Cleaning device

Abstract

The utility model discloses a cleaning device. The cleaning device comprises a main machine. The mechanical arm is arranged on the main machine, and the mechanical arm is provided with a hidden position relative to the main machine and a working position extending out of the main machine; the sensor is movably arranged on the mechanical arm, the sensor and the mechanical arm are arranged in a linkage mode, the sensor has a working state and a closed state, when the mechanical arm is located at the hidden position, the sensor is in the closed state, and the sensor is hidden in the mechanical arm; when the mechanical arm is in the working position, the sensor is in the working state, and the sensor is exposed out of the mechanical arm. According to the cleaning equipment, through the linkage structure of the mechanical arm and the sensor, the control precision of the mechanical arm can be further improved.

Description

Technical Field

[0001] The utility model belongs to the technical field related to cleaning equipment, and specifically relates to a cleaning equipment. 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 grasp or move obstacles, objects, and garbage around the fuselage. The mechanical arm can be stored in the fuselage when not in use. However, the control of the mechanical arm is relatively complicated, and the control accuracy of the mechanical arm of current cleaning equipment is difficult to guarantee. Utility Model Content

[0004] The solution provided in the embodiments of this specification sets the sensor on the mechanical wall, and by further controlling the coordination between the mechanical arm and the sensor, the control accuracy of the mechanical arm can be further improved.

[0005] In order to solve the above technical problems, the utility model provides a cleaning device, which includes a main machine; a mechanical arm, which is arranged on the main machine, and has a hidden position relative to the main machine and a working position extending out of the main machine; a sensor, which is movably arranged on the mechanical arm, and the sensor is linked with the mechanical arm, and has a working state and a closed state. When the mechanical arm is in the hidden position, the sensor is in the closed state, and the sensor is hidden inside the mechanical arm; when the mechanical arm is in the working position, the sensor is in the working state, and the sensor is exposed from the mechanical arm. The mechanical arm provided by the utility model acts synchronously with the sensor, so that when the mechanical arm is in the working position, the sensor is in the working state, and the sensor head of the sensor in the working state is exposed, which facilitates the detection of the position where the mechanical arm needs to move through the sensor head, and improves the movement accuracy of the mechanical arm; and by controlling the coordinated hiding of the mechanical arm and the sensor, the probability of damage to the corresponding sensor is reduced.

[0006] Optionally, a first accommodating space is preset inside the host, and a first opening corresponding to the first accommodating space is opened on the housing of the host, and the first accommodating space and the first opening form a first storage groove; when the mechanical arm is in the hidden position, the mechanical arm is stored inside the first storage groove, and the arm shell of the mechanical arm covers the first opening, and the arm shell covering the first opening is consistent with the outer contour of the housing around the first opening. When the mechanical arm is accommodated inside the first storage groove, the mechanical arm can be stored inside the first storage groove without a trace, which can achieve the effect of protecting the components related to the mechanical arm, and is conducive to improving the overall appearance consistency of the cleaning equipment and improving the user experience.

[0007] Optionally, a second accommodating space is preset inside the robotic arm, and a second opening corresponding to the second accommodating space is opened on the arm shell of the robotic arm, and the second accommodating space and the second opening form a second storage groove; when the sensor is hidden inside the robotic arm, the sensor is stored inside the second storage groove, and the shell of the sensor covers the second opening, and the shell of the sensor covering the second opening is consistent with the outer contour of the arm shell around the second opening.

[0008] Optionally, the mechanical arm includes a transmission arm, the transmission arm is rotatably connected to the host, and the sensor is movably arranged on the transmission arm; a clamp, the clamp is movably arranged on the transmission arm, and the clamp has an extended position and a retracted position relative to the transmission arm; when the clamp is in the extended position, the sensor is exposed from the transmission arm; when the clamp is in the retracted position, the sensor is hidden inside the transmission arm. The sensor and the clamp with synchronous action are arranged on the transmission arm to improve the coordination between the sensor and the clamp. At the same time, the clamp and the sensor are both hidden on one side or inside the transmission arm, which is conducive to improving the overall appearance consistency of the mechanical arm and improving the user experience.

[0009] Optionally, multiple transmission arms are provided, and the multiple transmission arms are rotatably connected, and the gripper and the sensor are provided on the transmission arm away from the main machine. The provision of multiple transmission arms is conducive to improving the flexibility of the robot arm, thereby facilitating the gripping of objects at different positions; the gripper and the sensor are provided on the transmission arm away from the main machine to facilitate the detection of the environment, which is conducive to gripping objects and increasing the use range of the robot arm.

[0010] Optionally, the clamp rotates relative to the transmission arm so that the clamp switches between the extended position and the retracted position, and the angle between the clamp and the transmission arm in the retracted position is different from the angle between the clamp and the transmission arm when the clamp is in the extended position, so that when the clamp is in the retracted position, the clamp fits against the lower end surface of the transmission arm, and when the clamp is in the extended position, the clamp is set at an angle to the lower end surface, so that when the transmission arm is in a tilted state, the clamp can rotate to a horizontal position, thereby facilitating the clamp to perform a grasping action, which is beneficial to improving the grasping efficiency.

[0011] Optionally, the clamp is further provided with a boss, the boss height at one end away from the clamp is greater than the boss height at one end toward the clamp, and the end face of the boss is formed as a slope; the clamp is rotatably connected to the transmission arm via the slope of the boss.

[0012] Optionally, the robotic arm also includes a first driving member and a transmission assembly; the first driving member is arranged on the transmission arm; the transmission assembly includes: a ring gear, which is arranged on the inclined surface of the boss; and a helical gear, the first driving member is drivingly connected to the helical gear, and the helical gear is meshed with the ring gear.

[0013] Optionally, the angle A between the inclined surface and the end face of the clamping jaw satisfies 10°≤A≤30°. When the angle A satisfies 10°≤A≤30°, the clamping jaw is conveniently switched from the transmission arm to a horizontal position to clamp the object to be grasped on the surface to be cleaned, which is convenient for operation.

[0014] Optionally, the outer wall surface of the boss has a first limiting structure, the plane where the circumference of the first limiting structure is located is parallel to the inclined surface, the clamping jaw has a groove structure, at least a portion of the boss extends into the interior of the groove structure, and the inner wall of the groove structure has a second limiting structure, one of the first limiting structure and the second limiting structure is a convex rib and the other is an annular groove, and the convex rib and the annular groove are slidably matched. The matching structure of the annular groove and the convex rib is used to achieve the limiting between the clamping jaw and the transmission arm, thereby avoiding the phenomenon of separation between the clamping jaw and the transmission arm.

[0015] Optionally, the cleaning device further comprises a baffle, which is connected to the junction of the clamping claw and the transmission arm, and is arranged on a side of the connection portion away from the clamping portion, and the baffle is coplanar with the upper end surface of the clamping claw, and when the clamping claw is in the retracted position, the baffle is parallel to the upper end surface of the transmission arm, so that when the mechanical arm is in the hidden position, the baffle blocks the first storage slot; when the clamping claw is in the extended position, the baffle is on the inner side of the transmission arm and is arranged at an angle to the lower end surface of the transmission arm. By arranging the baffle on the mechanical arm, the notch of the first storage slot can be blocked by the baffle to achieve the effect of seamlessly storing the mechanical arm, which is conducive to improving the overall appearance consistency of the cleaning device and improving the user experience.

[0016] Furthermore, the transmission arm is provided with a through hole, and the sensor includes a bracket, which is rotatably arranged at the through hole; a sensor body, which has a sensor head, and the sensor body is arranged on the bracket; a reset member, which is arranged between the bracket and the transmission arm. When the clamp is switched from the extended position to the retracted position, at least a part of the clamp abuts against at least a part of the bracket to drive the bracket to flip, so that the sensor is switched from the working state to the closed state. The reset member provides a driving force for the sensor to be in the open state, that is, provides a reset force for exposing the sensor head. When the clamp is switched to the extended position, the reset force of the reset member is used to drive the bracket to flip to expose the sensor head. The sensor adopts a structure in which the bracket, the sensor body and the reset member cooperate. The overall structure is simple and does not require an additional driving structure, so it is easy to install. At the same time, the state switching of the sensor is achieved by relying on the reset force of the reset member and the abutment force of the clamp, which is beneficial to improving the stability of the sensor movement.

[0017] Furthermore, the bracket includes a flap, which is rotatably connected to the transmission arm, a reset member is arranged between the flap and the transmission arm, the sensor body is arranged on the flap, and the flap can cover the through hole; an abutment shaft, which is fixedly connected to the flap, and the abutment shaft abuts or separates from the clamp. When the clamp is switched to the retracted position, it can abut against the abutment shaft, thereby driving the flap to flip over to cover the through hole. By adopting the arrangement of the flap and the abutment shaft, it is convenient to achieve shielding through the flap, thereby preventing dust and other dirt from entering the interior of the sensor; at the same time, the abutment shaft is used to abut against the clamp, so that the clamp drives the sensor to switch states, so as to achieve the linkage effect between the clamp and the sensor.

[0018] The technical solution provided by the utility model has the following advantages:

[0019] The mechanical arm and sensor provided by the utility model move synchronously, so that when the mechanical arm is in the working position, the sensor is in the working state, and the sensor head of the sensor in the working state is exposed, which makes it convenient to detect the position where the mechanical arm needs to move through the sensor head, thereby improving the control accuracy of the mechanical arm; when the mechanical arm is in the hidden position, the sensor is in a closed state, and the sensor is hidden on the mechanical arm, thereby realizing the coordinated hiding of the mechanical arm and the sensor, and reducing the probability of damage to the corresponding sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1A schematic diagram of the three-dimensional structure of the mechanical arm provided by the utility model, wherein the clamping claw is in an extended position;

[0022] Figure 2 A schematic diagram of the installation structure of the boss, the transmission assembly and the first driving member provided by the utility model;

[0023] Figure 3 A schematic diagram of the structure of the boss on the clamping jaw provided by the utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the inner side of the transmission arm provided by the utility model;

[0025] Figure 5 A schematic diagram of the three-dimensional structure of the sensor provided by the utility model;

[0026] Figure 6 A schematic diagram of the three-dimensional structure of the mechanical arm provided by the utility model, wherein the clamping claw is in a retracted position;

[0027] Figure 7 This is a schematic diagram of the structure of the clamping jaw and the sensor provided by the utility model abutting against each other, wherein the clamping jaw is in a retracted position;

[0028] Figure 8 A schematic diagram of the installation structure of the second driving member on the clamping jaw provided by the utility model;

[0029] Fig. 9 A schematic diagram of the three-dimensional structure of the cleaning device provided by the utility model;

[0030] Fig.10 A schematic diagram of the three-dimensional structure of the cleaning device provided by the utility model;

[0031] Fig.11 This is a schematic diagram of the extended state of the mechanical arm of the cleaning device provided by the utility model.

[0032] Description of reference numerals:

[0033] 10. Robotic arm; 110. Transmission arm; 111. Groove structure; 1111. Ring groove; 120. Clamping claw; 121. Connecting part; 1211. Boss; 12111. Raised rib; 12112. Upper end surface of connecting part; 122. Grasping part; 123. Second driving member; 130. Transmission assembly; 131. Bevel gear; 132. Ring gear; 140. First driving member; 150. Rotating shaft; 20. Sensor; 210. Sensor body; 220. Bracket; 221. Flip cover; 222. Abutting shaft; 30. Baffle; 40. Main unit. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] The present specification embodiment provides a cleaning device, such as Figures 1 to 9 As shown, the cleaning device includes a main body 40 and a robot arm 10 . The robot arm 10 is disposed on the main body 40 . The robot arm 10 has a hidden position relative to the main body 40 and a working position extending out of the main body 40 .

[0038] In the description of the embodiments of this specification, when the host 40 is placed on the ground to perform cleaning work, the direction perpendicular to the ground is the upper side, and the direction parallel to the ground is the side; accordingly, the side of the host 40 facing the ground is the lower side, the side of the host 40 away from the ground is the upper side, and the side of the host 40 perpendicular to the ground is the side. For the convenience of distinguishing expressions, in each embodiment of this specification, when the robot arm is in a hidden position, the surfaces of each structure of the robot arm facing and away from the working surface of the cleaning device can be used as end surfaces, wherein the surface facing the working surface of the cleaning device is the lower end surface, and the surface away from the working surface of the cleaning device is the upper end surface.

[0039] A first storage slot may be provided in the host 40. The first storage slot may be provided at the upper portion of the host 40, or the first storage slot may also be provided at the side portion of the host 40. For example, a first accommodating space may be reserved in the host, and a first opening corresponding to the first accommodating space may be provided on the housing of the host to form the first storage slot. The housing of the host 40 may include an upper housing and a side housing, the upper housing being located at the upper portion of the host 40, and the side housing being located at the side portion of the host 40; if the first opening is provided on the side housing, then correspondingly, the first storage slot is located at the side portion of the host 40; if Fig.10As shown, if the first opening is provided on the upper shell, correspondingly, the first receiving slot is located at the upper part of the main unit 40. The robot arm 10 is accommodated inside the first receiving slot, and the robot arm 10 is in a hidden position relative to the main unit 40; the robot arm 10 extends from the first receiving slot, corresponding to the robot arm 10 extending relative to the main unit 40. The robot arm 10 is stored in the first receiving slot, which can facilitate the robot arm 10 to be stored inside the first receiving slot when not working, without occupying additional space, thereby improving the overall compactness of the cleaning device; when the robot arm 10 is required to work, it is extended to the first receiving slot to work, assisting the main unit to perform cleaning processing, thereby improving the cleaning coverage and flexibility of the cleaning device.

[0040] The mechanical arm 10 is rotatably mounted on the host 40 to assist in processing the target object around the sweeper. One end of the mechanical arm 10 is rotatably arranged inside the first receiving slot. When the mechanical arm 10 is in the working position, the other end of the mechanical arm 10 can extend out of the first receiving slot, so that the mechanical arm 10 extends out of the host 40 to assist in processing the target object around the sweeper. When the mechanical arm 10 is not needed to work, the mechanical arm 10 can be controlled to be stored inside the first receiving slot as a whole, so that the mechanical arm 10 has a hidden position relative to the host 40. For example, a rotating shaft 150 is provided at one end of the mechanical arm 10, and the rotating shaft 150 is connected to the driving motor. The driving motor drives the rotating shaft 150 to rotate so that the other end of the mechanical arm 10 extends out of the first receiving slot, or the other end of the mechanical arm is recovered. One end of the mechanical arm rotates relative to the host, so that the mechanical arm is extended and hidden, which can further improve the flexibility and range of motion of the mechanical arm, thereby improving the flexibility of the mechanical arm in assisting the cleaning of the host.

[0041] Alternatively, the movement of the robotic arm may be controlled by other driving methods, such as the robotic arm 10 may be linearly extended relative to the host 40 , so that the robotic arm 10 switches between a hidden position relative to the host 40 and a working position extended from the host 40 .

[0042] Of course, the storage slot may not be provided on the main unit 40, and a certain component of the cleaning equipment can be used as the robotic arm 10, such as the impact plate of the cleaning equipment can be used as the robotic arm 10. The impact plate can be provided on the main unit 40 through a connecting rod mechanism, and the impact plate is driven to extend relative to the main unit 40 through the connecting rod mechanism to perform auxiliary work on the side of the main unit 40; when it is not needed to serve as an auxiliary work as a robotic arm, the impact plate is controlled to be retracted, thereby switching to a hidden position relative to the main unit 40, and only serves as the impact plate of the main unit to perform the obstacle detection function.

[0043] When the robotic arm 10 is not working, it is configured to be in a hidden position relative to the main body 40, so as not to occupy additional space, thereby improving the overall compactness of the cleaning equipment; when the robotic arm 10 is needed to work, it is extended from the main body to assist the main body in performing cleaning processing, thereby improving the cleaning coverage and flexibility of the cleaning equipment.

[0044] The length and extension direction of the robot arm 10 can be set to adjust the extension length and extension direction of the robot arm 10 relative to the host 40. In some embodiments, the robot arm 10 may include a plurality of transmission arms 110, and joint connectors are provided between the transmission arms. By controlling the extension direction of each transmission arm 110 and the angle between the two transmission arms 110, the extension length and extension direction of the robot arm 10 relative to the host 40 can be controlled, which can further improve the flexibility of controlling the extension length and extension direction of the robot arm 10; at the same time, by setting a plurality of transmission arms 110, it is also convenient to hide the robot arm 10 relative to the host 40. When the robot arm 10 is stored in the first storage slot, by using a plurality of transmission arms 110, the plurality of transmission arms 110 can be stored in the first storage slot by folding while ensuring the extension direction and extension length of the robot arm 10, thereby improving the convenience of storage.

[0045] The cleaning device also includes a sensor 20 movably arranged on the robot arm 10. The sensor 20 can be a linear laser, an RGB camera, an infrared detector, etc., to detect the size, position and surrounding environment of the target object to be operated by the robot arm 10, so that the control device can accurately determine the position where the robot arm 10 needs to move and the operation mode of the robot arm 10, thereby improving the movement and operation accuracy of the robot arm 10.

[0046] The sensor 20 may be hidden inside the robot arm 10, or exposed from the robot arm 10. For example, a second storage slot may be provided on the robot arm 10. For example, a second storage space may be preset on the robot arm 10, and a second opening may be provided on the arm shell of the robot arm 10 corresponding to the second storage space to form a second storage slot. The arm shell may include an upper shell, a lower shell, and a side shell, and the second opening may be provided on the upper shell, the lower shell, or the side shell. Fig.10 As shown, the second opening is formed on the upper shell of the arm shell. When the sensor 20 is not in operation, it is stored in the second storage slot; when in operation, it at least partially extends out of the storage slot to be exposed from the robot arm 10 to detect the size, position and surrounding environment of the target object to be operated by the robot arm 10.

[0047] One end of the sensor 20 can be movably connected to the second receiving slot. If one end of the sensor 20 can be rotatably connected to the second receiving slot, the detection angle of the sensor 20 can be effectively adjusted, further improving the flexibility of adjusting the detection range of the sensor 20. Alternatively, one end of the sensor 20 can also move linearly relative to the second receiving slot, such as up and down or left and right.

[0048] The sensor 20 is stored in the second storage slot, so that the sensor 20 can be conveniently stored inside the second storage slot when not working, without taking up additional space, thereby improving the overall structural compactness of the robotic arm 10 and preventing the sensor 20 from being hit by obstacles and being damaged; when the sensor 20 is needed to work, it extends to the second storage slot to work, assisting the robotic arm 10 in performing cleaning processing, thereby improving the execution accuracy of the robotic arm 10.

[0049] The sensor 20 may also be hidden inside the robot arm 10 in other ways. For example, when the robot arm 10 includes multiple transmission arms, the sensor 20 may be clamped between two transmission arms to be hidden inside the robot arm 10, and so on.

[0050] The sensor 20 has a working state and a closed state. When the sensor 20 is in the working state, it can perform a detection function; when the sensor 20 is in the closed state, it no longer performs a detection function.

[0051] The sensor 20 can be linked to the working state and hiding and extension of the robot arm 10. When the robot arm 10 is in the hidden position, the control sensor 20 is hidden inside the robot arm 10 and the control sensor 20 is in a closed state; when the robot arm 10 is in the working position, the control sensor 20 exposes the robot arm and the control sensor 20 is in a working state.

[0052] When the robot arm 10 switches from the hidden position to the extended position so that the robot arm 10 is in the working position, the sensor 20 also switches from the hidden position to the extended position synchronously, that is, it is exposed from the robot arm 10, and the sensor 20 is controlled to be in the working state, so that when the robot arm 10 assists in processing the target object on the side of the sweeper, the sensor 20 synchronously detects the area near the robot arm 10, thereby improving the movement and operation accuracy of the robot arm 10. When the robot arm 10 switches from the extended position to the hidden position and ends the work, the sensor 20 also switches from the extended position to the hidden position and ends the work. Therefore, when the robot arm 10 is hidden and does not need to work, the sensor 20 can be stored in the robot arm 10 in time and the work can be ended, thereby reducing the energy consumption of the sensor 20 and reducing the probability of the sensor 20 being contaminated and damaged.

[0053] As shown in the above embodiment, a first accommodating space is preset inside the host 40, and a first opening corresponding to the first accommodating space is opened on the housing of the host 40. The first accommodating space and the first opening form a first storage groove. When the mechanical arm 10 is in the hidden position, the mechanical arm 10 is stored inside the first storage groove. On the basis of this structure, it can be further arranged that when the mechanical arm 10 is in the hidden position, the arm shell of the mechanical arm 10 covers the first opening, and the arm shell covering the first opening is consistent with the outer contour of the housing around the first opening. When the mechanical arm is stored, the arm shell of the mechanical arm covers the opening of the first storage groove, which can prevent external dust and water stains from contaminating the components on the mechanical arm; further arranging the outer contour of the arm shell covering the first opening of the mechanical arm is consistent with the outer contour of the housing of the host, and the effect of seamless storage can also be achieved, so as to protect the components related to the mechanical arm while improving the overall appearance consistency of the cleaning equipment and improving the user experience.

[0054] The mechanical arm 10 is preset with a second accommodating space inside, and the arm shell of the mechanical arm 10 is provided with a second opening corresponding to the second accommodating space, and the second accommodating space and the second opening form a second storage groove, and when the sensor 20 is in a hidden position, the sensor 20 is stored inside the second storage groove. The sensor 20 may also include a shell, and it may be further arranged that when the sensor 20 is in a hidden position, the shell of the sensor 20 covers the second opening, and the shell of the sensor 20 covering the second opening is consistent with the outer contour of the arm shell around the second opening. When the sensor is stored, the shell of the sensor covers the opening of the second storage groove, which can prevent dust and water stains from polluting the sensor window and the detection device; further arranging the outer contour of the shell of the sensor covering the second opening is consistent with the outer contour of the arm body of the mechanical arm, which can further realize the seamless storage between the mechanical arm and the sensor, thereby realizing the protection of the sensor while being conducive to improving the overall appearance consistency of the cleaning equipment and improving the user experience.

[0055] like Fig.11As shown, the upper part of the host 40 has a first storage slot, and the first storage slot is used to accommodate the robot arm 10. The upper part of the robot arm 10 has a second storage slot, and the second storage slot is used to accommodate the sensor 20. When the robot arm 10 is stored in the first storage slot, the sensor 20 is also stored in the second storage slot. Because the outer contour of the upper shell of the casing is a plane, the arm shell covering the first opening of the first storage slot and the shell of the sensor 20 covering the second opening of the second storage slot are consistent with the outer contour of the upper shell of the casing, and are both planes. After the robot arm 10 is stored, the robot arm and the shell of the sensor of the cleaning equipment cover the opening of the storage slot, and the outer contours of the robot arm and the shell of the sensor are consistent with the outer contour of the shell of the host, achieving a seamless storage effect, thereby protecting the robot arm and the sensor's related components, while helping to improve the overall appearance consistency of the cleaning equipment and improve the user's experience.

[0056] Alternatively, if the first opening is opened on the side shell of the main unit, because the outer contour of the side shell is arc-shaped, when the robotic arm is stored in the first storage groove, the arm shell covering the first opening is consistent with the outer contour of the side shell around the first opening, and is an arc extending with the same curvature, thereby achieving a seamless storage effect.

[0057] The robot arm 10 may include a transmission arm 110 and an end effector, and the end effector may be a gripper, a suction cup, a robot arm, etc. By providing the end effector, it is convenient to perform processing such as gripping and moving objects around the host. Figure 1 As shown, the robot arm 10 may include a transmission arm 110 and a clamp 120, the transmission arm 110 is rotatably connected to the main unit 40, the sensor 20 is arranged on the transmission arm 110, the clamp 120 is movably arranged on the transmission arm 110, and the clamp 120 has a retracted position and an extended position relative to the transmission arm 110; when the clamp 120 is in the retracted position, the clamp 120 is attached to the transmission arm 110; or when the clamp 120 is in the retracted position, the clamp 120 is received in a third receiving groove of the transmission arm 110; wherein, a third accommodating space is preset inside the transmission arm 110, and a third opening corresponding to the third accommodating space is opened on the arm shell of the transmission arm 110, and the third accommodating space and the third opening form a third receiving groove.

[0058] By providing the clamping jaws 120, the cleaning flexibility of the robot arm 10 for the environment around the host 40 can also be further improved, such as using the clamping jaws to pick up garbage such as paper balls and socks. When the robot arm 10 is in the working position, the clamping jaws 120 can be in the extended position or in the retracted position. The robot arm 10 can control the extension and retraction of the clamping jaws as needed to improve the control flexibility of each component of the robot arm 10. When the robot arm 10 is in the hidden position, the clamping jaws 120 are in the retracted position, which is convenient for the storage of the robot arm 10. Among them, the clamping jaws 120 can be rotated and switched between the retracted position and the extended position, and can also be switched linearly, which is not limited at this time.

[0059] like Figure 1 As shown, the clamping claw 120 can be arranged at the end of the transmission arm 110 away from the main machine 40, and the clamping claw 120 can be rotatably connected to the end of the transmission arm 110. By controlling the rotation angle of the clamping claw 120, it is more convenient to clamp the garbage. When the clamping claw 120 needs to work, the clamping claw 120 can be extended outward relative to the transmission arm 110; Figure 6 As shown, when the clamp 120 is not needed to work, the clamp 120 is controlled to fold toward the inside of the transmission arm 110 so that the clamp fits on the transmission arm 110. The inside of the transmission arm 110 is the side of the transmission arm 110 facing the working surface of the cleaning device, and the corresponding outside of the transmission arm 110 is the side away from the working surface of the cleaning device. The clamp is arranged at the end of the transmission arm away from the main unit 40, which can be more convenient for handling garbage such as paper balls and socks; at the same time, because the clamp generally has a certain shape, it is difficult to keep it consistent with the outer contour of the shell of the main unit. Further controlling the clamp 120 to fold toward the inside of the transmission arm 110 can make the clamp hidden inside the transmission arm 110 after the mechanical arm is stored, so as to facilitate the seamless storage of the mechanical arm.

[0060] like Figure 1 As shown, the second receiving slot is arranged on the upper part of the transmission arm 110, so that the sensor 20 is movably arranged on the upper part of the transmission arm 110, so as to detect the environmental information of the working area of ​​the clamping jaw 120 and assist the clamping jaw 120 in performing actions. The clamping jaw is attached to the inner side of the transmission arm 110, which can prevent the clamping jaw from affecting the detection of the sensor 20 after being folded, so that after the clamping jaw is folded, the sensor 20 can still detect the environmental information of the working area of ​​the transmission arm 110 and assist the transmission arm 110 in performing actions.

[0061] The sensor 20 can also be controlled to be linked with the gripper 120. When the gripper 120 is in the retracted position, the sensor 20 is also in a closed state and stored in the second storage slot. When the gripper 120 is in the extended position, the sensor 20 is in a working state and exposed from the transmission arm 110 to detect the environmental information of the working area of ​​the gripper 120. The gripper 120 on the mechanical arm 10 acts synchronously with the sensor 20. When the gripper 120 is in the extended position, the sensor 20 is exposed from the transmission arm 110 to assist the gripper 120 in grasping an object at a preset position. When the gripper 120 is switched to the retracted position, the sensor 20 acts synchronously and is hidden inside the transmission arm 110. The sensor 20 and the gripper 120 with synchronous action are arranged on the transmission arm 110, which improves the coordination of the sensor 20 and the gripper 120. At the same time, the gripper 120 and the sensor 20 are both hidden on one side or inside the transmission arm 110, which is conducive to improving the operational coordination and overall appearance consistency of the mechanical arm 10, and improving the user experience.

[0062] The transmission arms 110 may be provided with a plurality of transmission arms 110, which are rotatably connected to each other, and the gripper 120 and the sensor 20 are provided on the transmission arms 110 away from the host 40. The provision of a plurality of transmission arms 110 is conducive to improving the flexibility of the robot arm 10, thereby facilitating the gripping of objects at different positions; the gripper 120 and the sensor 20 are provided on the transmission arms 110 away from the host 40 to facilitate the detection of the environment, facilitate the gripping of objects, and increase the use range of the robot arm 10.

[0063] like Figure 1 As shown, considering that the contour of the upper shell of the sweeping robot is usually a plane, the transmission arm 110 can be a plate-like structure, and at least the contour of the upper shell of the transmission arm 110 connected to the clamp 120 is also a plane, that is, the upper end face of the transmission arm 110 is a plane. The end face of the clamp 120 is also set to a nearly planar structure, and when the clamp 120 is attached to the transmission arm 110, the end face of the clamp 120 is parallel or approximately parallel to the upper end face of the transmission arm 110, and when the clamp 120 is attached to the lower end face of the transmission arm 110, the upper end face of the clamp 120 is parallel or approximately parallel to the upper end face of the transmission arm 110, so as to facilitate the overall seamless storage of the robot arm 10.

[0064] The mechanical arm 10 also includes a first driving member 140 and a transmission assembly 130. The first driving member 140 is arranged on the transmission arm 110. The first driving member 140 drives the jaws to move through the transmission assembly 130, and switches from the retracted position to the extended position. By setting the first driving member 140 to provide a driving force for the position switching of the jaws 120, the accuracy and efficiency of the movement of the jaws 120 are improved. The first driving member 140 can be a rotary motor. The first driving member 140 drives the jaws 120 to rotate through the transmission assembly 130. The first driving member 140 adopts the structure of a rotary motor, which is convenient for providing a rotational driving force for the jaws 120. Of course, if the first driving member drives the jaws to move linearly, the first driving member is a linear motor. The first driving member 140 can have a self-locking function, which is conducive to maintaining the position of the jaws 120, thereby improving the clamping effect of the jaws 120.

[0065] In some embodiments, the clamp 120 rotates relative to the transmission arm 110 so that the clamp 120 switches between the extended position and the retracted position, and the angle between the clamp 120 and the transmission arm 110 in the retracted position is different from the angle between the clamp 120 and the transmission arm 110 when the clamp 120 is in the extended position.

[0066] The clamp 120 can rotate in a non-plane relative to the transmission arm 110 so that the clamp 120 can switch between a retracted position and an extended position, and the angle between the clamp 120 and the transmission arm in the retracted position is different from the angle between the clamp 120 and the transmission arm when the clamp 120 is in the extended position, so that when the clamp 120 is in the retracted position, the end face of the clamp 120 is parallel or approximately parallel to the end face of the transmission arm, which is convenient for hiding the clamp 120 and is conducive to the seamless storage of the transmission arm 110; and when the clamp 120 is in the extended position, the transmission arm 110 and the clamp 120 can be set at an angle, so that when there is an angle between the end face of the transmission arm 110 and the working surface, the end face of the clamp 120 is parallel or approximately parallel to the working plane, thereby facilitating the clamp 120 to grasp objects on the working surface. Through this rotating structure, the clamping jaw can be moved from the storage position to the working position for grasping the object on the working surface without additionally configuring a pitch angle adjustment unit for the clamping jaw. The overall structure is simplified, the execution of the action is convenient, and it is helpful to reduce the installation and manufacturing costs. When the clamping jaw 120 is in the extended position, the transmission arm 110 is set at an angle with the clamping jaw 120, and the viewing angle range of the sensor set on the transmission arm 110 can also cover the area around the clamping jaw and the clamping jaw, so that the action of the clamping jaw can be accurately controlled based on the detection information of the sensor.

[0067] The clamp 120 can rotate about a preset rotation axis to rotate from a retracted position to an extended position. The preset rotation axis has a specified angle with the upper end face of the transmission arm 110 connected to the clamp. The range of the specified angle can be set as needed to ensure that the upper end face of the clamp 120 is in contact with the lower end face of the transmission arm 110 when the clamp 120 is in the retracted position, and the end face of the clamp is not parallel to the end face of the transmission arm 110 when the clamp 120 is in the extended position, that is, there is an angle greater than zero and less than 180 degrees, so that the rotation of the clamp 120 is not within a plane. After the transmission arm is extended, it is difficult to adjust the end face of the transmission arm to be parallel to the working surface of the cleaning equipment. By setting the rotation axis of the clamp 120 relative to the transmission arm 110 not perpendicular to the transmission arm 110, after the clamp 120 is rotated out from the position where it is in contact with the transmission arm 110, the end face of the clamp 120 and the end face of the transmission arm 110 will no longer be parallel, and there will be an angle greater than zero and less than 180 degrees, thereby making it easier to control the end face of the clamp 120 to be parallel to the working surface of the cleaning equipment, thereby making it easier for the clamp 120 to perform clamping and other processing on objects on the working surface.

[0068] The clamping jaw 120 includes a connecting portion 121 and a grabbing portion 122. The grabbing portion 122 is arranged on the connecting portion 121. When the clamping jaw 120 rotates to the extended position, the grabbing portion 122 is exposed at the end of the transmission arm 110. The grabbing portion 122 is located on the side of the connecting portion 121 away from the transmission arm 110. When the clamping jaw 120 rotates to the extended position, the grabbing portion 122 rotates to the front end of the transmission arm 110. The transmission assembly 130 can be arranged on the connecting portion 121, so as to avoid the transmission assembly 130 interfering with the movement of the grabbing portion 122. The end face of the grabbing portion 122 and the end face of the connecting portion 121 can be coplanar, and the surfaces of the grabbing portion 122 and the connecting portion 121 at both ends are parallel. Of course, the end face of the grabbing portion 122 and the end face of the connecting portion 121 can also be non-coplanar and non-parallel, which can be arranged as needed.

[0069] like Figure 2 As shown, in the case where the clamp 120 includes a connecting portion 121 and a grasping portion 122, the preset rotation axis X and the upper end surface 12112 of the connecting portion have a specified angle, and the clamp 120 can rotate about the rotation axis X to ensure that the upper end surface of the clamp 120 fits the lower end surface of the transmission arm 110 when the clamp 120 is in the retracted position, and the end surface of the clamp 120 and the end surface of the transmission arm 110 have an angle when the clamp 120 is in the extended position. Then, by controlling the angles between the multiple transmission arms, the clamp 120 is made parallel to the working surface of the cleaning device, and the clamp can be moved from the storage position to the desired working position without additionally configuring a pitch angle adjustment unit for the clamp.

[0070] Of course, when it is necessary to flexibly adjust the angle between the end face of the clamping jaw and the working surface, a pitch angle adjustment unit and a side angle adjustment unit may also be additionally configured.

[0071] A boss inclined relative to the end face of the clamp may be fixed on the clamp, and the end face of the boss is not parallel to the end face of the clamp, and has an angle. The boss 1211 may be formed on the side of the connecting portion 121 facing the transmission arm 110, and the boss 1211 is integrally formed on the connecting portion 121. The protrusion height of the end of the boss 1211 away from the grasping portion 122 is greater than the protrusion height of the end of the boss 1211 facing the grasping portion 122, so that the end face of the boss 1211 is formed as a face inclined relative to the end face of the clamp, that is, the end face of the boss is not parallel to the end face of the clamp. For the convenience of description, the end face of the boss having an angle with the end face of the clamp can be described as an inclined surface.

[0072] like Figure 2 As shown, a ring gear 132 is arranged on the inclined surface, and a helical gear 131 is connected to the output shaft of the first driving member 140, and the helical gear 131 is meshed with the ring gear 132. Correspondingly, the transmission assembly 130 includes a ring gear 132 and a helical gear 131. The helical teeth on the helical gear 131 cooperate with the ring gear 132 to realize the rotation of the clamping jaw from the retracted position to the extended position. Based on the above structure and driving method, by configuring the angle between the above inclined surface and the end face of the clamping jaw, it is possible to easily realize that the rotation axis X of the clamping jaw 120 and the end face of the transmission arm 110 have a specified angle, so as to ensure that the upper end face of the clamping jaw 120 fits with the lower end face of the transmission arm 110 when the clamping jaw 120 is in the retracted position, and the end face of the clamping jaw 120 has an angle with the upper end face of the transmission arm 110 when the clamping jaw 120 is in the extended position.

[0073] The angle A between the inclined surface and the end surface 12112 of the connecting portion 121 satisfies that the upper end surface of the clamping jaw 120 is in contact with the lower end surface of the transmission arm 110 when the clamping jaw 120 is in the retracted position, and the lower end surface of the clamping jaw 120 is parallel to the working surface of the cleaning device when the clamping jaw 120 is in the extended position. The value of the angle A can be 10°≤A≤30°, and preferably A is 20°. It can be understood that when the angle A satisfies that 10°≤A≤30°, it is convenient to configure the extension angles of multiple transmission arms, so that the clamping jaw 120 switches to a position parallel to the working surface, and the object to be grasped on the surface to be cleaned can be clamped, which is convenient for operation; at the same time, taking a value within the above-mentioned angle range can also facilitate the clamping jaw 120 to avoid the transmission arm 110 during the rotational movement to avoid interference.

[0074] The clamping jaw 120 further includes a second driving member 123, which is disposed on the connecting portion 121. The gripping portion 122 includes two clamping arms disposed in pairs, and the second driving member 123 drives the two clamping arms to open or close. By using the second driving member 123 to drive the two clamping jaws 120 to open or close, the clamping stability of the clamping jaw 120 is improved; and because the second driving member 123 has a self-locking function, the second driving member 123 can keep the positions of the two clamping jaws 120 fixed, which is beneficial to improving the working efficiency of the clamping jaw.

[0075] The clamp can be a flexible structure with local reinforcement ribs, which can be deformed according to the shape of the object to improve the clamping ability of the clamp. The inside of the clamp adopts an arc structure. When clamping cylindrical objects, the non-arc surface clamp must be used with a parallel clamping motion mechanism; the embodiment of this specification uses a clamp with an arc structure. For objects similar to cylinders, there is no need for a parallel clamping motion mechanism, and the clamp can clamp objects similar to cylinders when the rotary hinge is running, thereby improving the clamping ability of the clamp.

[0076] Furthermore, a first limiting structure is provided on the outer wall surface of the boss 1211, and the plane in which the circumference of the first limiting structure is located is parallel to the inclined surface. A groove structure 111 is provided on the transmission arm 110, and at least a portion of the boss 1211 extends into the interior of the groove structure 111. A second limiting structure is provided on the inner wall of the groove structure 111, and one of the first limiting structure and the second limiting structure is a convex rib 12111 and the other is an annular groove 1111, and the convex rib 12111 and the annular groove 1111 are slidably matched.

[0077] Specifically, the matching structure of the annular groove 1111 and the convex rib 12111 is used to limit the position of the clamping jaw 120 and the transmission arm 110, thereby preventing the clamping jaw 120 from being separated from the transmission arm 110. Furthermore, the convex rib 12111 on the boss 1211 or the plane where the annular groove 1111 is located in the circumferential direction is parallel to the inclined surface, and the boss 1211 can rotate relative to the groove structure 111, so that the clamping jaw 120 has a certain rotation angle. The clamping jaw 120 with the rotation angle setting can conveniently keep parallel to the surface to be cleaned during the movement, thereby improving the grasping efficiency.

[0078] The transmission arm 110 has a through hole, and the sensor 20 includes a bracket 220, a sensor body 210 and a reset member. The bracket 220 is rotatably arranged at the through hole, the sensor body 210 has a sensor head, the sensor body 210 is arranged on the bracket 220, and the reset member is arranged between the bracket 220 and the transmission arm 110. When the clamp 120 switches from the extended position to the retracted position, at least a part of the clamp 120 abuts against at least a part of the bracket 220 to drive the bracket 220 to flip, so that the sensor 20 switches from the open state to the closed state. The sensor 20 adopts a structure in which the bracket 220, the sensor body 210 and the reset member cooperate. The overall structure is simple and does not require an additional driving structure, which is convenient for installation; at the same time, the state switching of the sensor 20 is achieved by relying on the reset force of the reset member and the abutment force of the clamp 120, which is beneficial to improving the stability of the movement of the sensor 20.

[0079] The reset member provides driving force for the sensor 20 to be in the open state, that is, provides reset force for exposing the sensor head. When the clamp 120 is switched to the extended position, the reset force of the reset member drives the bracket 220 to flip to expose the sensor head.

[0080] Furthermore, the reset element may be a torsion spring.

[0081] Further, the bracket 220 includes a flap 221 and an abutment shaft 222, the flap 221 is rotatably connected to the transmission arm 110, the reset member is arranged between the flap 221 and the transmission arm 110, the sensor body 210 is arranged on the flap 221, the flap 221 can block the through hole, the abutment shaft 222 is fixedly connected to the flap 221, and the abutment shaft 222 abuts or separates from the clamp 120. When the clamp 120 switches to the retracted position, it can abut against the abutment shaft 222, thereby driving the flap 221 to flip over to block the through hole. By adopting the arrangement of the flap 221 and the abutment shaft 222, it is conducive to shielding through the flap 221, thereby preventing dust and other dirt from entering the interior of the sensor; at the same time, the abutment shaft 222 is used to abut against the clamp 120, so that the clamp 120 drives the sensor 20 to switch the state, so as to achieve the linkage effect between the clamp 120 and the sensor 20.

[0082] In some embodiments, the cleaning device may further include a baffle 30, which is disposed on a side of the connecting portion 121 away from the clamping portion, the baffle 30 being coplanar with the upper end surface of the connecting portion and rotating with the clamp 120; when the clamp 120 is in a retracted position, the baffle 30 is parallel to the upper end surface of the transmission arm 110; when the clamp 120 is in an extended position, the baffle 30 is on the inner side of the transmission arm 110 and is disposed at an angle to the lower end surface of the transmission arm 110.

[0083] It can be seen from the above embodiments that the width and length of the robot arm 10 shell can be set to match the first storage slot, so as to achieve full coverage of the first storage slot after the robot arm 10 is stored, thereby protecting the related components of the robot arm 10 and improving the aesthetics. In the case where a clamp is provided at the front end of the robot arm 10, since the clamp needs to be flexibly moved at the front end of the robot arm 10, it is necessary to minimize the interference of the robot arm 10 shell with the movement of the clamp, which may result in the inability to configure the width and length of the robot arm 10 shell according to the size of the first storage slot. Fig.10As shown, in the embodiment of the present specification, by setting a part of the shell to be rotatable, that is, the above-mentioned baffle 30, when the shell of the robot arm 10 cannot be configured according to the size of the first storage slot due to the setting of the clamp 120, the movable baffle 30 can be used to avoid interference with the movement of the clamp 120 while achieving supplementary coverage of the first storage slot, thereby achieving complete coverage of the first storage slot, ensuring the consistency of the body appearance, and preventing dust and water stains from entering the components of the robot arm and causing damage to the components.

[0084] When the clamp 120 is in the extended position, the baffle 30 is on the outside of the transmission arm 110, which may block the detection of the sensor 20. The baffle 30 is on the inside of the transmission arm 110, which can avoid this problem. The baffle 30 is set at an angle to the lower end surface of the transmission arm 110, which can also prevent the baffle 30 from squeezing the bracket 220, causing the bracket 220 to flip, and then causing the sensor 20 to switch to the closed state, affecting the operation of the sensor 20.

[0085] The baffle plate 30 and the connecting portion 121 may be fixedly connected, and the connection method may be fixedly connected by fasteners such as bolts, or of course, other methods. The baffle plate 30 may also have an avoidance notch to avoid interference between the baffle plate 30 and the transmission arm 110, which may prevent the baffle plate 30 from being able to follow the linkage of the clamping claw 120, thereby interfering with the operation of the clamping claw 120.

[0086] The sensor 20 can also be driven by a driving structure, thereby achieving synchronous movement of the sensor 20 and the gripper 120. Specifically, the transmission arm 110 has a through hole, and the mechanical arm 10 also includes a driving structure, which is arranged on the transmission arm 110, and the driving structure is connected to the sensor 20, and the driving structure drives the sensor 20 to switch between a closed state and an open state. The driving structure can be a telescopic driving member, such as a telescopic motor, in which case the sensor 20 is lifted and lowered to switch between the retracted position and the extended position. The driving structure can also be a rotating driving member, such as a rotating motor, in which case the sensor 20 is driven to rotate between the retracted position and the extended position through the transmission drive.

[0087] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0088] The mechanical arm 10 provided by the utility model moves synchronously with the sensor 20, so that when the mechanical arm 10 is in the working position, the sensor 20 is in the working state, and the sensor head of the sensor 20 in the working state is exposed, so that the position where the mechanical arm 10 needs to move can be detected by the sensor head, thereby improving the movement accuracy of the mechanical arm 10; when the mechanical arm 10 is in the hidden position, the sensor 20 is in the closed state, and the sensor 20 is hidden on the mechanical arm 10; the mechanical arm 10 is accommodated inside the first storage slot of the host 40 to achieve the storage of the mechanical arm 10. When the mechanical arm 10 is accommodated inside the first storage slot, the mechanical arm 10 can be stored inside the first storage slot without a trace, which is conducive to improving the overall appearance consistency of the cleaning equipment and improving the user experience.

[0089] Obviously, the above described embodiments are only a part of the embodiments of the utility model, not all of them. 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: include: Host (40); A mechanical arm (10), wherein the mechanical arm (10) is arranged on the host (40), and the mechanical arm (10) has a hidden position relative to the host (40) and a working position extending out of the host (40): A sensor (20), wherein the sensor (20) is movably arranged on the mechanical arm (10), the sensor (20) is arranged in linkage with the mechanical arm (10), and the sensor (20) has a working state and a closed state. When the mechanical arm (10) is in the hidden position, the sensor (20) is in the closed state, and the sensor (20) is hidden inside the mechanical arm (10); when the mechanical arm (10) is in the working position, the sensor (20) is in the working state, and the sensor (20) is exposed from the mechanical arm (10).

2. The cleaning device according to claim 1, characterized in that A first accommodating space is preset inside the host (40), a first opening corresponding to the first accommodating space is opened on the housing of the host (40), and the first accommodating space and the first opening form a first receiving groove; When the robotic arm (10) is in the hidden position, the robotic arm (10) is stored inside the first storage groove, and the arm shell of the robotic arm (10) covers the first opening, and the arm shell covering the first opening is consistent with the outer contour of the casing around the first opening.

3. The cleaning device according to claim 1, characterized in that: A second accommodating space is preset inside the mechanical arm (10), a second opening corresponding to the second accommodating space is opened on the arm shell of the mechanical arm (10), and the second accommodating space and the second opening form a second storage groove; When the sensor (20) is hidden inside the robotic arm (10), the sensor (20) is stored inside the second storage groove, and the shell of the sensor (20) covers the second opening. The shell of the sensor (20) covering the second opening is consistent with the outer contour of the arm shell around the second opening.

4. The cleaning device according to claim 1, characterized in that The mechanical arm (10) comprises: A transmission arm (110), the transmission arm (110) being rotatably connected to the host (40), and the sensor (20) being movably arranged on the transmission arm (110); A clamping jaw (120), wherein the clamping jaw (120) is movably disposed on the transmission arm (110), and the clamping jaw (120) has an extended position and a retracted position relative to the transmission arm (110); When the clamp (120) is in the extended position, the sensor (20) is exposed from the transmission arm (110); when the clamp (120) is in the retracted position, the sensor (20) is hidden inside the transmission arm (110).

5. The cleaning device according to claim 4, characterized in that A plurality of the transmission arms (110) are provided, and the plurality of transmission arms (110) are rotatably connected to each other. The clamping claw (120) and the sensor (20) are provided on the transmission arm (110) away from the host (40).

6. The cleaning device according to claim 4, characterized in that The clamping jaw (120) rotates relative to the transmission arm (110) so that the clamping jaw (120) switches between the extended position and the retracted position, and the angle between the clamping jaw (120) and the transmission arm (110) in the retracted position is different from the angle between the clamping jaw (120) and the transmission arm (110) when the clamping jaw (120) is in the extended position.

7. The cleaning device according to claim 6, characterized in that The clamping jaw (120) is further provided with a boss (1211), the boss (1211) having a protruding height at one end facing away from the clamping jaw (120) being greater than the protruding height at one end facing the clamping jaw (120), and the end surface of the boss (1211) is formed into an inclined surface; The clamping claw (120) is rotatably connected to the transmission arm (110) via the inclined surface of the boss (1211).

8. The cleaning device according to claim 7, characterized in that The mechanical arm (10) further comprises a first driving member (140) and a transmission assembly (130); The first driving member (140) is arranged on the transmission arm (110); The transmission assembly (130) comprises: a gear ring (132), the gear ring (132) being arranged on the inclined surface of the boss (1211); A bevel gear (131), wherein the first driving member (140) is drivingly connected to the bevel gear (131), and the bevel gear (131) is meshed with the gear ring (132).

9. The cleaning device according to claim 7, characterized in that: An angle A between the inclined surface and the end surface of the clamping jaw (120) satisfies 10°≤A≤30°.

10. The cleaning device according to claim 7, characterized in that The outer wall surface of the boss (1211) has a first limiting structure, and the plane where the circumference of the first limiting structure is located is parallel to the inclined surface. The clamping jaw (120) has a groove structure (111), and at least a portion of the boss (1211) extends into the interior of the groove structure (111). The inner wall of the groove structure (111) has a second limiting structure, and one of the first limiting structure and the second limiting structure is a convex rib (12111) and the other is an annular groove (1111), and the convex rib (12111) and the annular groove (1111) are slidably matched.

11. The cleaning device according to claim 4, characterized in that The cleaning device further comprises a baffle (30), wherein the baffle (30) is connected to the junction between the clamping claw (120) and the transmission arm (110); The baffle (30) is coplanar with the upper end surface of the clamp (120); when the clamp (120) is in the retracted position, the baffle (30) is parallel to the upper end surface of the transmission arm (110), so that when the mechanical arm (10) is in the hidden position, the baffle (30) covers the first storage slot on the main machine (40); when the clamp (120) is in the extended position, the baffle (30) is located on the inner side of the transmission arm (110) and is arranged at an angle with the lower end surface of the transmission arm (110).

12. The cleaning device according to claim 4, characterized in that The transmission arm (110) has a through hole, and the sensor (20) comprises: A bracket (220), the bracket (220) being rotatably disposed at the through hole; A sensor body (210), the sensor body (210) having a sensor head, and the sensor body (210) is arranged on the bracket (220); A reset member is arranged between the bracket (220) and the transmission arm (110), and when the clamping jaw (120) switches from the extended position to the retracted position, at least a portion of the clamping jaw (120) abuts against at least a portion of the bracket (220) to drive the bracket (220) to flip, so that the sensor (20) switches from the working state to the closed state.

13. The cleaning device according to claim 12, characterized in that The support (220) comprises: a flip cover (221), the flip cover (221) being rotatably connected to the transmission arm (110), the reset member being arranged between the flip cover (221) and the transmission arm (110), the sensor body (210) being arranged on the flip cover (221), and the flip cover (221) being capable of covering the through hole; An abutment shaft (222), wherein the abutment shaft (222) is fixedly connected to the flip cover (221), and the abutment shaft (222) abuts against or separates from the clamping claw (120).

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