Sweeping robot and robot system

Abstract

The utility model provides a sweeping robot and a robot system. The sweeping robot comprises a moving body and a mechanical arm arranged in a containing groove of the moving body. The mechanical arm comprises a base plate and a folding arm mechanism; the folding arm mechanism comprises at least two arms which are rotationally connected in sequence, one arm is rotationally connected to the base plate, and the rotating axis between the two connected arms and the rotating axis between the arms and the base plate extend in the first direction; the mechanical arm can be switched between a folded state and an unfolded state; in the folding state, the mechanical arms are all contained in the containing groove, the at least two arms are arranged in parallel to the base plate, the at least two arms are arranged in the second direction, and the second direction is perpendicular to the base plate; the thicknesses of the at least two connected arms are different, in the at least two connected arms, a concave area is formed in the side, facing the small-thickness arm, of the large-thickness arm in the folded state, and the small-thickness arm is partially embedded in the concave area in the folded state.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a sweeping robot and a robot system. Background Technology

[0002] Existing robotic vacuum cleaners employ designs with external extension components such as robotic arms and hands to organize, categorize, and clean larger items. However, in these technologies, these extension components are located on the robot's main moving body, increasing its overall height and preventing it from entering low-ceilinged spaces, thus limiting its application range. Utility Model Content

[0003] A primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art described above, and to provide a sweeping robot equipped with a robotic arm and suitable for low-ceiling applications.

[0004] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0005] According to one aspect of this disclosure, a robotic vacuum cleaner is provided, wherein: the robotic vacuum cleaner includes a mobile body and a robotic arm disposed on the mobile body; the mobile body is provided with a receiving groove, the opening of the receiving groove being located on the top surface of the mobile body; the robotic arm includes a base plate and a folding arm mechanism; the base plate is disposed in the receiving groove; the folding arm mechanism includes at least two arms, each arm being rotatably connected in sequence, one of the arms being rotatably connected to the base plate, the rotation axis between the two connected arms and the rotation axis between the arm and the base plate extending along a first direction, the first direction being perpendicular to the extension direction of the arm and parallel to the base plate; the arm includes an arm main... The arm body and connecting portion are provided at the end of the arm body in the extension direction. Two connected arms are rotatably connected via their respective connecting portions. The robotic arm can switch between a folded state and an unfolded state. In the folded state, the robotic arm is fully accommodated in the receiving groove. At least two arms are arranged parallel to the substrate and are arranged in a second direction perpendicular to the substrate. The thickness of at least two connected arms is different. In the folded state, the thicker arm has a recessed area on the side facing the thinner arm. In the folded state, the thinner arm is partially fitted into the recessed area.

[0006] According to one embodiment of this disclosure, in at least two connected arms, the recessed region is formed in the body of the arm with greater thickness, and the body portion of the arm with less thickness is fitted into the recessed region.

[0007] According to one embodiment of this disclosure, the connecting portions belonging to different arms and connected to each other are fitted together along the first direction.

[0008] According to one embodiment of this disclosure, the connecting portions belonging to different arms and connected to each other are rotatably connected via a mechanical joint.

[0009] According to one embodiment of this disclosure, the folding arm mechanism includes three arms, namely a first arm, a second arm, and a third arm; one end of the first arm is rotatably connected to the substrate, one end of the second arm is rotatably connected to the other end of the first arm, and one end of the third arm is rotatably connected to the other end of the second arm; wherein, the thickness of the first arm is greater than the thickness of the second arm, and the thickness of the third arm is greater than the thickness of the second arm.

[0010] According to one embodiment of this disclosure, the first arm and the third arm are respectively formed with the recessed region. In the folded state, the two recessed regions are arranged opposite to each other to form a fitting space, and the second arm is fitted into the fitting space.

[0011] According to one embodiment of this disclosure, the maximum rotation angle between the first arm and the substrate is 90°, such that the first arm is arranged parallel to the substrate in a folded state and perpendicular to the substrate in an unfolded state; and / or, the length of the first arm is greater than or equal to the depth of the receiving groove.

[0012] According to one embodiment of this disclosure, the maximum rotation angle between the second arm and the first arm is 240° to 300°; and / or, the maximum rotation angle between the third arm and the second arm is 240° to 300°.

[0013] According to one embodiment of the present disclosure, the robotic arm further includes a rotating base; the rotating base is rotatably disposed on the substrate, and the rotation axis between the rotating base and the substrate extends along the second direction; one of the arms of the folding arm mechanism is rotatably connected to the rotating base, and the rotation axis between the arm and the rotating base extends along the first direction.

[0014] According to one embodiment of this disclosure, in the folded state, the extension direction of the arm is the left-right direction of the sweeping robot; wherein, the maximum rotation angle of the rotating seat on the base plate is 90°, so that the folding arm mechanism extends out in front of the moving body in the unfolded state.

[0015] According to one embodiment of this disclosure, the folding arm mechanism includes three arms, namely a first arm, a second arm, and a third arm; one end of the first arm is rotatably connected to the rotating base, one end of the second arm is rotatably connected to the other end of the first arm, and one end of the third arm is rotatably connected to the other end of the second arm; wherein, the length of the first arm is greater than the depth of the receiving groove, so that the first arm can extend above the receiving groove when unfolded; the length of the second arm is greater than the distance between the rotating base and the front end of the moving body in the front-rear direction of the sweeping robot, so that when the second arm is unfolded to extend in the front-rear direction, the end of the second arm connected to the third arm is located outside the front end of the moving body.

[0016] According to one embodiment of this disclosure, the robotic arm further includes a gripper mechanism disposed at the end of the folding arm mechanism. The gripper mechanism includes a gripper arm and two grippers. One end of the gripper arm is rotatably connected to the end of the arm, and the rotation axis between the gripper arm and the arm extends along a third direction, which is parallel to the extension direction of the end of the arm. The two grippers are arranged opposite to each other along the first direction, and the grippers are rotatably connected to the other end of the gripper arm. The extension direction of the rotation axis between the grippers and the gripper arm is perpendicular to the extension direction of the gripper arm and perpendicular to the first direction.

[0017] According to one embodiment of this disclosure, in the arm located at the end and the other arm connected thereto, the arm located at the end is thicker; wherein, the arm located at the end and the gripper mechanism together form the recessed area on the side facing the other arm in the folded state.

[0018] According to one embodiment of this disclosure, the maximum rotation angle between the gripper arm and the end arm is ±90° to ±120°; or, the gripper arm and the end arm rotate in one direction only, and the maximum rotation angle is greater than or equal to 240°.

[0019] According to one embodiment of this disclosure, the maximum rotation angle between the gripper and the gripper arm is 90° to 100°.

[0020] According to one embodiment of this disclosure, the arm is a cavity structure enclosed by a metal shell, and an adhesive layer is provided on the outside of the metal shell.

[0021] According to one embodiment of the present disclosure, the substrate is disposed at the bottom of the receiving groove; or, at least a portion of the bottom of the receiving groove is the substrate, and one of the arms of the folding arm mechanism is rotatably connected to the bottom of the receiving groove.

[0022] According to one embodiment of this disclosure, the movable body includes a base plate, a portion of which forms the bottom of the receiving groove.

[0023] According to one embodiment of this disclosure, the robotic vacuum cleaner further includes a switch door, which is disposed at the opening of the receiving slot to enable the receiving slot to be opened or closed.

[0024] As can be seen from the above technical solution, the advantages and positive effects of the sweeping robot proposed in this disclosure are as follows:

[0025] The robotic vacuum cleaner disclosed herein includes a mobile body and a robotic arm disposed in a receiving groove within the mobile body. The robotic arm includes a base plate and a folding arm mechanism. The folding arm mechanism includes at least two arms rotatably connected in sequence, one of which is rotatably connected to the base plate. The rotation axis between the two connected arms and the rotation axis between the arm and the base plate extend along a first direction, respectively. The robotic arm can switch between a folded state and an unfolded state. In the folded state, the entire robotic arm is housed in the receiving groove, with at least two arms arranged parallel to the base plate and arranged in a second direction perpendicular to the base plate. The at least two connected arms have different thicknesses. In the folded state, the thicker arm has a recessed area on the side facing the thinner arm, and in the folded state, the thinner arm partially fits into the recessed area. Through the above design, this disclosure arranges the robotic arm within the mobile body, such that the robotic arm is housed in the receiving groove in the folded state. Building upon this, this disclosure employs a design where multiple arms of the folding arm mechanism have varying thicknesses. The thinner arms are fitted into the recessed area formed by the thicker arms. While utilizing the thicker arms to accommodate the internal functional components, this further reduces the overall height space occupied by the folding arm mechanism in its folded state, resulting in a smaller height for the robotic vacuum cleaner when the arm is folded. Therefore, this disclosure, while enabling the robotic arm to sort, organize, and clean larger items, is more suitable for use in low-ceilinged spaces and has a wider range of applications.

[0026] Another primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art described above and to provide a robot system employing the aforementioned sweeping robot.

[0027] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0028] According to another aspect of this disclosure, a robot system is provided, comprising a base station and a sweeping robot as proposed in the present disclosure and described in the above embodiments.

[0029] As can be seen from the above technical solution, the advantages and positive effects of the robot system proposed in this disclosure are as follows:

[0030] The robot system proposed in this disclosure, by adopting the sweeping robot proposed in this disclosure, can not only use the robotic arm to sort, organize and clean larger items, but is also more suitable for use in low spaces and has a wider range of applications. Attached Figure Description

[0031] The various objectives, features, and advantages of this disclosure will become more apparent from the following detailed description of preferred embodiments of the disclosure taken in conjunction with the accompanying drawings. The drawings are merely illustrative illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, the same reference numerals always denote the same or similar parts. Wherein:

[0032] Figure 1 This is a three-dimensional schematic diagram of a robotic vacuum cleaner in one state, according to an exemplary embodiment;

[0033] Figure 2 yes Figure 1 A 3D schematic diagram of a robotic vacuum cleaner in another state is shown;

[0034] Figure 3 yes Figure 1 A three-dimensional schematic diagram of the robotic arm in its folded state is shown;

[0035] Figure 4 yes Figure 3 Side view;

[0036] Figure 5 yes Figure 3 Top view;

[0037] Figure 6 and Figure 7 These are two 3D diagrams showing the robotic arm during its deployment from two different perspectives.

[0038] Figure 8 and Figure 9 These are side views of the robotic vacuum cleaner with its robotic arm in two different extended states.

[0039] Figure 10 This is a front view of the robotic vacuum cleaner with its robotic arm extended.

[0040] The annotations in the attached figures are explained as follows:

[0041] 100. Moving main body; 240. Rotating base;

[0042] 101. Receiving groove; α. Included angle;

[0043] 1011. Opening and closing doors; β. Included angle;

[0044] 102. Top surface; γ. Included angle;

[0045] 200. Robotic arm; D1. First direction;

[0046] 201. Top surface D2. Second direction;

[0047] 210.Substrate; D3.Third direction;

[0048] 220. Folding arm mechanism; H1. First height;

[0049] 2201. Depression area; H2. Second height;

[0050] 2202. Fitting space; H3. Third height;

[0051] 2203. Arm body; H4. Thickness;

[0052] 2204. Connecting part; L1. First length;

[0053] 221. First arm; L2. Second length;

[0054] 222. Second arm; L3. Third length;

[0055] 223. Third arm; L4. Fourth length;

[0056] 230. Gripper mechanism; L5. First distance;

[0057] 231. Gripper arm; L6. Second distance;

[0058] 232. Gripper; L7. Third distance;

[0059] W. Width. Detailed Implementation

[0060] Typical embodiments embodying the features and advantages of this disclosure will be described in detail in the following description. It should be understood that this disclosure can have various variations in different embodiments without departing from the scope of this disclosure, and the descriptions and drawings therein are illustrative in nature and not intended to limit this disclosure.

[0061] In the following description of various exemplary embodiments of this disclosure, reference is made to the accompanying drawings, which form part of this disclosure, and which illustrate by way of example different exemplary structures, systems, and steps that can implement various aspects of this disclosure. It should be understood that other specific embodiments of the components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of this disclosure. Furthermore, while the terms “above,” “between,” “within,” etc., may be used in this specification to describe different exemplary features and elements of this disclosure, these terms are used herein only for convenience, such as the orientation according to the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of this disclosure.

[0062] See Figure 1 This illustration represents a perspective view of the sweeping robot of this disclosure in one state, specifically showing the overall structure when the robotic arm 200 is in a folded state and the door 1011 is closed. In this exemplary embodiment, the sweeping robot of this disclosure is described using a roller sweeping robot as an example. It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to apply the relevant designs of this disclosure to other types of sweeping robots, and these changes are still within the scope of the principles of the sweeping robot of this disclosure.

[0063] like Figure 1 As shown, in one embodiment of this disclosure, the sweeping robot proposed in this disclosure includes a mobile body 100 and a robotic arm 200 disposed on the mobile body 100. (See also...) Figures 2 to 10 , Figure 2 The image shows the overall structure of the robotic vacuum cleaner when the robotic arm 200 is extended and the door 1011 is open. Figure 3 The diagram shows a representative three-dimensional representation of the robotic arm 200 in its folded state. Figure 4 China representatively shows Figure 3 Side view; Figure 5 China representatively shows Figure 3 Top view; Figure 6 and Figure 7 The diagrams show two different perspectives of the robotic arm 200 during its deployment process. Figure 8 and Figure 9 The images show representative side views of the robotic vacuum cleaner with its robotic arm 200 in two different deployed states. Figure 10The figure shows a representative front view of the robotic vacuum cleaner with its robotic arm 200 in the extended state. The structure, connection method, and functional relationship of the main components of the robotic vacuum cleaner disclosed herein will be described in detail below with reference to the aforementioned figures.

[0064] like Figures 1 to 10As shown, in one embodiment of this disclosure, the moving body 100 is provided with a receiving groove 101, the opening of which is located on the top surface 102 of the moving body 100. The robotic arm 200 includes a base plate 210 and a folding arm mechanism 220. The base plate 210 is disposed in the receiving groove 101. The folding arm mechanism 220 includes at least two arms, each rotatably connected in sequence. One arm is rotatably connected to the base plate 210. The rotation axis between the two connected arms and the rotation axis between the arm and the base plate extend along a first direction D1, which is perpendicular to the extension direction of the arm and parallel to the base plate 210. Each arm may include an arm body 2203 and a connecting portion 2204. The connecting portion 2204 is disposed at the end of the arm body 2203 in the extension direction, and the two connected arms are rotatably connected via their respective connecting portions 2204. The robotic arm 200 can switch between a folded state and an unfolded state. In the folded state, the robotic arm 200 is fully housed in the receiving groove 101. At this time, at least two arms are arranged parallel to the base plate 210 (i.e., when the robotic arm 200 is in the folded state, the arms of the folding arm mechanism 220, such as the first arm 221, the second arm 222, and the third arm 223, can be arranged parallel to each other), and at least two arms are arranged in a second direction D2, which is perpendicular to the base plate 210. In the unfolded state, the robotic arm 200 extends partially out of the receiving groove 101 and is located outside the moving body 100, so that the gripper mechanism 230 at the end of the robotic arm 200 can grip an item. It should be noted that when the robotic arm 200 unfolds from the folded state to the unfolded state, the gripper mechanism 230 can be adjusted according to the components of the robotic arm 200 to be suitable for gripping items within a certain range outside the moving body 100, rather than limiting the robotic arm 200 in the unfolded state to only gripping items at a specific location. Based on this, at least two connected arms have different thicknesses. In the folded state, the thicker arm has a recessed area 2201 on the side facing the thinner arm. In the folded state, the thinner arm partially fits into the recessed area 2201. Through this design, the present disclosure arranges the robotic arm 200 within the moving body 100, so that the robotic arm 200 is accommodated in the receiving groove 101 in the folded state. Furthermore, the present disclosure uses a design with multiple arms of different thicknesses for the folding arm mechanism 220, and the thinner arm fits into the recessed area 2201 formed by the thicker arm. While utilizing the thicker arm to meet the arrangement requirements of its internal functional components, it further reduces the overall height space occupied by the folding arm mechanism 220 in the folded state, resulting in a smaller height for the sweeping robot when the robotic arm 200 is folded. Therefore, the present disclosure, while enabling the robotic arm 200 to perform sorting, organizing, and cleaning functions for larger items, is more suitable for use in low-ceilinged spaces and has a wider range of applications.

[0065] like Figure 4 , Figure 6 and Figure 7 As shown, in one embodiment of this disclosure, in at least two connected arms, a recessed region 2201 can be formed in the arm body 2203 of the arm with greater thickness, and the arm body 2203 of the arm with less thickness partially fits into the recessed region 2201. Through this design, this disclosure utilizes the arm body 2203 to form the recessed region 2201, avoiding any impact on the rotational connection function due to changes in the dimensions (e.g., thickness) of the connecting portion 2204. Furthermore, since the arm body 2203 is thinner than the connecting portion 2204, the recessed region 2201 is actually formed by the difference in height between the arm body 2203 and the connecting portion 2204 on the side facing the other arm, thereby making the structure simpler, easier to manufacture, and ensuring a tight fit.

[0066] like Figure 4 As shown, in one embodiment of this disclosure, two connecting portions 2204 belonging to different arms and connected to each other can be fitted together along the first direction D1. Through the above design, this disclosure can further reduce the space occupied by the connection point of the two arms in the first direction D1, and reduce the impact on other functional components in the moving body 100 caused by placing the robotic arm 200 in the receiving groove 101.

[0067] In one embodiment of this disclosure, the connecting parts that belong to different arms but are connected can be rotatably connected via a mechanical joint.

[0068] It should be noted that 1 to Figure 7In the illustrated embodiment, the folding arm mechanism 220 and the substrate 210 have two rotational degrees of freedom: one rotational degree of freedom corresponds to a rotation axis extending along a first direction D1, which can specifically be the rotation axis between one arm of the folding arm mechanism 220 (i.e., the first arm 221 hereinafter) and the rotating seat 240, thereby realizing the relative rotation of the entire folding arm mechanism 220 relative to the substrate 210 (i.e., the moving body 100) in the vertical plane; the other rotational degree of freedom corresponds to a rotation axis extending perpendicular to the substrate 210, which can specifically be the rotation axis between the rotating seat 240 and the substrate 210, thereby realizing the relative rotation of the entire folding arm mechanism 220 relative to the substrate 210 (i.e., the moving body 100) in the horizontal plane. It should be understood that in the above exemplary summary description, the content regarding "one arm is rotatably connected to the substrate 210, and the rotation axis between the two connected arms extends along the first direction D1" refers to the aforementioned "relative rotation of the folding arm mechanism 220 relative to the substrate 210 in the vertical plane". In other words, in other embodiments that conform to the design concept of this disclosure, the folding arm mechanism 220 and the substrate 210 may only have relative rotation in the vertical plane and not relative rotation in the horizontal plane. For example, the folding arm mechanism 220 may be directly rotatably connected to the substrate 210 via an arm without the need to provide a rotating seat 240, and is not limited to the above embodiments.

[0069] like Figure 4 , Figure 6 and Figure 7 As shown, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism 220, in one embodiment of this disclosure, the folding arm mechanism 220 may, for example, include three arms, namely a first arm 221, a second arm 222, and a third arm 223. Specifically, one end of the first arm 221 is rotatably connected to the base plate 210, one end of the second arm 222 is rotatably connected to the other end of the first arm 221, one end of the third arm 223 is rotatably connected to the other end of the second arm 222, and a gripper mechanism 230 may be disposed at the other end of the third arm 223. Furthermore, the thickness of the first arm 221 may be greater than the thickness of the second arm 222 (e.g., ...). Figure 9The thickness H4 shown is given, and the thickness of the third arm 223 can also be greater than the thickness of the second arm. Through the above design, this disclosure adopts a three-fold design for the folding arm mechanism 220, which enables better adjustment flexibility of the gripping posture of the robotic arm 200, while avoiding the problems of high structural complexity and large space occupation caused by an excessive number of arms in the folding arm mechanism 220. In some embodiments, when the robotic arm 200 includes the folding arm mechanism 220, the folding arm mechanism 220 may also include two, four, or more arms, and is not limited to this embodiment. Meanwhile, since the first arm 221 needs to accommodate functional components such as a rotating motor and a circuit board, the third arm 223 needs to accommodate functional components such as a rotating motor, a gripper mechanism rotating motor, and a camera, and the second arm 222 only needs to accommodate components suitable for flattened arrangement such as circuit boards and wiring, this disclosure designs the thickness of the first arm 221 and the third arm 223 to be relatively larger than that of the second arm 222, which can meet the arrangement requirements of the functional components in the arms, and utilizes the second arm 222 as an arm with a smaller thickness that fits into the recessed area 2201.

[0070] like Figure 4 As shown, in one embodiment of this disclosure, the first arm 221 and the third arm 223 may each have a recessed region 2201. In the folded state, the two recessed regions 2201 are arranged opposite to each other to form a fitting space 2202, in which the second arm 222 can be fitted. Through the above design, this disclosure can further reduce the space occupied by the robotic arm 200 in the height direction when folded.

[0071] like Figures 6 to 9As shown, based on the design of the folding arm mechanism 220 including three arms, in one embodiment of this disclosure, the maximum rotation angle between the first arm 221 and the substrate 210 (specifically, the rotating seat 240 described below) can be 90°, so that the first arm 221 is arranged parallel to the substrate 210 in the folded state and perpendicular to the substrate 210 in the unfolded state. Specifically, in the folded state, the first arm 221 is arranged parallel to the substrate 210, that is, the angle between the first arm 221 and the substrate 210 is 0°. When the first arm 221 rotates relative to the substrate 210 from this position to the maximum rotation angle (90°), the first arm 221 rotates from a posture parallel to the substrate 210 to a posture perpendicular to the substrate 210. Through the above design, this disclosure can further adjust the posture of the other arms based on the first arm 221 being perpendicular to the substrate 210, thereby utilizing the first arm 221 to provide a stable support function and improving the stability of the folding arm mechanism 220. It should be understood that in other embodiments, when the robotic arm 200 is extended, the first arm 221 may also be located at any position with an angle of 0 to 90° between it and the base plate 210, such as 45°, 60°, 85°, etc., to meet different item gripping needs, as long as the gripping function of the gripper mechanism 230 is guaranteed.

[0072] like Figure 8 and Figure 9 As shown, based on the design of the folding arm mechanism 220 including three arms, in one embodiment of this disclosure, the length of the first arm 221 can be greater than or equal to the depth of the receiving groove 101. Through the above design, this disclosure can ensure that when the first arm 221 is unfolded, the end connecting to the second arm 222 can extend above the moving body 100, avoiding structural interference between the other arms and the moving body 100 when the posture is adjusted to certain positions, and improving the gripping range and degree of freedom of the gripper mechanism 230.

[0073] Based on the design of the folding arm mechanism 220 in which each arm is arranged parallel to the other when the robotic arm 200 is in the folded state, in one embodiment of this disclosure, the maximum rotation angle between the second arm 222 and the first arm 221 can be 240° to 300°, for example, 240°, 255°, 270°, 285°, 300°, etc. Specifically, in the folded state (i.e., when the first arm 221 and the second arm 222 are arranged parallel to each other), the angle between the first arm 221 and the second arm 222 is 0°. Taking a maximum rotation angle of 270° as an example, and taking the first arm 221 being arranged perpendicular to the substrate 210 in the unfolded state as an example, when the second arm 222 rotates relative to the first arm 221 to the maximum rotation angle (270°), the second arm 222 extends in a direction parallel to the substrate 210 (e.g., Figure 8The included angle α shown is 270°. It should be understood that when the robotic arm 200 is deployed, the second arm 222 can also be located at any position with an included angle of 0 to 270° between it and the first arm 221 (e.g., Figure 9 The included angle α shown is between 180° and 270° to meet different item gripping needs. It is only necessary to ensure the gripping function of the gripper mechanism 230.

[0074] Based on the design of the folding arm mechanism 220, in which the arms are arranged parallel to each other when the robotic arm 200 is in the folded state, in one embodiment of this disclosure, the maximum rotation angle between the third arm 223 and the second arm 222 can be 240° to 300°, for example, 240°, 255°, 270°, 285°, 300°, etc. It should be understood that when the robotic arm 200 is unfolded, the third arm 223 can also be located at any position with an angle of 0° to 270° between it and the second arm 222 (e.g., ...). Figure 8 The included angle β shown is 180°, and as shown in the example Figure 9 The included angle β shown is between 90° and 180° to meet different item gripping needs. It is only necessary to ensure the gripping function of the gripper mechanism 230.

[0075] like Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism 220, in one embodiment of this disclosure, the robotic arm 200 may further include a rotating base 240. Specifically, the rotating base 240 is rotatably disposed on the base plate 210, and the rotation axis between the rotating base 240 and the base plate 210 extends along a second direction D2. One arm of the folding arm mechanism 220 (e.g., the first arm 221) is rotatably connected to the rotating base 240, and the rotation axis between the first arm 221 and the rotating base 240 extends along a first direction D1. Through the above design, this disclosure can realize the horizontal rotation of the folding arm mechanism 220 as a whole relative to the base plate 210, thereby adjusting the orientation of the folding arm mechanism 220 in the horizontal direction.

[0076] like Figure 1 As shown, based on the design of the robotic arm 200 including the rotating base 240, in one embodiment of this disclosure, in the folded state, the extension direction of each arm of the folding arm mechanism 220 can be the left-right direction of the sweeping robot. In other words, the robotic arm 200 can be folded in the receiving groove 101 in a "horizontal" form. The so-called "left-right direction" can be understood as the relative arrangement direction of the two main drive wheels of the sweeping robot. Based on this, the maximum rotation angle of the rotating base 240 on the base plate 210 can be 90°, so that the folding arm mechanism 220 extends outward from the front of the moving body 100 in the unfolded state (e.g., ...). Figure 1 and Figure 2 The hollow arrow in the diagram indicates the direction in front of the moving body 100. Specifically, when the robotic arm 200 is unfolded, in addition to the rotation and unfolding of each arm of the folding arm mechanism 220 and the rotation and unfolding between the folding arm mechanism 220 and the rotating seat 240, the rotating seat 240 can also rotate relative to the base plate 210, so that the horizontally positioned robotic arm 200 when folded can be arranged in front of the sweeping robot after unfolding, so that a part of the robotic arm 200 can extend in front of the moving body 100, so that the gripper mechanism 230 can grip the items located in front of the sweeping robot.

[0077] like Figure 8 As shown, based on the design of the robotic arm 200 including the rotary seat 240, in one embodiment of this disclosure, the length of the first arm 221 (or the sum of the length of the first arm 221 and the height of the rotary seat 240) can be greater than the depth of the receiving groove 101, so that the first arm 221 can extend above the receiving groove 101 when deployed. The length of the second arm 222 (e.g. Figure 8 The first length L1 can be greater than the distance between the rotating base 240 and the front end of the moving body 100 in the front-rear direction of the sweeping robot, so that when the second arm 222 is extended in the front-rear direction, the end of the second arm 222 connected to the third arm 223 is located outside the front end of the moving body 100. With the above design, when the folding arm mechanism 220 is extended and rotated to face the front of the sweeping robot, this disclosure can avoid the rotation of the second arm 222 relative to the first arm 221 being blocked by the slot area of ​​the receiving groove 101. Meanwhile, when the folding arm mechanism 220 unfolds and rotates to face the front of the sweeping robot, and when the second arm 222 rotates 270° relative to the first arm 221 (for example, the second arm 222 extends horizontally forward), this disclosure can ensure that the rotational connection position of the third arm 223 and the second arm 222 is outside the front end of the moving body 100. At this time, while maintaining the posture of the second arm 222, the third arm 223 can be flexibly rotated downward to achieve the gripping of the gripper mechanism 230. During this process, the third arm 223 will not interfere with the moving body 100. In this way, when the robotic arm 200 unfolds and is in the above posture, the overall height will not exceed the top of the first arm 221, which enables the sweeping robot to use the robotic arm to grab when entering a relatively low space, further expanding the application scenarios of the product.

[0078] In one embodiment of this disclosure, mechanical joints can be provided between each arm of the folding arm mechanism 220. For example, mechanical joints can be provided between one end of the first arm 221 and one end of the second arm 222, and between the other end of the second arm 222 and one end of the third arm 223, respectively. The rotation axis of the two mechanical joints is the first direction D1 mentioned above. Similarly, a mechanical joint can be provided between the other end of the first arm 221 and the rotating seat 240, and the rotation axis of this mechanical joint is also the first direction D1 mentioned above. Furthermore, a mechanical joint can be provided between the other end of the third arm 223 and the gripper mechanism 230 (e.g., the gripper arm 231 described below), and the rotation axis of this mechanical joint is parallel to the extension direction of the third arm 223. Specifically, each of the above mechanical joints may include related rotating engagement components, driving components, limiting components, and cables, etc. The rotating engagement components may at least include components such as a housing and bearings. The driving component may be, for example, a motor, used to drive the joint rotation. Limiting components can restrict the maximum rotation angle of the mechanical joints. Specifically, the limiting components of each mechanical joint can be adaptively arranged according to the maximum angle range at different positions. Additionally, the mechanical joints may include attitude acquisition elements, such as angle sensors, to measure the current rotation angle state of the mechanical joints in real time and transmit it to the relevant control unit. The control unit can obtain the real-time attitude information of the robotic arm 200 based on the rotation angle information of each mechanical joint, serving as reference data for closed-loop control of the robotic arm. Cables can be used to connect the drive components to the relevant control unit, and to connect the attitude acquisition elements to the relevant control unit. Furthermore, cables, bearings, drive components, etc., can be partially housed within the housing, and the portion of the cable extending beyond the housing can also be housed within the metal housing of the arm of the folding arm mechanism 220, facilitating wiring and improving aesthetics. It should be understood that in other embodiments conforming to the design concept of this disclosure, other types of structures can also be used to achieve the structural connection and rotation drive functions of the aforementioned rotational connections, and the embodiments described above are not limited to these specific implementations.

[0079] like Figures 3 to 7As shown, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism 220, in one embodiment of this disclosure, the gripper mechanism 230 may include a gripper arm 231 and two grippers 232. Specifically, one end of the gripper arm 231 is rotatably connected to the end arm (i.e., the third arm 223) of the folding arm mechanism 220, and the rotation axis between the gripper arm 231 and the third arm 223 extends along a third direction D3, which is parallel to the extension direction of the third arm 223. The two grippers 232 are arranged opposite each other along a first direction D1, and the grippers 232 are rotatably connected to the other end of the gripper arm 231. The extension direction of the rotation axis between the grippers 232 and the gripper arm 231 is perpendicular to the extension direction of the gripper arm 231 and perpendicular to the first direction D1. Through the above design, this disclosure utilizes the design of the gripper arm 231 to further provide the gripper mechanism 230 with adjustable degrees of freedom for axial rotation relative to the third arm 223.

[0080] like Figure 4 As shown, based on the design of the gripper mechanism 230 connected to the third arm 223, in one embodiment of this disclosure, the thickness of the third arm 223 can be greater than that of the second arm 222 (i.e., the arm at the end and the other arm connected to it have a greater thickness). Based on this, the third arm 223 and the gripper mechanism 230, in their folded state, can together form a recessed area 2201 that partially engages with the second arm 222 on the side facing the second arm 222.

[0081] like Figure 7 As shown, based on the design of the gripper arm 231 of the gripper mechanism 230 being rotatably connected to the third arm 223, in one embodiment of this disclosure, the maximum rotation angle between the gripper arm 231 and the third arm 223 can be ±90° to ±120°, for example, ±90°, ±105°, ±120°, etc. Here, "±" means that the gripper arm 231 can rotate by the same rotation angle to both sides around its rotation axis. In other words, when the gripper arm 231 is in its initial position, i.e., when the rotation angle of the gripper arm 231 is 0, the relative arrangement direction of the two grippers 232 is the first direction D1. When the gripper arm 231 rotates relative to the third arm 223, the relative arrangement direction of the two grippers 232 will tilt relative to the first direction D1. In other embodiments of this disclosure, a unidirectional rotational engagement scheme can also be adopted between the gripper arm 231 and the third arm 223 (i.e., one of the arms at the end of the gripper mechanism 230 and the folding arm mechanism 220). For example, the maximum rotation angle that the gripper arm 231 and the third arm 223 can rotate in one direction is 240° or more, such as 240°, 270°, 360°, etc., and is not limited to the above embodiments.

[0082] like Figure 10As shown, based on the design of the gripper arm 231 of the gripper mechanism 230 being rotatably connected to the third arm 223, in one embodiment of this disclosure, the maximum rotation angle between the gripper 232 and the gripper arm 231 can be 90° to 100°, for example, 90°, 94°, 98°, 100°, etc. Specifically, the above-mentioned rotation angle is the rotation angle of a single gripper 232. In other words, when the gripper 232 is in its initial state and has not rotated relative to the gripper arm 231 (i.e., when the rotation angle of the gripper 232 is 0), the gripper 232 extends approximately along the extension direction of the gripper arm 231 (i.e., the extension direction of the third arm 223). When the gripper 232 needs to grip an item, the two grippers 232 can simultaneously rotate in opposite directions to open, and then rotate in opposite directions to close, thereby achieving the gripping of the item. Taking the maximum rotation angle of the gripper 232 as an example, when the two grippers 232 are opened to their maximum extent, the included angle γ between the two grippers 232 is 188°.

[0083] Based on the design of the robotic arm 200 including the folding arm mechanism 220, in one embodiment of this disclosure, at least a portion of the arms of the folding arm mechanism 220 (e.g., the first arm 221 and the third arm 223 in this embodiment) can be a cavity structure enclosed by a metal shell, and an adhesive layer can be provided on the outside of the metal shell. Through the above design, this disclosure enables the robotic arm 200 to have both a more aesthetically pleasing appearance and high structural strength, and to withstand a larger gripping load.

[0084] Based on the design of the robotic arm 200 including the folding arm mechanism 220, in one embodiment of this disclosure, another part of the arm of the folding arm mechanism 220 (e.g., the second arm 222 in this embodiment) can be a thin plate structure. For example, the thickness of the second arm 222 can be controlled to be about 6 mm. Accordingly, while meeting the requirements of large load and completing the wiring layout, the space occupied by the robotic arm 200 in the height direction when folded can be further reduced.

[0085] Based on the design of the robotic arm 200 including the substrate 210, in one embodiment of this disclosure, the substrate 210 can be disposed at the bottom of the receiving groove 101. Through the above design, this disclosure enables the robotic arm 200 to be installed in the moving body 100 using the substrate 210, facilitating the modular production and installation of the robotic arm 200. In some embodiments, this disclosure may also use at least a portion of the bottom of the receiving groove 101 as the substrate 210 of the robotic arm 200, that is, one arm of the folding arm mechanism 220 (e.g., the first arm 221) is rotatably connected to the bottom of the receiving groove 101, that is, the rotating seat 240 can be disposed opposite to the bottom of the receiving groove 101, thereby further reducing the space occupied in the height direction and reducing the number of parts, and is not limited to this embodiment.

[0086] In one embodiment of this disclosure, the mobile body 100 includes a base plate, a portion of which can form the bottom of the receiving groove 101. Through this design, the present disclosure achieves a maximized arrangement of the receiving groove 101 along the height direction of the mobile body 100, providing more space in the height direction to accommodate the robotic arm 200. This facilitates a structural design where the robotic arm 200 has a larger height when folded, which is beneficial for improving the structural strength and gripping range of the robotic arm 200, or for achieving a thinner design for the sweeping robot. In some embodiments, the receiving groove 101 may also be an independent groove structure located above the base plate, and is not limited to this embodiment.

[0087] In one embodiment of this disclosure, in the folded state, the entire robotic arm 200 is accommodated in the receiving groove 101. In other words, when the robotic arm 200 is in the folded state, the top surface 201 of the robotic arm 200 (e.g., Figure 3 The third arm 223 and gripper arm 231 shown (the side surface facing away from the substrate 210) can be located within or flush with the top surface 102 of the moving body 100. With the above design, this disclosure can completely accommodate the robotic arm 200 in the receiving groove 101, further reducing the height of the sweeping robot.

[0088] In one embodiment of this disclosure, the robotic vacuum cleaner may further include a door 1011, which is disposed at the opening of the receiving groove 101. The door 1011 can open or close the receiving groove 101. Through this design, when the robotic arm 200 is in the folded state, this disclosure can use the door 1011 to close the opening of the receiving groove 101, preventing dust, moisture, and debris from falling into the receiving groove 101, extending the service life of the robotic arm 200, and simultaneously preventing any impact on other functional components within the moving body 100.

[0089] Based on the detailed description of several exemplary embodiments of the sweeping robot proposed in this disclosure above, the dimensions of some components of the sweeping robot in a specific embodiment will be illustrated below.

[0090] In this specific embodiment, the overall height of the robotic arm 200 in the folded state (e.g.) Figure 4 The first height H1 shown can be 60mm to 70mm, specifically 63.72mm. This overall height can be understood as the distance between the bottom surface of the substrate 210 and the top surface of the third arm 223 in the folded state. Based on this, in order to achieve complete accommodation of the robotic arm 200, and considering that the door 1011 can be inserted into the slot of the receiving groove 101 when closed to maintain the flatness of the top surface of the moving body 100, the depth of the receiving groove 101 should be at least 1mm to 3mm greater than the first height H1 (which can be flexibly selected according to the thickness of the door 1011).

[0091] In this specific embodiment, the width of the folding arm mechanism 220 (e.g.) Figure 5 The width W shown can be 40mm to 50mm, specifically 44mm. In addition, the width of the substrate 210 can be controlled to not exceed the width of the folding arm mechanism 220. Accordingly, in this specific embodiment, the width of the robotic arm 200 can be 40mm to 50mm, specifically 44mm.

[0092] In this specific embodiment, the overall length of the folding arm mechanism 220 in the folded state (e.g.) Figure 5 The third length L3 shown can be 200mm to 250mm, specifically 223.55mm. Furthermore, the length of the substrate 210 can be controlled to not exceed the length of the folding arm mechanism 220. Accordingly, in this specific embodiment, the length of the robotic arm 200 can be 200mm to 250mm, specifically 223.55mm.

[0093] In this specific embodiment, when the first arm 221 is extended (i.e., rotated to extend along the second direction D2), the height of the top end of the first arm 221 from the substrate 210 (e.g.) Figure 8 The second height H2 shown can also be understood as the sum of the length of the first arm 221 and the height of the rotating seat 240, and can be 110mm to 120mm, specifically, for example, 114.95mm. Furthermore, the height of the top of the first arm 221 from the top surface of the moving body 100 (e.g., Figure 8 The third height H3 shown can be 45mm to 55mm, for example, 50.65mm.

[0094] In this specific embodiment, the length of the second arm 222 (e.g.) Figure 8 The first length L1 shown can be 170mm to 180mm, specifically, for example, 177.35mm. This first length L1 can specifically be the distance between the centers of the two connecting portions of the second arm 222 (i.e., the rotation axis between the second arm 222 and the first arm 221, and the rotation axis between the second arm 222 and the third arm 223). Furthermore, the total length of the third arm 223 and the gripper mechanism 230 (e.g., ...) Figure 8The second length L2 shown can be 200mm to 210mm, specifically, for example, 205.05mm. Specifically, this second length L2 can be the distance between the center of the connection portion of the third arm 222 (i.e., the rotation axis between the third arm 223 and the second arm 222) and the end of the gripper 232. Accordingly, when the third arm 223 rotates 180° relative to the second arm 222, i.e., when both extend in the same direction, the overall length from the end of the second arm 222 connected to the first arm 221 to the end of the gripper 232 can be 370mm to 390mm, specifically, for example, 382.4mm. Simultaneously, in the above state, the distance between the end of the gripper 232 and the front end of the moving body 100 in the front-rear direction (e.g., ...) Figure 8 The first distance L5 shown can be 240mm to 250mm, specifically 248.91mm. In contrast, when the second arm 222 rotates a certain angle relative to the first arm 221, and the third arm 223 rotates a certain angle relative to the second arm 222, the overall posture of the second arm 222 and the third arm 223 forms a triangle, for example... Figure 9 The posture shown indicates that, in the forward-backward direction, the distance between the end of the gripper 232 and the front end of the moving body 100 (e.g.) Figure 9 The second distance L6 shown can be 165mm to 175mm, for example, 171.53mm.

[0095] In this specific embodiment, the thickness of the second arm 222 (e.g.) Figure 9 The thickness H4 shown can be 4mm to 7mm, for example 5.7mm.

[0096] In this specific embodiment, the length of the gripper 232 (e.g.) Figure 10 The fourth length L4 shown can be 40mm to 50mm, for example, 43.28mm.

[0097] In this specific embodiment, when the two grippers 232 are opened to their maximum angle (e.g., 180°), the distance between the ends of the two grippers 232 (e.g.) Figure 10 The third distance L7 shown can be 95mm to 105mm, for example, 102.43mm. Specifically, since a drive and transmission mechanism for driving the two grippers 232 to rotate synchronously can be provided inside the gripper arm 231 between the two grippers 232, the third distance L6 when the two grippers 232 are opened to the maximum angle will be more than twice the length of the grippers 232 themselves.

[0098] It should be noted that the robotic vacuum cleaners shown in the accompanying drawings and described in this specification are merely a few examples among many robotic vacuum cleaners capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any detail or component of the robotic vacuum cleaners shown in the accompanying drawings or described in this specification.

[0099] In summary, the sweeping robot disclosed herein includes a mobile body 100 and a robotic arm 200 disposed in a receiving groove 101 of the mobile body 100. The robotic arm 200 includes a base plate 210 and a folding arm mechanism 220. The folding arm mechanism 220 includes at least two arms rotatably connected in sequence, one of which is rotatably connected to the base plate 210. The rotation axis between the two connected arms and the rotation axis between the arm and the base plate 210 extend along a first direction D1, respectively. The robotic arm 200 can switch between a folded state and an unfolded state. In the folded state, the robotic arm 200 is fully accommodated in the receiving groove 101. At least two arms are arranged parallel to the base plate 210, and at least two arms are arranged in a second direction D2 perpendicular to the base plate 210. The thicknesses of the at least two connected arms are different. In the folded state, the thicker arm has a recessed area 2201 on the side facing the thinner arm. In the folded state, the thinner arm is partially fitted into the recessed area 2201. Through the above design, this disclosure arranges the robotic arm 200 within the moving body 100, so that the robotic arm 200 is accommodated in the receiving groove 101 in the folded state. Based on this, this disclosure employs a design with different thicknesses for the multiple arms of the folding arm mechanism 220, and embeds the thinner arm into the recessed area 2201 formed by the thicker arm. While utilizing the thicker arm to meet the arrangement requirements of its internal functional components, this further reduces the overall space occupied by the folding arm mechanism 220 in the height direction in the folded state, resulting in a smaller height for the sweeping robot when the robotic arm 200 is folded. Therefore, this disclosure, while enabling the robotic arm 200 to perform the functions of sorting, organizing, and cleaning larger items, is more suitable for use in low-ceilinged spaces and has a wider range of applications.

[0100] Based on the detailed description of several exemplary embodiments of the sweeping robot proposed in this disclosure above, an exemplary embodiment of the robot system proposed in this disclosure will be described below.

[0101] In one embodiment of this disclosure, the robot system proposed in this disclosure includes a base station and a sweeping robot proposed in this disclosure and described in detail in the above embodiments.

[0102] It should be noted that the robot systems shown in the accompanying drawings and described in this specification are merely a few examples of many robot systems capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any detail or component of the robot systems shown in the accompanying drawings or described in this specification.

[0103] In summary, the robot system proposed in this disclosure, by adopting the sweeping robot proposed in this disclosure, can not only use the robotic arm to sort, organize and clean larger items, but is also more suitable for use in low spaces and has a wider range of applications.

[0104] The exemplary embodiments of the sweeping robot and robot system disclosed herein have been described and / or illustrated in detail above. However, the embodiments of this disclosure are not limited to the specific embodiments described herein; rather, components and / or steps of each embodiment may be used independently and separately from other components and / or steps described herein. Each component and / or step of one embodiment may also be used in combination with other components and / or steps of other embodiments. In describing the elements / components / etc. described and / or illustrated herein, the terms "a," "an," and "the above" are used to indicate the presence of one or more elements / components / etc. The terms "comprising," "including," and "having" are used to indicate an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc. Furthermore, the terms "first" and "second," etc., in the claims and specification are used only as illustrative marks and are not intended to limit the numerical scope of the subject matter.

[0105] Although the robotic vacuum cleaner and robotic system disclosed herein have been described with respect to various specific embodiments, those skilled in the art will recognize that modifications may be made to the implementation of this disclosure within the spirit and scope of the claims.

Claims

1. A robotic vacuum cleaner, characterized in that: The sweeping robot includes a mobile body and a robotic arm disposed on the mobile body; The moving body is provided with a receiving groove, and the opening of the receiving groove is located on the top surface of the moving body; The robotic arm includes a base plate and a folding arm mechanism; the base plate is disposed in the receiving groove; the folding arm mechanism includes at least two arms, each arm being rotatably connected in sequence, one of the arms being rotatably connected to the base plate, the rotation axis between the two connected arms and the rotation axis between the arm and the base plate extending along a first direction, the first direction being perpendicular to the extension direction of the arm and parallel to the base plate; each arm includes an arm body and a connecting portion, the connecting portion being disposed at the end of the arm body in the extension direction, and the two connected arms being rotatably connected via their respective connecting portions; The robotic arm can switch between a folded state and an unfolded state; In the folded state, the robotic arm is fully housed in the receiving groove, with at least two arms arranged parallel to the substrate and at least two arms arranged in a second direction perpendicular to the substrate. At least two connected arms have different thicknesses. In the at least two connected arms, the thicker arm has a recessed area on the side facing the thinner arm in the folded state. In the folded state, the thinner arm partially fits into the recessed area.

2. The sweeping robot according to claim 1, characterized in that, In at least two connected arms, the recessed region is formed in the body of the arm with greater thickness, and the body portion of the arm with less thickness is fitted into the recessed region.

3. The sweeping robot according to claim 2, characterized in that, The connecting portions belonging to different arms and connected to each other are arranged in a fitted manner along the first direction.

4. The sweeping robot according to claim 2, characterized in that, The connecting parts, which belong to different arms and are connected to each other, are rotatably connected via a mechanical joint.

5. The sweeping robot according to claim 1, characterized in that, The folding arm mechanism includes three arms, namely a first arm, a second arm, and a third arm; one end of the first arm is rotatably connected to the substrate, one end of the second arm is rotatably connected to the other end of the first arm, and one end of the third arm is rotatably connected to the other end of the second arm; wherein, the thickness of the first arm is greater than the thickness of the second arm, and the thickness of the third arm is greater than the thickness of the second arm.

6. The sweeping robot according to claim 5, characterized in that, The first arm and the third arm each have a recessed area. In the folded state, the two recessed areas are arranged opposite to each other to form a fitting space, and the second arm is fitted into the fitting space.

7. The sweeping robot according to claim 5, characterized in that: The maximum rotation angle between the first arm and the substrate is 90°, so that the first arm is arranged parallel to the substrate in the folded state and perpendicular to the substrate in the unfolded state. and / or The length of the first arm is greater than or equal to the depth of the receiving groove.

8. The sweeping robot according to claim 5, characterized in that: The maximum rotation angle between the second arm and the first arm is 240° to 300°; and / or The maximum rotation angle between the third arm and the second arm is 240° to 300°.

9. The sweeping robot according to claim 1, characterized in that, The robotic arm further includes a rotating base; the rotating base is rotatably disposed on the substrate, and the rotation axis between the rotating base and the substrate extends along the second direction; one of the arms of the folding arm mechanism is rotatably connected to the rotating base, and the rotation axis between the arm and the rotating base extends along the first direction.

10. The sweeping robot according to claim 9, characterized in that, In the folded state, the extension direction of the arm is the left and right direction of the sweeping robot; wherein, the maximum rotation angle of the rotating seat on the base plate is 90°, so that the folding arm mechanism extends out in front of the moving body in the unfolded state.

11. The sweeping robot according to claim 9, characterized in that, The folding arm mechanism includes three arms: a first arm, a second arm, and a third arm. One end of the first arm is rotatably connected to the rotating base, one end of the second arm is rotatably connected to the other end of the first arm, and one end of the third arm is rotatably connected to the other end of the second arm. The length of the first arm is greater than the depth of the receiving groove, so that the first arm can extend above the receiving groove when unfolded. The length of the second arm is greater than the distance between the rotating base and the front end of the moving body in the front-rear direction of the sweeping robot, so that when the second arm is unfolded to extend in the front-rear direction, the end of the second arm connected to the third arm is located outside the front end of the moving body.

12. The sweeping robot according to claim 1, characterized in that, The robotic arm also includes a gripper mechanism, which is disposed at the end of the folding arm mechanism. The gripper mechanism includes a gripper arm and two grippers. One end of the gripper arm is rotatably connected to the end of the arm. The axis of rotation between the gripper arm and the arm extends along a third direction, which is parallel to the extension direction of the end of the arm. The two grippers are arranged opposite each other along the first direction, and the grippers are rotatably connected to the other end of the gripper arm. The extension direction of the rotation axis between the grippers and the gripper arm is perpendicular to the extension direction of the gripper arm and perpendicular to the first direction.

13. The sweeping robot according to claim 12, characterized in that, Of the arm located at the end and the other arm connected thereto, the arm located at the end is thicker; wherein the arm located at the end and the gripper mechanism together form the recessed area on the side facing the other arm in the folded state.

14. The sweeping robot according to claim 12, characterized in that: The maximum rotation angle between the gripper arm and the end arm is ±90° to ±120°; or The gripper arm and the end arm rotate in one direction, and the maximum rotation angle is greater than or equal to 240°.

15. The sweeping robot according to claim 12, characterized in that, The maximum rotation angle between the gripper and the gripper arm is 90° to 100°.

16. The sweeping robot according to claim 1, characterized in that, The arm is a cavity structure enclosed by a metal shell, and an adhesive layer is provided on the outside of the metal shell.

17. The sweeping robot according to claim 1, characterized in that: The substrate is disposed at the bottom of the receiving groove; or At least a portion of the bottom of the receiving groove is the substrate, and one of the arms of the folding arm mechanism is rotatably connected to the bottom of the receiving groove.

18. The sweeping robot according to claim 1, characterized in that, The movable body includes a base plate, a portion of which forms the bottom of the receiving groove.

19. The sweeping robot according to claim 18, characterized in that, The robotic vacuum cleaner also includes a door, which is located at the opening of the receiving slot to open or close the receiving slot.

20. A robot system, characterized in that, Includes a base station and the sweeping robot as described in any one of claims 1 to 19.

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