal operation of other functional components of the device, nor does it make the device too bulky to affect its movement and storage in a small space, thereby improving the device's space utilization and maneuverability.

[0142] When the robotic arm 130 is stored in the chamber 113 , at least some of the arm sections are vertically overlapped in the chamber 113 .

[0143] Specifically, adjacent arm sections are hinged to each other, so that at least some of the hinged arm sections can be folded and fitted together.

[0144] The rotating seat 131 is arranged in the middle position of the mounting plate 120, and can be specifically arranged on the middle top surface of the mounting plate 120 in the length direction, thereby ensuring good stability and a stable center of gravity.

[0145] When the robotic arm 130 moves out of the chamber 113 , the robotic arm 130 in the folded state unfolds, thereby being able to grab objects within a certain range.

[0146] like Figure 11 and Figure 13 As shown, the multiple arm sections include a support arm 132, a connecting arm 133 and a working arm 134 that are hinged in sequence. The support arm 132 is hinged on a rotating base 131, and the rotating base 131 can drive the support arm 132 to rotate. The manipulator 135 is rotatably connected to one end of the working arm 134 away from the connecting arm 133.

[0147] By articulating the support arm 132, connecting arm 133 and working arm 134 in sequence, and coordinating the rotational connection between the rotating seat 131 and the manipulator 135, a motion system with multiple degrees of freedom is formed, thereby enabling the manipulator 130 to achieve complex and diverse motion trajectories in three-dimensional space.

[0148] Specifically, when cleaning obstacles of different positions and shapes on the ground, the rotating seat 131 can drive the support arm 132 to rotate as a whole and adjust the orientation of the robotic arm 130. The articulated joints between the connecting arm 133, the support arm 132, and the working arm 134 can achieve bending and stretching movements, allowing the robotic arm 130 to span a certain distance and height. The rotating connection between the working arm 134 and the manipulator 135 facilitates the adjustment of the gripping angle of the manipulator 135. Through the coordinated work of each arm segment, the robotic arm 130 can accurately move the manipulator 135 to the target position and complete various operations such as gripping, pushing, and rotating, greatly improving the ability to cope with complex cleaning scenarios, ensuring that obstacles of various shapes and positions can be effectively handled, and improving cleaning efficiency and quality.

[0149] One end of the support arm 132 away from the connecting arm 133 is connected to the rotating base 131 , and the support arm 132 , the connecting arm 133 and the working arm 134 are hinged at their end points in sequence.

[0150] Specifically, the rotating base 131 can drive the support arm 132 to rotate, and the rotation axis during rotation is a vertically extending straight line, which is defined as the first axis. The rotation axis of the support arm 132 hinged to the rotating base 131 is a horizontally extending straight line, which is defined as the second axis. The support arm 132 is connected to a lifting drive component, which is used to drive the support arm 132 to swing up and down around the second axis on the rotating base 131. When the support arm 132 is folded toward the mounting plate 120, the rotating base 131 first drives the support arm 132 to rotate around the first axis. When the support arm 132 rotates to above the folded position on the mounting plate 120, the rotating base 131 stops rotating. At this time, the lifting drive component drives the support arm 132 to rotate downward with the second axis as the rotation center until it stops rotating after rotating to the folded position, thereby achieving shielding. The folded position refers to the position of the support arm 132 when it is completely folded onto the mounting plate 120.

[0151] like Figure 11 and Figure 13 As shown, the robotic arm 130 further includes a driving member 136 . The driving member 136 is disposed on the mounting plate 120 . The driving member 136 is connected to the rotating base 131 to drive the rotating base 131 to rotate.

[0152] By providing a driver 136 and connecting it to the rotating base 131, the rotation of the rotating base 131 can be precisely controlled. During operation, the robotic arm 130 can accurately adjust the orientation and position of the manipulator 135 according to the actual cleaning task. For example, when facing obstacles in different directions or when cleaning at a specific angle, the driver 136 can drive the rotating base 131 to rotate the robotic arm 130 as a whole, precisely aligning the manipulator 135 with the target position, thereby improving the adaptability of the robotic arm 130 to complex cleaning scenarios and the accuracy of its operation.

[0153] In one embodiment, the driving member 136 includes a motor and a transmission mechanism. The transmission mechanism can be a reduction gear mechanism. Specifically, the output shaft of the motor is connected to the rotating seat 131 through the reduction gear mechanism. The rotating seat 131 is provided with a gear. The gear on the rotating seat 131 is engaged with the output gear of the reduction gear mechanism, so that the motor drives the rotating seat 131 to rotate, that is, the driving member 136 drives the rotating seat 131 to rotate.

[0154] Specifically, when the support arm 132 is deployed from the mounting plate 120, the lifting drive component drives the support arm 132 to rotate upward with the second axis as the rotation center, for example, rotating 90 degrees, so that the support arm 132 is perpendicular to the mounting plate 120. At this time, the robotic arm has moved out of the chamber 113. Then, the rotating base 131 first drives the support arm 132 to rotate around the first axis, for example, rotating 90 degrees, so that the robotic arm 130 faces the front of the automatic cleaning device, completing the deployment action, and the robotic arm 130 can operate. Among them, the driving member 136 is set on one side of the rotating base 131. When the support arm 132 is superimposed on the mounting plate 120, the support arm 132 rotates and folds toward the side away from the driving member 136.

[0155] The driving member 136 may be a motor.

[0156] When the robotic arm 130 is stored in the chamber 113, the support arm 132 is stacked above the mounting plate 120, the driving member 136 and the support arm 132 are arranged along the horizontal axis of the equipment body 110, the connecting arm 133 is stacked above the driving member 136 and the support arm 132, the working arm 134 and the robotic arm 135 are stacked above the connecting arm 133, and the working arm 134 and the robotic arm 135 extend along the horizontal axis of the equipment body 110 and are arranged in sequence.

[0157] By stacking the robotic arms 130 in sequence, the vertical space of the chamber 113 can be fully utilized. The support arm 132 is stacked on the mounting plate 120, the connecting arm 133 is stacked on the support arm 132 and the driving member 136, and the working arm 134 and the robotic arm 135 are stacked on the connecting arm 133. This minimizes the space occupied by the robotic arms 130 in the stored state, achieving compact storage of the robotic arms 130 within the chamber 113.

[0158] By stacking the robotic arms 130 in the manner described above, the overall center of gravity distribution of the automatic cleaning device can be optimized. Because the support arm 132, connecting arm 133, working arm 134, and robotic arm 135 components form a relatively stable stacked structure when stored, and are rationally arranged along the transverse axis of the device body 110, the center of gravity of the robotic arms 130 can be located in a relatively stable and reasonable position. The center of gravity distribution of the robotic arms 130 in the stored state can be coordinated with the overall center of gravity of the device, reducing the problem of device center of gravity shift caused by the storage of the robotic arms 130.

[0159] Specifically, such as Figure 13 As shown, the connecting arm 133 is relatively long, allowing it to be simultaneously stacked on the driving member 136, the rotating base 131, and the support arm 132. The working arm 134 and the manipulator 135 are relatively short, with the working arm 134 stacked above the connecting arm 133. The working arm 134 and the manipulator 135 do not overlap and are arranged in the same direction. The manipulator 135 is also stacked above the connecting arm 133, and the end of the manipulator 135 away from the working arm 134 may slightly protrude from the range of the connecting arm 133.

[0160] A first joint mechanism 137 is provided between the support arm 132 and the connecting arm 133, and the first joint mechanism 137 is used to drive the connecting arm 133 to rotate on the support arm 132. A second joint mechanism 138 is provided between the connecting arm 133 and the working arm 134, and the second joint mechanism 138 is used to drive the working arm 134 to rotate on the connecting arm 133. Figure 3 As shown, the chamber 113 includes a first accommodating section 1131, a second accommodating section 1132 and a third accommodating section 1133 arranged in sequence along the horizontal axis direction of the equipment body 110. The width of the first accommodating section 1131 and the third accommodating section 1133 is greater than the width of the second accommodating section 1132. When the robotic arm 130 is stored in the chamber 113, the first joint mechanism 137 is in the third accommodating section 1133, and the second joint mechanism 138 is in the first accommodating section 1131.

[0161] like Figure 12As shown, the first joint mechanism 137 is located in the third accommodating section 1133, and the second joint mechanism 138 is located in the first accommodating section 1131. This layout enables each joint mechanism of the robotic arm 130 to be accurately placed in the corresponding position of the chamber 113 when the robotic arm 130 is stored, making full use of the space of the chamber 113. Since the first accommodating section 1131 and the third accommodating section 1133 are relatively wide, sufficient space is provided for the joint mechanism, which prevents the joint mechanism from colliding or squeezing with the wall of the chamber 113 when stored, ensuring that the robotic arm 130 can be stored smoothly and improving the stability and safety of storage. At the same time, the adaptation of each joint mechanism to the space of the chamber 113 also makes the robotic arm 130 more compact in the stored state, reduces the volume of space occupied, is conducive to maintaining the compactness of the overall structure of the equipment, and facilitates the storage and movement of the equipment.

[0162] During the storage process, by placing the first joint mechanism 137 and the second joint mechanism 138 in the wider storage section, not only can the first joint mechanism 137 and the second joint mechanism 138 be effectively protected, but the wall of the chamber 113 can also prevent the intrusion of external dust, debris, etc. into the joint mechanism, reducing the wear and tear caused by dust accumulation or foreign matter entering the joint, thereby extending the service life of the joint mechanism. In addition, the appropriate storage space can also prevent the joint mechanism from being damaged by external force when the device is moved or slightly bumped, thereby improving the reliability of the robot arm 130 and reducing the maintenance cost of the equipment.

[0163] The first joint mechanism 137 and the second joint mechanism 138 may include a rotary motor and a reduction mechanism, thereby driving the connected arm sections to rotate.

[0164] Specifically, the motor is connected to the input end of the reduction mechanism, and the output end of the reduction mechanism is connected to the adjacent arm section, thereby driving the connected arm section to rotate. The reduction mechanism can be a harmonic reduction mechanism or a planetary gear reduction mechanism.

[0165] The chamber 113 is roughly concave in shape in horizontal cross-section, with the two wider sections forming the first and third accommodating sections 1131 and 1133, and the narrower section in the middle forming the second accommodating section 1132. Due to the relatively large widths of the first and second joint mechanisms 137 and 138, they are positioned within the wider first and third accommodating sections 1131 and 1133, respectively, to prevent scraping against the chamber walls. When folded, the arm sections between the first and second joint mechanisms 137 and 138 are relatively narrow and are accordingly positioned within the narrower second accommodating section 1132, reducing the overall space occupied by the chamber 113.

[0166] It should be noted that the width of the chamber 113 is the length of the chamber 113 along the direction of travel of the automatic cleaning device. The width of each joint mechanism and each arm segment in the robot arm 130 is also the length along the direction of travel of the automatic cleaning device.

[0167] The width of the second accommodating section 1132 is 35 mm to 45 mm, and / or the width of the first accommodating section 1131 and the third accommodating section 1133 is 50 mm to 60 mm; and / or the length of the second accommodating section 1132 is 110 mm to 130 mm; and / or the length of the first accommodating section 1131 and the third accommodating section 1133 is 40 mm to 60 mm.

[0168] By setting the width of first accommodating section 1131 and third accommodating section 1133 to 50 to 60 mm, suitable space is provided for accommodating first joint mechanism 137 and second joint mechanism 138 of robotic arm 130, ensuring that the joint mechanisms are not squeezed during storage and have sufficient room for movement. Setting the width of second accommodating section 1132 to 35 to 45 mm, which matches the dimensions of components such as connecting arm 133, allows connecting arm 133 to be properly positioned within this space, avoiding interference with the walls of chamber 113. This ensures that the various components of robotic arm 130 are neatly and orderly stored, fully utilizing the space in chamber 113 and improving storage compactness.

[0169] Specifically, in one embodiment, the width of the second accommodating section 1132 is 40 mm, the width of the first accommodating section 1131 and the third accommodating section 1133 is 55 mm, the length of the second accommodating section 1132 is 120 mm, and the length of the first accommodating section 1131 and the third accommodating section 1133 is 50 mm.

[0170] During the deployment and movement of the robotic arm 130, the aforementioned dimensions ensure that the various joint mechanisms and arm segments have sufficient space to rotate, extend, and perform other movements without being restricted by the space in the chamber 113. For example, when the first joint mechanism 137 drives the connecting arm 133 to rotate on the support arm 132, the space in the first accommodating section 1131 is sufficient to accommodate the range of motion of the connecting arm 133, preventing the connecting arm 133 from colliding with the walls of the chamber 113. This ensures the smoothness and flexibility of the movement of the robotic arm 130, thereby improving the robotic arm 130's ability to cope with complex cleaning scenarios and enhancing cleaning efficiency.

[0171] When the robotic arm 130 is stored in the chamber 113, the inner wall of the chamber 113 conforms to the circumferential outer contour of the robotic arm 130, and the gap between the inner wall of the chamber 113 and the circumferential outer contour of the robotic arm 130 is greater than 2 mm. The bottom of the chamber 113 conforms to the bottom surface of the robotic arm 130, and the gap between the bottom and the bottom surface of the robotic arm 130 is greater than 0.5 mm. The opening of the chamber 113 conforms to the path of the robotic arm 130 as it passes through.

[0172] By making the inner sidewall of the chamber 113 compatible with the circumferential outer contour of the robotic arm 130, the robotic arm 130 can be accurately placed in the chamber 113 when stored. At the same time, the overall structure of the robotic arm 130 after storage is made more compact, fully utilizing the space in the chamber 113, improving the utilization rate of the internal space of the device, and helping to maintain the stability of the overall structure of the device.

[0173] The clearance between the bottom of the bin and the bottom of the robotic arm 130, which is greater than 0.5mm, also provides protection. This prevents wear and tear on the robotic arm 130 caused by direct contact with the bin bottom due to gravity or equipment vibration when stored. Furthermore, if debris or dust enters the bottom of the robotic arm 130, there is sufficient space to accommodate it, preventing further damage to the robotic arm 130 and the bin bottom. This ensures the integrity of the internal structure of the bin chamber 113 and promotes long-term stable operation of the equipment.

[0174] The opening of the chamber 113 is provided with an inclined surface, so that the robot arm 130 can avoid being scratched when passing by.

[0175] The center of gravity of the robotic arm 130 is within a range surrounded by the driven wheel 330 , the first driving wheel 310 , and the second driving wheel 320 .

[0176] The weight of the robotic arm 130 is relatively large, so it has a great impact on the overall center of gravity distribution of the automatic cleaning device. Designing the center of gravity of the robotic arm 130 to be within the range surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320 can enable the automatic cleaning device to maintain a more reasonable center of gravity position during walking. When the device starts, stops, turns or travels on uneven ground, a stable center of gravity helps to reduce the risk of tilting, shaking or tipping over due to center of gravity offset, ensuring that the automatic cleaning device always maintains a stable walking posture, improving the stability and safety of the device, and reducing the possibility of damage to the device due to loss of balance during operation. At the same time, it can also enable the driven wheel 330, the first driving wheel 310 and the second driving wheel 320 to share the weight of the robotic arm 130 and other components more evenly. When the device is in different working states, the load borne by each walking wheel is relatively balanced, avoiding the problem of excessive wear or slipping of the walking wheel due to excessive local force.

[0177] The length and mass of each arm segment can be designed through calculation, simulation testing, etc., thereby ensuring that the center of gravity of the robotic arm 130 is within the range surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320.

[0178] In the unloaded state and the loaded state, the center of gravity of the robot arm 130 is within the enclosed range.

[0179] Specifically, when loaded, the control system of the robot arm 130 can adjust the posture of the robot arm 130 to ensure the stability of the center of gravity. When the load is too large and the center of gravity may shift out of the range, the robot arm 135 can be controlled to release the object to ensure the stability of the automatic cleaning device.

[0180] The automatic cleaning device includes a door body 500 , which is movable relative to the device body 110 to open or close the opening of the chamber 113 .

[0181] By setting up a door body 500 and making it movable relative to the equipment body 110 to open or close the hatch, when the door body 500 closes the hatch, the chamber 113 becomes relatively closed, which can prevent dust, liquid, etc. from the external environment from entering the chamber 113, thereby reducing the possibility of the robotic arm 130 in the chamber 113 being contaminated by dust or soaked by liquid from the external environment, which is beneficial to extending the service life of the robotic arm 130 and thereby improving the overall reliability of the cleaning equipment.

[0182] A trigger assembly 210 is provided around the hatch. The trigger assembly 210 is configured to send a signal when subjected to mechanical stress. When the door body 500 closes the hatch, the trigger assembly 210 is located between the door body 500 and the device body 110 .

[0183] By providing a touch component 210 on the device body 110, the touch component 210 is located at the opening of the compartment, and the touch component 210 is configured to send a signal when subjected to mechanical stress. In this way, when the robotic arm 130 is folded and stored in the compartment 113 or extended out of the compartment 113, a human hand or foreign object near the compartment opening contacts or collides with the touch component 210, causing the touch component 210 to be subjected to mechanical stress and send a signal, indicating that there is a risk of the human hand or foreign object being clamped in the compartment opening due to the contact or collision between the touch component 210 and the human hand or foreign object. Therefore, it is convenient for the robotic arm 130 or the automatic cleaning device to take corresponding actions according to the signal. For example, the control device of the automatic cleaning device controls the robotic arm 130 to stop moving according to the signal, avoiding the possibility of the robotic arm 130 continuing to move and causing a human hand or foreign object to be clamped at the compartment opening, reducing personal injury or financial loss caused by the process of the robotic arm 130 extending out of the compartment 113 and retracting into the compartment 113, which is conducive to improving the safety of the use of the robotic arm 130 and improving user satisfaction.

[0184] like Figure 14 and Figure 15 As shown, the shape of the touch assembly 210 is similar to the hatch, for example, the hatch is roughly rectangular, and the touch assembly 210 is also a corresponding square ring structure. The touch assembly 210 is arranged on the periphery of the hatch, that is, the hatch is in the space surrounded by the touch assembly 210, that is, the touch assembly 210 is arranged around the hatch. When the door body 500 closes the hatch, the touch assembly 210 is between the door body 500 and the device body 110. Specifically, the circumferential side of the hatch is sunken to form a receiving groove, and the touch assembly 210 is arranged in the receiving groove. When the door body 500 closes the hatch, it presses on the top of the touch assembly 210, so that the door body 500 does not protrude from the upper surface of the device body 110.

[0185] The peripheral side of the opening refers to the area around the edge of the opening of the chamber 113, that is, with the opening as the center, the peripheral side forms a ring-shaped or approximately ring-shaped area, covering the boundaries of the opening in all directions.

[0186] In one embodiment, when the door 500 closes the hatch, the door 500 does not contact the trigger assembly 210, thereby preventing the trigger assembly 210 from being accidentally triggered. In this embodiment, when the door 500 closes the hatch, a gap is left between the door 500 and the trigger assembly 210. The gap can be very small, for example, 1-2 mm, to prevent the door 500 from contacting the trigger assembly 210.

[0187] In one embodiment, when the door 500 closes its hatch, it presses against the trigger assembly 210, causing the trigger assembly 210 to be mechanically stressed and transmit a signal, thereby performing a position detection function. In this embodiment, the trigger assembly 210 can cooperate with a second position detection member to achieve accurate and stable closure detection of the door 500.

[0188] The touch assembly 210 includes a touch member 211 and a touch switch 212. The touch member 211 is distributed around the port. The touch member 211 can float relative to the device body 110. The touch switch 212 is located between the touch member 211 and the device body 110 so that the touch member 211 can contact the touch switch 212 and trigger the touch switch 212 to send a signal.

[0189] Since the touch member 211 is distributed around the warehouse opening and can float up and down relative to the device body 110, the touch switch 212 is located between the touch member 211 and the device body 110. For example, the touch switch 212 is located below the touch member 211. In this way, when a human hand or a foreign object touches or bumps into the touch member 211, the touch member 211 will float downward relative to the device body 110 and trigger the touch switch 212 to send a signal. As a result, the robotic arm 130 can stop moving according to the signal, avoiding the possibility of the robotic arm 130 continuing to move and causing a human hand or foreign object to be caught in the warehouse opening, reducing personal injury or financial loss caused by the process of folding the robotic arm 130 into the arm warehouse or extending the arm warehouse, which is conducive to improving the safety of the use of the robotic arm 130 and improving user satisfaction.

[0190] Among them, the touch member 211 can float up and down relative to the device body 110, so that the touch member 211 can move downward after coming into contact with a human hand or foreign object to interact with the touch switch 212 and trigger the touch switch 212 to trigger a signal. When the human hand or foreign object leaves the touch member 211, the touch member 211 can move upward and reset to its initial position.

[0191] The number of the touch switches 212 is one or more, and the multiple touch switches 212 are distributed between the touch member 211 and the device body 110 at intervals along the circumference of the touch member 211, so that different positions of the touch member 211 moving downward relative to the device body 110 can trigger the touch switch 212 trigger signal, which is beneficial to improving the comprehensiveness and accuracy of the anti-pinch detection of the entire touch assembly 210.

[0192] Specifically, the touch switch 212 can be at least one of a mechanical switch, a photoelectric switch, a piezoelectric switch, and a touch switch. It is understandable that when there are multiple touch switches 212, the multiple touch switches 212 can be of the same type or different types.

[0193] Specifically, the touch switch 212 can be connected to the device body 110 through at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and an adhesive.

[0194] like Figure 16 As shown, the trigger assembly 210 further includes an elastic member 213 , a first end of the elastic member 213 is connected to the trigger member 211 , and a second end of the elastic member 213 is connected to the device body 110 .

[0195] The elastic member 213 connects the contact member 211 and the device body 110, thereby achieving a floating connection between the contact member 211 and the device body 110, so that the contact member 211 can move downward after coming into contact with a human hand or a foreign object, interacting with the touch switch 212 and causing the touch switch 212 to trigger a signal. When the human hand or foreign object leaves the contact member 211, the elastic member 213 can reset the contact member 211 to its initial position.

[0196] Specifically, the elastic member 213 may be a spring, a tension spring, a torsion spring, a spring sheet, an elastic rubber, or other elastic member 213 that meets the requirements.

[0197] Specifically, the number of elastic members 213 can be one or more, and multiple elastic members 213 are distributed between the touch member 211 and the device body 110 along the circumferential interval of the touch member 211, so that each part of the touch member 211 and the device body 110 at the corresponding position have good floating properties, and are conducive to improving the uniformity of the up and down floating of the entire touch member 211 relative to the device body 110, which is conducive to improving the comprehensiveness and accuracy of the anti-pinch detection of the entire touch assembly 210.

[0198] Specifically, the first end of the elastic member 213 can be connected to the actuator 211 by at least one of a bolt structure, a snap connection structure, a plug connection structure, a mortise and tenon structure, a hook connection structure, and an adhesive. The second end of the elastic member 213 can be connected to the device body 110 by at least one of a bolt structure, a snap connection structure, a plug connection structure, a mortise and tenon structure, a hook connection structure, and an adhesive.

[0199] like Figure 14 and Figure 15 As shown, an emergency stop button 220 is provided on the equipment body 110, and the emergency stop button 220 is located on the outer peripheral side of the port.

[0200] Among them, an emergency stop module can be set in the automatic cleaning equipment. Specifically, the emergency stop module is set on the equipment body 110 of the automatic cleaning equipment, and is at least used to control the execution of the safe operation mode of the grabbing part robot arm 130. When the automatic cleaning equipment fails, the emergency stop module can make the robot arm power off, stop, and / or the cleaning equipment running wheels power off and stop, etc. The emergency stop module includes an emergency stop button 220. The user can start the emergency stop module by touching the emergency stop button 220, thereby making the robot arm power off, stop, and / or the cleaning equipment running wheels power off and stop, etc. By setting the emergency stop button 220, the triggering of the emergency stop module is more convenient, the use of the automatic cleaning equipment is more convenient, and the user experience can be improved. At the same time, the response efficiency of the emergency stop module can also be improved, which is convenient for timely control of the robot arm 130 to execute the safe operation mode.

[0201] The emergency stop button 220 is arranged outside the moving path of the door body 500 .

[0202] This can prevent the door body 500 from blocking the emergency stop button 220 when the door body 500 opens or closes the hatch, thereby preventing the user from touching the emergency stop button 220 .

[0203] In one embodiment, when the door body 500 opens the hatch, the door body 500 opens backward in the horizontal direction, and the emergency stop button 220 is set on the horizontal front side of the hatch.

[0204] like Figure 14 and Figure 15 As shown, the device body 110 includes a frame 230 , which is arranged along the circumference of the chamber opening, and the emergency stop button 220 is arranged on the frame 230 .

[0205] Specifically, the hatch on the upper surface of the device body 110 is recessed downward, forming a sunken recessed area in the circumferential direction of the hatch. The recessed area surrounds the hatch, and the recessed area and the upper surface of the device body 110 form a stepped structure. The groove depth of the recessed area is close to the thickness of the frame 230. The frame 230 is roughly a square ring structure, and the frame 230 is arranged in the recessed area. Specifically, the bottom of the frame 230 is arranged on the groove bottom of the recessed area, and the top of the frame 230 is basically flush with the upper surface of the device body 110. After the door body 500 closes the hatch, the door body 500 is located in the middle space surrounded by the frame 230, and the top of the door body 500 is flush with the top of the frame 230, ensuring good aesthetics.

[0206] Among them, the frame 230 is set at the top of the chamber 113, which makes the top of the device body 110 more layered and makes the device body 110 more beautiful; further, through the setting of the frame 230, the area where the robotic arm 130 is extended and stored can be enclosed, which can serve as a warning, reduce the probability of users accidentally touching the operating coverage area of the robotic arm 130, and make the use of automatic cleaning equipment safer.

[0207] In this technical solution, the emergency stop button 220 is set on the frame 230. Based on this, during the assembly process of the automatic cleaning equipment, the emergency stop button 220 can be set on the frame 230 first, and then the frame 230 together with the emergency stop button 220 can be connected to the equipment body 110, which is convenient for the rapid assembly of the automatic cleaning equipment. At the same time, the emergency stop button 220 can be closer to the robotic arm 130. When the automatic cleaning equipment encounters a special working condition, the user's first reaction is to observe the equipment body 110. The user can immediately find the emergency stop button 220 that is closer to the robotic arm 130. The user can operate the emergency stop button 220 as soon as possible, and can control the robotic arm 130 to execute the safe operation mode as soon as possible, making the use of the automatic cleaning equipment safer.

[0208] A function adjustment module may be provided in the automatic cleaning device, and the operation mode of the device body 110 may be adjusted through the function adjustment module, making the control of the device body 110 more convenient.

[0209] Among them, the function adjustment module includes a function adjustment button 240. The user can start the function adjustment module by touching the function adjustment button 240, making the triggering of the function adjustment module more convenient, the use of the automatic cleaning device more convenient, and improving the user experience.

[0210] like Figure 14 and Figure 15 As shown, the function adjustment button 240 is set on the outer peripheral side of the door body 500, which is convenient for the user to touch and control.

[0211] Among them, the function adjustment button 240 and the emergency stop button 220 are set at intervals, that is, there is a certain distance between the function adjustment button 240 and the emergency stop button 220. Based on this, when the automatic cleaning equipment is in an abnormal working state, the user can identify the emergency stop button 220 at the first time, and can immediately control the robotic arm 130 to stop working through the emergency stop button 220, which can improve the efficiency of the emergency stop response, especially avoid incorrect operation, such as avoiding mistaking the function adjustment button 240 for the emergency stop button 220, which can make the use of the automatic cleaning equipment safer.

[0212] The function adjustment button 240 is arranged outside the moving path of the door body 500 .

[0213] This can prevent the door body 500 from blocking the function adjustment button 240 when the door body 500 opens the hatch, thereby preventing the user from touching the function adjustment button 240 .

[0214] In one embodiment, when the door body 500 opens the hatch, the door body 500 opens backward in the horizontal direction, and the function adjustment button 240 is arranged in front of the hatch.

[0215] In a second aspect of the present application, an automatic cleaning system is provided, comprising a base station and the automatic cleaning device as described above, wherein the automatic cleaning device is adapted to be docked on the base station.

[0216] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0217] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application. The above are merely preferred embodiments of the present application. It should be noted that those skilled in the art may make various improvements and variations without departing from the technical principles of the present application, and such improvements and variations shall also be considered within the scope of protection of the present application.

Claims

1. An automatic cleaning device, characterized in that: The invention comprises an equipment body (110) and a mechanical arm (130), wherein the equipment body (110) is provided with a chamber (113), the mechanical arm (130) can be accommodated in the chamber (113), the equipment body (110) is provided with a plurality of running wheels, and the chamber (113) is arranged between the plurality of running wheels.

2. The automatic cleaning device according to claim 1, characterized in that The plurality of traveling wheels include a first driving wheel (310) and a second driving wheel (320), the first driving wheel (310) and the second driving wheel (320) are arranged along the transverse axis direction of the equipment body (110), the chamber (113) extends along the transverse axis direction, and the projection of the chamber (113) in a vertical plane where the axis of the first driving wheel (310) and the second driving wheel (320) are located is located between the first driving wheel (310) and the second driving wheel (320).

3. The automatic cleaning device according to claim 2, characterized in that: The plurality of travel wheels include a driven wheel (330), wherein the driven wheel (330) is arranged at the front side of the chamber (113) along the direction of travel of the automatic cleaning device, and the middle section of the chamber (113) along the horizontal axis direction is within the range surrounded by the driven wheel (330), the first driving wheel (310) and the second driving wheel (320).

4. The automatic cleaning device according to claim 1, characterized in that The automatic cleaning device comprises a roller brush assembly (400), the chamber (113) is arranged on the front side of the roller brush assembly (400) along the travel direction of the automatic cleaning device, and the extension direction of the chamber (113) is parallel to the extension direction of the rotation axis of the roller brush assembly (400).

5. The automatic cleaning device according to claim 1, characterized in that The device body (110) includes an upper shell (111) and a lower shell (112), the chamber (113) is formed on the lower shell (112), the opening of the chamber (113) is arranged upward, and the upper shell (111) is provided with a through slot corresponding to the opening, so that the robotic arm (130) can enter and exit the chamber (113) through the through slot.

6. The automatic cleaning device according to claim 1, characterized in that The automatic cleaning device includes a mounting plate (120), the mounting plate (120) is connected to the robotic arm (130), a positioning hole (121) and an assembly hole (122) are formed on the mounting plate (120), a positioning member (140) is provided on the bottom of the chamber (113), the positioning member (140) is used to pass through the positioning hole (121) for positioning, and a fastener (150) passes through the chamber bottom and the assembly hole (122) to be connected to the robotic arm.

7. The automatic cleaning device according to claim 6, characterized in that A space-avoiding portion (123) is formed on the mounting plate (120), and the turntable of the mechanical arm (130) is located in the space-avoiding portion (123).

8. The cleaning device according to claim 1, characterized in that The automatic cleaning device comprises a functional part, the functional part is arranged in the device body (110), and the mechanical arm (130) is connected to the functional part; The functional parts include a power supply or a controller.

9. The cleaning device according to claim 8, characterized in that The device body (110) includes a channel (180), the channel (180) is connected to the functional part, the open end of the channel (180) is connected to the chamber (113), and the cable (170) of the robot arm (130) passes through the channel (180) and is connected to the functional part.

10. An automatic cleaning system, characterized in that: The automatic cleaning device comprises a base station and the automatic cleaning device according to any one of claims 1 to 9, wherein the automatic cleaning device is adapted to be docked on the base station.

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