Cleaning device

Abstract

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

Description

Technical Field

[0001] The present application relates to the field of smart home technology, and in particular to a cleaning device. Background Art

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

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. This section of the application does not intend to limit the key features and essential technical features of the claimed technical solution, nor does it intend to determine the scope of protection of the claimed technical solution.

[0004] An embodiment of the first aspect of the present application provides a cleaning device, including: a machine body, the machine body is provided with an arm bin, and the arm bin is provided with a bin opening; a robotic arm, the robotic arm is connected to the machine body, and can be extended or retracted into the arm bin through the bin opening; a touch component, the touch component is arranged on the machine body, located around the bin opening, and the touch component is configured to send a signal when subjected to mechanical stress.

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

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

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

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

[0009] Furthermore, the limiting member does not protrude from the surface of the triggering member away from the trigger switch.

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

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

[0012] Furthermore, a plurality of touch switches are distributed at intervals along the circumference of the touch member; and / or a plurality of elastic members are arranged at intervals along the circumference of the touch member; and / or a plurality of limiting members are arranged at intervals along the circumference of the touch member.

[0013] Furthermore, the touch member moves 0.2 mm to 0.5 mm in a direction close to the touch switch, causing the touch switch to send a signal.

[0014] Furthermore, the touch assembly further includes a piezoelectric film, and the piezoelectric film is located on the peripheral side of the port.

[0015] Furthermore, a boss structure is provided inside the arm bin on the inner peripheral side of the bin opening, and the trigger assembly is mounted on the boss structure.

[0016] Furthermore, the trigger assembly protrudes from the plane where the compartment opening faces the outside of the arm compartment.

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

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

[0019] Furthermore, the robotic arm includes a fixed seat, a first mechanical joint, and a connecting arm. The fixed seat is connected to the inside of the arm warehouse. The first mechanical joint connects the fixed seat and the connecting arm, and makes the connecting arm foldable or unfoldable relative to the fixed seat. The first mechanical joint is set to a non-self-locking structure.

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

[0021] The cleaning device provided in an embodiment of the present application includes a machine body, a robotic arm, and a trigger assembly. The machine body is provided with an arm compartment for accommodating the robotic arm. The robotic arm is connected to the machine body and can be extended or retracted into the arm compartment through an opening. This allows the robotic arm to move with the movement of the machine body to reach a target location. The robotic arm, by extending out of the opening, can grab or move obstacles, objects, or garbage near the cleaning device, thereby better achieving autonomous cleaning. By providing the trigger assembly on the machine body and located around the opening, when the robotic arm is folded into the arm compartment or extended out of the arm compartment, a human hand or foreign object near the opening contacts or collides with the trigger assembly, causing the trigger assembly to be mechanically stressed and send a signal. This facilitates the robotic arm or cleaning device to perform corresponding actions in response to the signal. For example, the cleaning device's control device can control the robotic arm to stop moving in response to the signal, thereby preventing the robotic arm from continuing to move and pinching a human hand or foreign object. This reduces the risk of personal injury or financial loss caused by the robotic arm's movement during exiting and returning to the compartment, thereby improving the safety of the robotic arm and enhancing user satisfaction.

[0022] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following drawings of the present application are used as part of the embodiments of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application.

[0024] In the attached figure:

[0025] Figure 1 A schematic structural diagram showing a cleaning device of the present application connected to a robotic arm from one perspective;

[0026] Figure 2 A schematic structural diagram showing a perspective of the cleaning device of the present application without a robotic arm connected thereto;

[0027] Figure 3 A schematic structural diagram showing a perspective of the cleaning device of the present application without the robotic arm and the touch assembly connected;

[0028] Figure 4 A schematic structural diagram showing a perspective of the cleaning device of the present application without the robotic arm connected and the connected portion touching the assembly;

[0029] Figure 5 Shown Figure 4 A partial enlarged schematic diagram of point A in the illustrated embodiment;

[0030] Figure 6 A schematic structural diagram showing a perspective of the touch assembly of the present application;

[0031] Figure 7 A schematic structural diagram showing another perspective of the touch assembly of the present application is shown;

[0032] Figure 8 Shown Figure 7 A partial enlarged schematic diagram of point B in the illustrated embodiment;

[0033] Figure 9 A schematic structural diagram showing a perspective of the trigger of the present application;

[0034] Figure 10 A structural schematic diagram of the trigger of the present application from another perspective is shown.

[0035] Description of Reference Numerals

[0036] 100 cleaning equipment, 110 machine body, 111 arm bin, 112 bin opening, 113 boss structure, 120 touch assembly, 121 touch member, 1211 first avoidance opening, 1212 first limiting portion, 1213 second limiting portion, 1214 second avoidance opening, 1215 buffer portion, 122 touch switch, 123 elastic member, 124 limiting member, 130 robotic arm. DETAILED DESCRIPTION

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

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

[0039] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0040] like Figures 1 to 10 As shown, an embodiment of the present application provides a cleaning device 100, which can be a sweeping robot, a mopping robot, an all-in-one sweeping and mopping machine, or other cleaning devices 100 that meet the requirements.

[0041] Specifically, the cleaning device 100 includes, but is not limited to, a machine body 110, a cleaning system, a drive system, and the like. The aforementioned systems coordinate with each other to enable the cleaning device 100 to move autonomously to perform its cleaning function. The functional components of the cleaning device 100 that constitute the aforementioned systems are integrated within the machine body 110. It is understood that the cleaning device 100 may be a self-propelled cleaning device 100, wherein the self-propelled cleaning device 100 is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

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

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

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

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

[0046] The cleaning device 100 may further include a connection structure, through which the robotic arm 130 is connected to the machine body 110. The connection structure may be at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic structure. The connection structure allows for a detachable connection between the robotic arm 130 and the machine body 110, making it easy to disassemble and separate the robotic arm 130 from the machine body 110 via the connection structure for maintenance, thereby simplifying operation and facilitating easy maintenance.

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

[0048] The control device can control the motion state of the robotic arm 130. For example, the control device can control the robotic arm 130 to unfold to extend from the arm compartment 111, or control the robotic arm 130 to fold to be stored in the arm compartment 111. The control device is electrically connected to the trigger assembly 120. In this way, when the robotic arm 130 is extending from the arm compartment 111 or folding back into the arm compartment 111, if a human hand or foreign object near the compartment opening 112 contacts the trigger assembly 120, causing the trigger assembly 120 to send a signal, it indicates that there is a risk of the human hand or foreign object being trapped at the compartment opening 112. Therefore, the control device can control the robotic arm 130 to stop moving according to the signal sent by the touch component 120, which can avoid the possibility of the robotic arm 130 continuing to move and causing human hands or foreign objects to be clamped between the arm bin 111 and the robotic arm 130, or avoid the possibility of the robotic arm 130 continuing to move and causing human hands to be injured or foreign objects to be damaged. It can also avoid personal injury or financial loss caused by the robotic arm 130 in the process of folding and storing it into the arm bin 111 or extending the arm bin 111, which is conducive to improving the safety of the use of the robotic arm 130 and improving user satisfaction.

[0049] In some possible embodiments provided in the present application, the touch assembly 120 includes: a touch member 121 and a touch switch 122. The touch members 121 are distributed on the surrounding sides of the compartment opening 112 and a first avoidance opening 1211 for avoiding the robotic arm 130 is provided in the middle. The touch member 121 can float up and down relative to the machine body 110. The touch switch 122 is located between the touch member 121 and the machine body 110. The touch member 121 is configured to float downward relative to the machine body 110 to trigger the touch switch 122 to send a signal.

[0050] In this embodiment, since the touch member 121 is distributed on the surrounding side of the compartment 112 and can float up and down relative to the machine body 110, the touch switch 122 is located between the touch member 121 and the machine body 110. For example, the touch switch 122 is located below the touch member 121. In this way, when a human hand or a foreign object touches or bumps into the touch member 121, the touch member 121 will float downward relative to the machine body 110 and trigger the touch switch 122 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 clamped in the compartment 112, reducing personal injury or financial loss caused by the process of folding the robotic arm 130 into the arm compartment 111 or extending the arm compartment 111, which is conducive to improving the safety of the use of the robotic arm 130 and improving user satisfaction.

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

[0052] Among them, the touch member 121 can float up and down relative to the machine body 110, so that the touch member 121 can move downward after coming into contact with a human hand or a foreign object to interact with the touch switch 122 and trigger the touch switch 122 to trigger a signal. When the human hand or foreign object leaves the touch member 121, the touch member 121 can move upward and return to its initial position.

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

[0054] Specifically, the touch switch 122 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 122, the multiple touch switches 122 can be of the same type or different types.

[0055] Specifically, the touch switch 122 can be connected to the machine 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.

[0056] In some possible embodiments provided herein, the trigger assembly 120 further includes an elastic member 123, wherein a first end of the elastic member 123 is connected to the trigger member 121, and a second end of the elastic member 123 is connected to the machine body 110. The elastic member 123 connects the trigger member 121 and the machine body 110, thereby achieving a floating connection between the trigger member 121 and the machine body 110. This allows the trigger member 121 to move downward upon contact with a human hand or foreign object, interacting with the trigger switch 122 and causing the trigger switch 122 to trigger a signal. When the human hand or foreign object leaves the trigger member 121, the elastic member 123 causes the trigger member 121 to return to its initial position.

[0057] Specifically, the elastic member 123 may be a spring, a tension spring, a torsion spring, a spring sheet, an elastic rubber, or other elastic member 123 that meets the requirements.

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

[0059] Specifically, the first end of the elastic member 123 can be connected to the actuator 121 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 123 can be connected to the machine 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.

[0060] Furthermore, a first limiting portion 1212 is provided on one side of the touch member 121 facing the touch switch 122, and the first limiting portion 1212 is connected to the first end of the elastic member 123, wherein the first limiting portion 1212 can be a connecting column, a hook, a socket, etc. Specifically, as Figure 9 As shown, the first limiting portion 1212 is a connecting column.

[0061] In some possible embodiments provided in the present application, the touch assembly 120 further includes: a limit member 124, the first end of the limit member 124 is connected to the touch member 121, the machine body 110 is provided with a limit hole, the second end of the limit member 124 is passed through the limit hole and can move up and down along the limit hole.

[0062] Since the touch switch 122 is located between the touch member 121 and the machine body 110, that is, the touch switch 122 can be understood as being located below the touch member 121 in the vertical direction, if the touch member 121 shakes in the horizontal direction relative to the machine body 110 under mechanical stress, the touch member 121 may be unable to cause the touch switch 122 to send a signal. Therefore, the touch component 120 has the problem of anti-pinch leakage detection. To this end, in this embodiment, by adding a limit member 124, the limit member 124 cooperates with the limit hole on the machine body 110, so that the movement of the limit member 124 relative to the limit hole can be limited. Since the touch member 121 is connected to the limit member 124, the movement of the touch member 121 relative to the machine body 110 can be limited and guided, so that the touch member 121 can move up and down in the vertical direction more accurately relative to the machine body 110, reducing the possibility of the touch member 121 shaking in the horizontal direction relative to the machine body 110, and greatly improving the detection accuracy of the touch component 120.

[0063] Specifically, the number of the limiting members 124 can be one or more, and the multiple limiting members 124 are distributed between the touching member 121 and the machine body 110 at circumferential intervals along the touching member 121, so that each part of the touching member 121 can move up and down in the vertical direction relative to the machine body 110, thereby improving the accuracy of the vertical movement of the entire touching member 121, reducing the possibility of the touching member 121 shaking relative to the machine body 110, and improving the anti-pinch detection accuracy of the touching component 120.

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

[0065] Furthermore, a second limiting portion 1213 is provided on the side of the touch member 121 facing the touch switch 122, and the second limiting portion 1213 cooperates with the first end of the limiting member 124 to achieve connection with the limiting member 124, wherein the second limiting portion 1213 can be a connecting column, a hook, a socket, etc. Specifically, as Figure 9 As shown, the second limiting portion 1213 is a connecting column, which has a hollow structure. The first end of the limiting member 124 can be inserted into the hollow structure of the second limiting portion 1213 .

[0066] Furthermore, a threaded structure is provided in the hollow structure of the second limiting portion 1213, and the limiting member 124 can be a screw, the first end of the screw is connected to the second limiting portion 1213 through the threaded structure, and the second end of the screw is passed through a through hole on the warehouse wall.

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

[0068] In some examples, the limit member 124 does not protrude from the surface of the touch member 121 away from the touch switch 122, such as the first end of the limit member 124 is connected to the side of the touch member 121 facing the touch switch 122, or the first end of the limit member 124 is passed through the touch member 121 and does not protrude from the surface of the touch member 121 away from the touch switch 122. In this way, it can be ensured that the limit member 124 does not protrude from the surface of the touch member 121 away from the touch switch 122, so that the surface of the touch member 121 facing the outside is neat and beautiful, thereby improving the aesthetics of the product appearance.

[0069] In some possible embodiments provided herein, the cleaning device 100 further includes a door, which is movably connected to the machine body 110 and can open or close a hatch 112. Thus, after the robotic arm 130 is folded and stored in the arm bin 111, the hatch 112 can be closed by the door, thereby reducing or preventing dust and liquid from entering the arm bin 111 and causing the robotic arm 130 to malfunction, thereby increasing the service life of the robotic arm 130 and improving the overall reliability of the cleaning device 100. It will be understood that when the robotic arm 130 needs to extend the arm bin 111 to perform a grabbing operation, the door can be moved relative to the machine body 110 to open the hatch 112.

[0070] Furthermore, since the touch assembly 120 is located on the side of the compartment opening 112, when the compartment door closes the compartment opening 112, the compartment door is located above the touch assembly 120, that is, the compartment door is opposite to the surface of the touch member 121 away from the touch switch 122. Since the limit member 124 does not protrude from the surface of the touch member 121 away from the touch switch 122, the setting of the limit member 124 will not interfere with the closing of the compartment door 112, thereby improving the smoothness of the closing of the compartment door 112.

[0071] Furthermore, the door is connected to the machine body 110 via a transmission assembly. When the transmission assembly is in operation, it can drive the door relative to the machine body 110 to open or close the hatch 112. A second clearance opening 1214 is also formed on the trigger 121. This clearance opening 1214 is used to avoid the transmission assembly, thereby reducing the possibility of contact between the transmission assembly, the door, and the trigger 121 during the operation of the transmission assembly driving the door. This prevents the transmission assembly and the door from contacting the trigger 121 and subjecting it to mechanical stress, thereby improving the accuracy and reliability of the anti-pinch detection function of the trigger assembly 120.

[0072] In some possible embodiments provided in the present application, the elastic member 123 is sleeved on the outside of the limiting member 124, or the elastic member 123 and the limiting member 124 are spaced apart along the circumference of the triggering member 121, thereby meeting the requirements of different arrangements of the elastic member 123 and the limiting member 124.

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

[0074] In some possible embodiments provided in the present application, a buffer portion 1215 is formed or connected to a side of the touch member 121 facing the touch switch 122 , and the buffer portion 1215 corresponds to the touch switch 122 .

[0075] Since the touch member 121 may come into contact with the touch switch 122 during the downward movement due to mechanical stress, for example, when the touch switch 122 is a mechanical switch, a touch switch, or a piezoelectric switch, the touch member 121 may come into contact with the mechanical switch, the touch switch, or the piezoelectric switch during the downward movement due to mechanical stress, causing the mechanical switch, the touch switch, or the piezoelectric switch to send a signal. If the touch member 121 and the touch switch 122 frequently touch each other or the mechanical stress is large, the touch member 121 and the touch switch 122 may be damaged.

[0076] To this end, in this embodiment, a buffer portion 1215 is formed or connected to the side of the touch member 121 facing the touch switch 122, and the buffer portion 1215 corresponds to the touch switch 122, so that the buffer portion 1215 has a good buffering effect on the touch between the touch member 121 and the touch switch 122, so as to reduce the damage of the touch member 121 and the touch switch 122 caused by frequent touch between the touch member 121 and the touch switch 122, or large mechanical stress, thereby greatly improving the service life of the touch member 121 and the touch switch 122, and improving the overall reliability of the touch assembly 120.

[0077] Specifically, the buffer portion 1215 can be formed on the trigger 121, such as if the buffer portion 1215 and the trigger 121 are an integral structure. Alternatively, the buffer portion 1215 can be connected to the trigger 121, such as if the buffer portion 1215 and the trigger 121 are separate structures. The buffer portion 1215 can be connected to the trigger 121 via a bolt structure, an insert structure, a clamping structure, a mortise and tenon structure, an adhesive, etc. Specifically, the buffer portion 1215 can be a silicone pad, a rubber pad, etc.

[0078] In some possible embodiments provided in the present application, the touch member 121 moves 0.2 mm to 0.5 mm in a direction close to the touch switch 122 , causing the touch switch 122 to send a signal.

[0079] That is to say, when the touch member 121 is subjected to mechanical stress, it moves 0.2mm to 0.5mm in the direction close to the touch switch 122, which can trigger the touch switch 122 to send a signal. Therefore, the sensitivity of triggering the touch switch 122 is improved, which is conducive to improving the sensitivity of anti-pinch detection of the touch component 120.

[0080] Specifically, the touch member 121 moves 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm, or other distances in a direction close to the touch switch 122 , thereby triggering the touch switch 122 to send a signal.

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

[0082] It is understandable that when the touch switch 122 is a photoelectric switch, the touch member 121 moves 0.2 mm to 0.5 mm towards the photoelectric switch under mechanical stress, thereby triggering the photoelectric switch to send a signal.

[0083] In some possible embodiments provided in the present application, the touch assembly 120 further includes a piezoelectric film, which is located on the inner circumference of the port 112 .

[0084] Piezoelectric film is a special type of piezoelectric material. Its piezoelectric effect refers to the fact that when mechanical stress is applied to the piezoelectric material, the charge distribution within the material changes proportionally to the stress, generating a voltage difference that transmits signals. Specifically, when a hand or foreign object touches or collides with the piezoelectric film, the mechanical stress is applied to the piezoelectric film, causing it to transmit signals.

[0085] In this embodiment, by arranging the piezoelectric film on the surrounding side of the opening 112, when a human hand or foreign object near the opening 112 touches or bumps the piezoelectric film, the piezoelectric film will be subjected to mechanical stress and send a signal, thereby enabling the robotic arm 130 to stop moving according to the signal, avoiding the possibility of the robotic arm 130 continuing to move and clamping a human hand or foreign object, reducing the possibility of the robotic arm 130 folding and storing it in the arm warehouse 111 or extending the arm warehouse 111 and clamping a human hand or foreign object at the opening 112, reducing personal injury or financial loss caused by the robotic arm 130 returning to the warehouse and exiting the warehouse, which is beneficial to improving the safety of the use of the robotic arm 130 and improving user satisfaction.

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

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

[0088] In some possible embodiments provided in the present application, a boss structure 113 is provided on the inner circumference of the bay opening 112 inside the arm bay 111 , and the trigger assembly 120 is mounted on the boss structure 113 .

[0089] The boss structure 113 provides installation space for the touch assembly 120. For example, if the touch assembly 120 includes a touch member 121, a touch switch 122, and an elastic member 123, the touch switch 122 and the elastic member 123 can be mounted on the boss structure 113. The touch member 121 can be floated on the boss structure 113 via the elastic member 123. When the touch assembly 120 includes a piezoelectric film, the piezoelectric film can be directly connected to the boss structure 113.

[0090] Furthermore, the boss structure 113 is arranged around the circumference of the opening 112, that is, the boss structure 113 is arranged around the entire circumference of the opening 112, thereby making the touch member 121 or the voltage membrane of the touch component 120 distributed around the entire circumference of the opening 112, thereby improving the comprehensiveness of the anti-pinch detection of the touch component 120.

[0091] In some possible embodiments provided herein, the trigger assembly 120 protrudes from the plane where the opening 112 faces the outside of the arm compartment 111. That is, on the exterior surface of the machine body 110, the outer surface of the trigger assembly 120 protrudes from the plane where the opening 112 faces the outside of the arm compartment 111. For example, the outer surface of the trigger member 121 protrudes from the plane where the opening 112 faces the outside of the arm compartment 111, or the outer surface of the piezoelectric film protrudes from the plane where the opening 112 faces the outside of the arm compartment 111. In this way, human hands or foreign objects near the opening 112 can more easily contact the touch assembly 120, so that the touch piece 121 moves downward under mechanical stress to make the touch switch 122 send a signal, or the piezoelectric film is subjected to mechanical stress to send a signal, so as to realize anti-pinch detection of the touch assembly 120, reduce the possibility of human hands or foreign objects being clamped at the opening 112 when the robot arm 130 is folded and stored in the arm warehouse 111 or when the arm warehouse 111 is extended, reduce personal injury or financial loss caused by the robot arm 130 returning to the warehouse and exiting the warehouse, which is conducive to improving the safety of the use of the robot arm 130 and improving user satisfaction.

[0092] In some possible embodiments provided herein, the distance between the end surface of the touch assembly 120 facing the outside of the arm bin 111 and the plane where the opening 112 faces the outside of the arm bin 111 is 1 mm to 2 mm. Specifically, the distance between the end surface of the touch assembly 120 facing the outside of the arm bin 111 and the plane where the opening 112 faces the outside of the arm bin 111 can be 1 mm, 1.5 mm, 1.8 mm, 2 mm, or other distances. Thus, the distance between the end surface of the touch assembly 120 facing the outside of the arm bin 111 and the plane where the opening 112 faces the outside of the arm bin 111 is reasonable, making it easier for human hands or foreign objects near the opening to be touched, providing good anti-pinch protection, and at the same time, having little impact on the neatness and aesthetics of the product's appearance.

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

[0094] In some possible embodiments provided in the present application, the robotic arm 130 includes a fixed seat, a first mechanical joint, and a connecting arm. The fixed seat is connected to the inside of the arm warehouse 111. The first mechanical joint connects the fixed seat and the connecting arm, and makes the connecting arm foldable or unfoldable relative to the fixed seat. The first mechanical joint is set to a non-self-locking structure.

[0095] That is, the robotic arm 130 is mounted in the arm compartment 111 via a fixed base, and the first mechanical joint connects the fixed base and the connecting arm, so that the connecting arm can be folded or unfolded relative to the fixed base, thereby enabling the robotic arm 1130 to extend from or retract into the arm compartment 111. By configuring the first mechanical joint as a non-self-locking structure, when the robotic arm 130 stops moving in response to a signal sent by the trigger assembly 120, if a human hand or foreign object is caught in the compartment opening 112, since the first mechanical joint is a non-self-locking structure, an external force can be used to push the connecting arm connected to the first mechanical joint in the opposite direction, causing the connecting arm to unfold relative to the fixed base to release the trapped hand or foreign object, thereby improving the safety of the use of the robotic arm 130 and enhancing user satisfaction.

[0096] It is understandable that the robotic arm 130 may also include a support arm and a robotic arm. The number of support arms may be one, and the two ends of one support arm are respectively connected to the connecting arm and the robotic arm through other mechanical joints; or, the number of robotic arms 130 may be at least two, and at least two support arms are connected in sequence through other mechanical joints, so that at least two support arms act as a whole, and their two ends are respectively connected to the connecting arm and the robotic arm through other mechanical joints. Thus, by cooperating with the fixed seat, the connecting arm, and the support arm, the robotic arm 130 can be unfolded or folded, and the target object can be picked up or placed through the robotic arm. It is understandable that the other mechanical joints may be the same as or different from the first mechanical joint, and the other mechanical joints may be the same mechanical joints or different mechanical joints.

[0097] In the description of this application, the term "plurality" refers to two or more, unless otherwise expressly defined. The orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship described in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description, and does 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 cannot be understood as a limitation on this application; the terms "connect", "install", "fixed", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0098] For those skilled in the art, various modifications and variations of this application are possible. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A cleaning device (100), characterized in that: include: A machine body (110), wherein the machine body (110) is provided with an arm bin (111), and the arm bin (111) is provided with a bin opening (112); A robotic arm (130), the robotic arm (130) being connected to the machine body (110) and being extendable or retractable into the arm bin (111) through the bin opening (112); A touch component (120) is provided on the machine body (110) and is located on the periphery of the port (112). The touch component (120) is configured to send a signal when subjected to mechanical stress.

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

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

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

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

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

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

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

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

10. The cleaning device (100) according to claim 1, characterized in that The touch assembly (120) further comprises a piezoelectric film, and the piezoelectric film is located on the peripheral side of the port (112).

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