Cleaning device
Through the design of composite harmonic joint reducer and cylinder structure, the problem of increasing the size of the cleaning equipment caused by the driving structure of the robot arm is solved, the miniaturization of the robot arm and the flexibility of the cleaning equipment are realized, and the cleaning coverage and effect are improved. .
Patent Information
- Application Number
- CN202420762034.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-12
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2034-04-12
AI Technical Summary
The existing cleaning equipment has a large overall size due to the complex driving structure of the robotic arm, which affects the cleaning coverage and effect. The body size will be increased when the robotic arm needs to be stored in a non-use state, limiting the space for the cleaning equipment to enter.
Using composite harmonic joint reducer, a wide range of speed reduction ratio is achieved through flexible wheels and wave generators, reducing the overall size of the robotic arm and cleaning equipment, and the robotic arm drive structure is realized through the cylinder structure and multi-layer harmonic unit design. compactness and flexibility.
The height of the driving structure of the robot arm is effectively compressed, the volume of the joint reducer is reduced, the size of the robot arm is reduced and the size compression of the cleaning equipment is improved, and the cleaning coverage and effect are improved.
Smart Images
Figure CN222172063U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of cleaning, and in particular relates to a cleaning device. Background Art
[0002] Cleaning equipment can usually use roller brushes, side brushes and rags to achieve sweeping and mopping functions, but the above-mentioned cleaning components have limited operation on objects around the fuselage, and the actual working environment is relatively complex. Obstacles that affect the movement of the cleaning equipment may appear around the fuselage, or there may be garbage around the fuselage that needs to be cleaned but cannot be cleaned by the above-mentioned cleaning components of the cleaning equipment, thereby affecting the cleaning effect.
[0003] In order to better realize the cleaning function, current cleaning equipment will also choose to add a mechanical arm that can be extended outside the fuselage to achieve the grabbing or moving of obstacles, objects, and garbage around the fuselage. The mechanical arm can be stored in the fuselage when not in use. However, the driving structure for realizing the control of the mechanical arm is relatively complex, which makes the overall size of the mechanical arm larger, and the storage space in the cleaning equipment body is limited, thereby increasing the overall size of the cleaning equipment. Increasing the height or width of the cleaning equipment will limit the space that the cleaning equipment can enter, affecting the range of cleaning areas that the cleaning equipment can cover, and thus affecting the cleaning effect. Utility Model Content
[0004] The utility model provides a cleaning device, which can further reduce the overall size of the cleaning device with a mechanical arm, ensure the cleaning coverage, and further ensure the cleaning effect.
[0005] The utility model provides a cleaning device, which comprises a main machine and a mechanical arm. The mechanical arm is arranged on the main machine, and the mechanical arm has a hidden position relative to the main machine and a working position extending out of the main machine. The mechanical arm comprises a driving structure, and the driving structure is used to drive the mechanical arm to switch between the hidden position and the working position; wherein a joint reducer is arranged in the driving structure, and the joint reducer comprises: a shell, and the shell has a first inner gear ring; a wave generator, and the wave generator is arranged in the shell; an output end, and the output end has a second inner gear ring; a flexible wheel, and the flexible wheel is a ring with an axial through hole, and the flexible wheel is sleeved on the wave generator, and the flexible wheel has a first outer gear ring and a second outer gear ring arranged at intervals along the axial direction, and the first outer gear ring and the second outer gear ring are respectively used to mesh with the first inner gear ring and the second outer gear ring, so that the flexible wheel is meshed with the shell and the output end for transmission, wherein the number of teeth of the first outer gear ring and the number of teeth of the second outer gear ring are different. Through the above-mentioned setting, the joint reducer can realize composite harmonics, thereby realizing a wide range of reduction ratios through two small tooth differences, achieving ultra-wide range reduction ratio coverage, thereby reducing the size of the reducer, and then reducing the size of the robotic arm, as well as reducing the overall size of the cleaning equipment with the robotic arm 901, ensuring the cleaning flexibility and cleaning coverage of the cleaning equipment, and improving the cleaning effect.
[0006] Optionally, the flexible wheel includes a first ring segment and a second ring segment arranged in sequence along the axial direction, the first ring segment has a first outer gear ring, the second ring segment has a second outer gear ring, and the inner diameter of the first ring segment is the same as the inner diameter of the second ring segment. By setting the inner diameters of the upper and lower ring segments of the flexible wheel to be the same, it is ensured that the waveform generated by the wave generator remains consistent.
[0007] Optionally, the difference between the wave crest and the wave trough of the wave generator is the same at the first ring segment and the second ring segment. Through the above arrangement, the meshing requirements of the inner and outer gear rings can be met.
[0008] Optionally, the tooth height of the first outer gear ring is the same as the tooth height of the second outer gear ring. By keeping the tooth heights of the two outer gear rings consistent, the meshing requirements of the joint reducer can be met, and the transmission strength, efficiency and life of the flexible wheel can be guaranteed.
[0009] Optionally, the number of teeth of the first inner gear ring is 2n more than the number of teeth of the first outer gear ring, where n is a natural number.
[0010] Optionally, the number of teeth of the second inner gear ring is 2n more than the number of teeth of the second outer gear ring, where n is a natural number. When n=0, the outer gear ring of the flexible wheel has the same number of teeth as the inner gear ring of the outer shell and the output end. At this time, only one layer of harmonic reducer is involved in the reduction, so it can be used as an ordinary harmonic reducer. When n≥1, the number of teeth of the inner gear ring will be more than the number of teeth of the outer gear ring. By designing and matching the number of teeth of the upper and lower layers of harmonic units, an ultra-wide range of reduction ratio coverage can be achieved.
[0011] Optionally, there are multiple flexible wheels, and the first outer gear ring and / or the second outer gear ring of each flexible wheel have different numbers of teeth, tooth shapes and / or tooth heights. Through the above arrangement, the joint reducer can include multiple flexible wheels of different models, so that different models of flexible wheels and output ends can be easily replaced according to actual needs, and the reduction ratio can be flexibly changed without changing the layout.
[0012] Optionally, the outer shell is a cylindrical structure, the first inner gear ring is located on the inner wall of the first end of the outer shell, and the output end is rotatably connected to the first section of the outer shell. By setting the outer shell as a cylindrical structure, and the axial direction of the cylindrical structure is the same as the axial direction of the flexible wheel and the output end, the installation of the joint reducer is facilitated, the overall structure is compact, and miniaturization is facilitated.
[0013] Optionally, the robotic arm includes a plurality of transmission arms connected in sequence, the plurality of transmission arms are rotationally connected to each other, and the joint reducer is arranged between the transmission arm and the drive motor, and / or between two rotationally connected transmission arms.
[0014] Optionally, a storage groove is provided on the top surface of the main machine, and when the robotic arm is in the hidden position, the robotic arm is accommodated inside the storage groove, and the outer surface of the robotic arm is flush with the top surface and covers the storage groove.
[0015] The cleaning equipment provided by the utility model can further compress the height of the joint reducer in the driving structure of the robotic arm, greatly reducing the overall volume of the joint reducer, thereby facilitating the miniaturization of the robotic arm, compressing the size of the cleaning equipment, increasing the cleaning coverage of the cleaning equipment, and thereby improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0017] Figure 1 A schematic diagram of the structure of a flexible wheel provided in a specific embodiment of the utility model;
[0018] Figure 2 A schematic diagram of the structure of the flexible wheel, the wave generator and the inner gear ring provided in a specific embodiment of the utility model;
[0019] Figure 3 An exploded view of a joint reducer provided in a specific embodiment of the utility model at one angle;
[0020] Figure 4 An exploded view of a joint reducer provided in a specific embodiment of the utility model from another angle;
[0021] Figure 5 A schematic diagram of the structure of a joint reducer provided in a specific embodiment of the utility model;
[0022] Figure 6 A schematic diagram of the structure of a cleaning device provided for a specific embodiment of the utility model;
[0023] Figure 7 A schematic diagram of the mechanical arm structure of a cleaning device provided in a specific embodiment of the utility model.
[0024] Description of reference numerals:
[0025] 10-housing; 11-first inner gear ring; 20-wave generator; 21-flexible bearing; 30-output end; 31-second inner gear ring; 40-flexible wheel; 41-first ring segment; 411-first outer gear ring; 42-second ring segment; 421-second outer gear ring; 50-driving motor; 60-driving plate; 70-rear cover; 80-connecting flange; 901-mechanical arm; 902-host; 9011-transmission arm; 9012-driving structure. DETAILED DESCRIPTION
[0026] The technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all of the embodiments. The utility model will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.
[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.
[0028] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.
[0029] like Figure 6 as well as Figure 7As shown, the cleaning device may include a host 902 and a mechanical arm 901, wherein the mechanical arm 901 is arranged on the host 902, and the mechanical arm 901 has a hidden position relative to the host 902 and a working position extending from the host 902. The host 902 has a storage slot on the top surface, and when the mechanical arm 901 is in the hidden position, the mechanical arm 901 is accommodated inside the storage slot, and the outer surface of the mechanical arm 901 is flush with the top surface and the outer surface of the mechanical arm 901 covers the storage slot, so as to ensure that the mechanical arm 901 is consistent with the appearance of the host 902 after being stored, and does not affect the overall appearance of the cleaning device, and this storage method can also prevent the related components of the mechanical arm 901 from being contaminated by dust or water stains, thereby improving the service life of the mechanical arm 901. However, because the drive of the mechanical arm 901 involves more drive structures 9012, the size of the mechanical arm 901 is large, and the overall size of the host 902 needs to be increased so that the mechanical arm 901 can be stored as needed. However, the increase in the size of the main unit 902 will limit the space accessible to the cleaning equipment, thereby affecting the cleaning coverage area and further affecting the cleaning effect.
[0030] The embodiment of this specification provides a cleaning device, and the mechanical arm 901 may include a drive structure 9012 and a transmission arm, wherein the drive structure 9012 is used to drive the mechanical arm 901 to switch between a hidden position and a working position. The drive structure 9012 may include a motor and a joint reducer, and the motor is used to drive the mechanical arm 901 to move so that the mechanical arm 901 extends and hides relative to the host 902. The joint reducer can be arranged between the motor and the transmission arm to output the driving force of the motor to the transmission arm. In the case where the mechanical arm 901 includes a plurality of transmission arms connected in sequence and the transmission arms are rotatably connected, the joint reducer can also be arranged between the two transmission arms to transfer the driving force of the motor to the rotating mechanism between the transmission arms, thereby driving the rotation between the two mechanical arms 901.
[0031] like Figures 1 to 5 As shown, the joint reducer includes a housing 10, a wave generator 20, an output end 30 and a flexible wheel 40. The housing 10 has a first inner gear ring 11. The wave generator 20 is arranged in the housing 10. The output end 30 has a second inner gear ring 31. The flexible wheel 40 is a ring with an axial through hole, and the flexible wheel 40 is sleeved on the wave generator 20, that is, the flexible wheel 40 does not have an end face. The flexible wheel 40 has a first outer gear ring 411 and a second outer gear ring 421 arranged at intervals along the axial direction, and the first outer gear ring 411 and the second outer gear ring 421 are respectively used to mesh with the first inner gear ring 11 and the second outer gear ring 421, so that the flexible wheel 40 is meshed with the housing 10 and the output end 30 for transmission, wherein the number of teeth of the first outer gear ring 411 and the number of teeth of the second outer gear ring 421 are different.
[0032] By providing an annular flexible wheel 40 with an axial through hole, the flexible wheel 40 has a first outer gear ring 411 and a second outer gear ring 421 arranged at intervals along the axial direction, and the housing 10 and the output end 30 are respectively provided with a first inner gear ring 11 and a second inner gear ring 31, so as to mesh with the flexible wheel 40 for transmission, and the number of teeth of the first outer gear ring 411 and the number of teeth of the second outer gear ring 421 are different, so that the joint reducer can achieve composite harmonics, which is different from the traditional two-stage resonant reducer superimposed reduction ratio, but through two times of small tooth difference to achieve a wide range of reduction ratios, and achieve ultra-wide range reduction ratio coverage. Further, since the flexible wheel 40 has no end face, there is no need to consider the aspect ratio, so the height is not limited, so that the height of the joint reducer can be smaller, greatly reducing the overall volume of the joint reducer, which is conducive to the miniaturization of the robot arm 901, compressing the size of the cleaning equipment, and increasing the cleaning coverage of the cleaning equipment, thereby improving the cleaning effect.
[0033] In addition, a large reduction ratio can be achieved with a smaller number of teeth, thereby having a greater load capacity under the same volume; further, thanks to the reduction in the number of teeth of the ring gear, the tooth width and tooth height of the ring gear can be designed to be larger, thereby ensuring the structural strength of the teeth of the ring gear, improving the transmission capacity of the joint reducer, thereby improving the control effect of the robot arm 901, and further improving the cleaning effect on the peripheral side of the main machine 902.
[0034] The flexible wheel 40 in this embodiment has removed the flexible wheel end face, and the entire flexible wheel 40 is uniformly deformed during operation, which reduces the material and process requirements. The flexible wheel 40 can be processed by a simple process, without considering the end face process of the flexible wheel 40, and can be processed by more processing methods and different materials. And compared with the disadvantage of uneven meshing of the traditional harmonic flexible wheel, the flexible wheel 40 in this embodiment can be fully parallel meshing transmission. It can be understood that the joint reducer in this embodiment is a composite harmonic, which is equivalent to the meshing of two harmonic reducers, but simplifies the manufacturing process of the flexible wheel 40 and maintains the structural strength of the flexible wheel 40. While compressing the size of the joint reducer, it avoids damage to the rotating structure of the mechanical arm 901 and ensures the service life of the mechanical arm 901.
[0035] like Figure 3 to Figure 4 As shown, the wave generator 20 includes a flexible bearing 21. Specifically, there are four flexible bearings 21, and the four flexible bearings 21 are arranged in groups of two, and the two groups of flexible bearings 21 are arranged opposite to each other. When the wave generator 20 is working, under the action of external input, the motion is transmitted to the flexible wheel 40 through the transmission of the flexible bearing 21; the annular wall of the flexible wheel 40 is deformed under the action of the shock wave, and the first outer gear ring 411 and the second outer gear ring 421 of the flexible wheel 40 are synchronously deformed, thereby respectively meshing with the first inner gear ring 11 of the housing 10 and the second inner gear ring 31 of the output end 30, so as to realize the output of harmonic transmission.
[0036] like Figure 1 As shown, the flexible wheel 40 includes a first ring segment 41 and a second ring segment 42 arranged in sequence along the axial direction. The first ring segment 41 has a first outer gear ring 411, and the second ring segment 42 has a second outer gear ring 421. The inner diameter of the first ring segment 41 is the same as the inner diameter of the second ring segment 42. The inner diameters of the upper and lower ring segments of the flexible wheel 40 are set to be the same, so as to ensure that the waveforms generated by the wave generator 20 are also consistent.
[0037] like Figure 2 As shown, the value of the tooth top circle diameter of the inner gear ring minus the tooth bottom circle diameter is the difference between the wave crest and the wave trough of the wave generator 20. In this embodiment, the difference between the wave crest and the wave trough of the wave generator 20 is the same at the first ring segment 41 and the second ring segment 42. Through the above arrangement, the meshing requirements of each inner and outer gear ring can be met. Furthermore, in order to meet the transmission strength, efficiency and life requirements of the flexible wheel 40, the wall thickness (tooth bottom circle-wave crest) of the flexible wheel 40 needs to select a suitable value, and the wall thickness of the upper and lower ring segments of the flexible wheel 40 is also the same.
[0038] In this embodiment, the tooth height of the first outer gear ring 411 is the same as the tooth height of the second outer gear ring 421. By keeping the tooth heights of the two outer gear rings consistent, the meshing requirements of the joint reducer in this embodiment can be met, and the transmission strength, efficiency and life of the flexible wheel 40 can be guaranteed.
[0039] In this embodiment, the number of teeth of the first inner gear ring 11 is 2n more than the number of teeth of the first outer gear ring 411, where n is a natural number. Similarly, the number of teeth of the second inner gear ring 31 is 2n more than the number of teeth of the second outer gear ring 421, where n is a natural number. When n=0, the outer gear ring of the flexible wheel 40 has the same number of teeth as the inner gear ring of the housing 10 and the output end 30. At this time, only one layer of harmonic reducer is involved in the deceleration, which is the same as an ordinary harmonic reducer. When n≥1, the number of teeth of the inner gear ring will be more than the number of teeth of the outer gear ring. By designing and matching the number of teeth of the upper and lower layers of harmonic units, it is possible to achieve ultra-wide range reduction ratio coverage, and a harmonic unit with about 40 teeth can achieve a reduction ratio adjustment of 20-820. In other words, the principle of the joint reducer in this embodiment is a composite harmonic. Unlike the secondary harmonic reducer of the transmission that superimposes the reduction ratio, it creates a wide range of reduction ratios through two small tooth differences to achieve ultra-wide range reduction ratio coverage.
[0040] In this embodiment, there are multiple flexible wheels 40, and the first outer gear ring 411 and / or the second outer gear ring 421 of each flexible wheel 40 have different numbers of teeth, tooth shapes and / or tooth heights. That is to say, the joint reducer in this embodiment may include multiple flexible wheels 40 of different models, and the first outer gear ring 411 of different models of flexible wheels 40 may have different parameters, including any one or more of the number of teeth, tooth shape and tooth height. Similarly, the second outer gear ring 421 of different models of flexible wheels 40 may also have different parameters. Through the above settings, users can easily replace different models of flexible wheels 40 and output ends 30 according to actual needs, and flexibly change the reduction ratio without changing the layout.
[0041] In this embodiment, a plurality of output threaded holes are formed on the end surface of the output end 30 away from the housing 10 for connection with output components.
[0042] In the present embodiment, the outer shell 10 is a cylindrical structure, and both ends of the cylindrical structure have openings. The first inner gear ring 11 is located on the inner wall of the first end of the outer shell 10, and the output end 30 is rotatably connected to the first end of the outer shell 10. Specifically, the first end of the outer shell 10 has a reduced diameter section, and the output end 30 is sleeved on the reduced diameter section, so that the output end 30 and the outer shell 10 are smoothly designed along the axial direction without protrusions, thereby improving the appearance of the joint reducer. By setting the outer shell 10 as a cylindrical structure, and the axial direction of the cylindrical structure is the same as the axial direction of the flexible wheel 40 and the output end 30, the installation of the joint reducer is facilitated, and the overall structure is compact, which is conducive to miniaturization. It can be understood that the output end 30 in the present embodiment is an end cover structure, and the end of the output end 30 close to the outer shell 10 is sleeved on the reduced diameter section of the outer shell 10, and the second inner gear ring 31 is located on the inner wall of the end of the output end 30 away from the outer shell 10.
[0043] For example, Figure 3 to Figure 4 As shown, the driving structure 9012 also includes a driving motor 50, a driving plate 60 and a rear cover 70. The driving motor 50 and the driving plate 60 are both accommodated in the housing 10. The driving motor 50 is drivingly connected to the wave generator 20 and is electrically connected to the driving plate 60, so that the wave generator 20 is driven to rotate under the control of the driving plate 60. A bearing is provided between the output end 30 and the reduced diameter section, so that the wave generator 20 can smoothly rotate relative to the housing 10 when driving the output end 30 to rotate. The rear cover 70 is used to block the second end of the housing 10, thereby blocking the internal space of the housing 10 together with the output end 30.
[0044] In this embodiment, the drive motor 50 is a servo motor. The output shaft of the servo motor extends along the axial direction of the joint reducer and is drivingly connected to the wave generator 20, thereby driving the wave generator 20 to rotate. Figures 3 to 5As shown, the joint reducer can also be connected to the rotating mechanism through a connecting flange 80, and the connecting flange 80 is perpendicular to the housing 10. Of course, the angle between the connecting flange 80 and the housing 10 can also be configured as needed to achieve the steering of the transmission arm.
[0045] Obviously, the above described embodiments are only a part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the utility model.
Claims
1. A cleaning device, characterized in that: The cleaning device comprises a main body (902) and a mechanical arm (901), wherein the mechanical arm (901) is arranged on the main body (902), and the mechanical arm (901) has a hidden position relative to the main body (902) and a working position extending out of the main body (902), and the mechanical arm (901) comprises a driving structure (9012), and the driving structure (9012) is used to drive the mechanical arm (901) to switch between the hidden position and the working position; wherein a joint reducer is arranged in the driving structure (9012), and the joint reducer comprises: A housing (10), wherein the housing (10) has a first inner gear ring (11); a wave generator (20), wherein the wave generator (20) is disposed in the housing (10); An output end (30), wherein the output end (30) has a second inner gear ring (31); A flexible wheel (40), the flexible wheel (40) is annular with an axial through hole, the flexible wheel (40) is sleeved on the wave generator (20), the flexible wheel (40) has a first outer gear ring (411) and a second outer gear ring (421) arranged at intervals along the axial direction, the first outer gear ring (411) and the second outer gear ring (421) are respectively used to mesh with the first inner gear ring (11) and the second outer gear ring (421), so that the flexible wheel (40) is respectively meshed with the housing (10) and the output end (30) for transmission, wherein the number of teeth of the first outer gear ring (411) and the number of teeth of the second outer gear ring (421) are different.
2. The cleaning device according to claim 1, characterized in that The flexible wheel (40) comprises a first ring segment (41) and a second ring segment (42) which are arranged in sequence along the axial direction, the first ring segment (41) having the first outer gear ring (411), the second ring segment (42) having the second outer gear ring (421), and the inner diameter of the first ring segment (41) is the same as the inner diameter of the second ring segment (42).
3. The cleaning device according to claim 2, characterized in that: The difference between the wave crest and the wave trough of the wave generator (20) is the same at both the first ring segment (41) and the second ring segment (42).
4. The cleaning device according to claim 1, characterized in that The tooth height of the first outer gear ring (411) is the same as the tooth height of the second outer gear ring (421).
5. The cleaning device according to claim 1, characterized in that: The number of teeth of the first inner gear ring (11) is 2n more than the number of teeth of the first outer gear ring (411), where n is a natural number.
6. The cleaning device according to claim 1, characterized in that The number of teeth of the second inner gear ring (31) is 2n more than the number of teeth of the second outer gear ring (421), where n is a natural number.
7. The cleaning device according to any one of claims 1 to 6, characterized in that There are a plurality of flexible wheels (40), and the first outer gear ring (411) and / or the second outer gear ring (421) of each flexible wheel (40) has a different number of teeth, tooth shape and / or tooth height.
8. The cleaning device according to any one of claims 1 to 6, characterized in that The outer shell (10) is a cylindrical structure, the first inner gear ring (11) is located on the inner wall of the first end of the outer shell (10), and the output end (30) is rotatably connected to the first end of the outer shell (10).
9. The cleaning device according to claim 1, characterized in that: The mechanical arm (901) comprises a plurality of transmission arms (9011) connected in sequence, wherein the plurality of transmission arms (9011) are rotationally connected to each other, and the joint reducer is arranged between the transmission arm (9011) and the drive motor (50), and / or between two rotationally connected transmission arms (9011).
10. The cleaning device according to claim 1, characterized in that The main unit (902) has a storage groove on the top surface. When the robotic arm (901) is in the hidden position, the robotic arm (901) is accommodated inside the storage groove, and the outer surface of the robotic arm (901) is flush with the top surface and covers the storage groove.