Cleaning main machine and self-moving cleaning equipment

Abstract

The utility model relates to the technical field of cleaning equipment, and particularly discloses a cleaning main machine and self-moving cleaning equipment. The cleaning main machine comprises a machine body and a mechanical arm connected with the machine body, and the mechanical arm can grab or move loads in all directions of the cleaning main machine. The mechanical arm comprises a base and an arm body, and the base is connected with the machine body; the connecting end of the arm body is connected with the base, the load end of the arm body is used for grabbing loads, and the arm body can rotate around a rotating shaft in the vertical direction relative to the base and swing in the vertical direction, so that the mechanical arm can grab or move the loads located in all directions of the cleaning main machine; wherein the diameter D1 of the machine body on the horizontal plane and the maximum distance D2 between the projection of the center of the load end and the projection of the center of the base on the horizontal plane satisfy 0.6 < = D1 / D2 < = 1.5; therefore, the load end of the mechanical part has no grabbing blind area around the machine body, and meanwhile the situation that the cleaning main machine is overturned due to the too large torque of the mechanical arm is avoided.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, specifically to a cleaning host and a self-moving cleaning device. Background Technology

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, self-propelled cleaning equipment, such as intelligent robotic vacuum cleaners and intelligent robotic mops, has increasingly entered our daily lives. Current self-propelled cleaning equipment, in order to better achieve its cleaning function, incorporates robotic arms to grasp or move obstacles, items, and debris. However, existing self-propelled cleaning equipment with robotic arms suffers from a problem where the main unit is prone to tipping over when handling heavy loads. Utility Model Content

[0003] The purpose of this invention is to overcome the problem that the cleaning host of the self-moving cleaning equipment with a robotic arm in the prior art is prone to tipping over when the gripping load is large. The invention provides a cleaning host and a self-moving cleaning equipment, which can ensure that the cleaning host will not tip over when the robotic arm is working.

[0004] To achieve the above objectives, this utility model provides a cleaning host. The cleaning host includes a body and a robotic arm connected to the body, the robotic arm comprising:

[0005] A base, which is connected to the body; and

[0006] The arm body has a connecting end connected to the base, a load end for gripping a load, and the arm body is capable of rotating relative to the base about a vertical axis of rotation and swinging along the vertical direction.

[0007] Wherein, the maximum distance D2 between the diameter D1 of the body on the horizontal plane and the projection of the center of the load end and the center of the base on the horizontal plane satisfies 0.6≤D1 / D2≤1.5.

[0008] Preferably, D2 satisfies 200mm≤D2≤500mm;

[0009] Preferably, the distance D3 between the projections of the center of the body and the center of the base onto the horizontal plane satisfies 0.2≤D3 / D2≤0.5.

[0010] Preferably, the machine body includes a roller brush and a dust box, and the robotic arm, the roller brush and the dust box are arranged sequentially from front to back along the travel direction of the cleaning host.

[0011] Preferably, the distance d1 between the projection of the center of the base and the center of the roller brush onto the horizontal plane satisfies 20mm≤d1≤80mm;

[0012] Preferably, the distance d2 between the projection of the center of the base and the center of the dust box onto the horizontal plane satisfies 60mm≤d2≤130mm.

[0013] Preferably, the machine body further includes a fan and a wiping cloth assembly, the fan being disposed adjacent to the dust box on the side of the dust box away from the roller brush, and the two wiping cloth assemblies being disposed on the left and right sides of the fan respectively.

[0014] Preferably, the center of gravity of the cleaning unit is located at the fan, and the distance d3 between the center of the base and the center of the fan on the horizontal plane satisfies 130mm≤d1≤200mm;

[0015] Preferably, the base, the roller brush, and the fan are all located on the center line of the cleaning host in the left-right direction.

[0016] Preferably, the arm body includes a rotating base, a first arm, a second arm, and a third arm connected in sequence. The rotating base connects the first arm and the base and enables the first arm to rotate relative to the base along a vertical axis and swing relative to the base along a horizontal axis. The second arm is able to swing relative to the first arm along a horizontal axis, and the third arm is able to swing relative to the second arm along a horizontal axis.

[0017] Preferably, the arm body further includes a mechanical gripper connected to the third arm and capable of rotating relative to the third arm. The end of the mechanical gripper opposite to the third arm includes at least two jaws, which are capable of approaching and moving away from each other to grip or release a load.

[0018] Preferably, the arm body is provided with a plurality of drive components for rotating or swinging the rotating seat, the first arm, the second arm and the third arm;

[0019] Preferably, the robotic arm is configured to be foldable and stored inside the body.

[0020] The second aspect of this utility model provides a self-moving cleaning device, which includes the cleaning host described above.

[0021] Through the above technical solution, the cleaning host provided by this utility model has a robotic arm base connected to the cleaning host body, enabling the cleaning host to grasp or move obstacles, items, and garbage. The robotic arm body can rotate relative to the base and swing vertically, allowing the robotic arm to grasp or move loads located in all directions of the cleaning host. The maximum distance D2 between the diameter D1 of the body on the horizontal plane and the projection of the center of the load end and the center of the base on the horizontal plane satisfies 0.6≤D1 / D2≤1.5, thereby ensuring the grasping range of the robotic arm, eliminating blind spots around the body, and preventing the cleaning host from tipping over due to excessive torque of the robotic arm. Attached Figure Description

[0022] Figure 1 This is a top view of the structure of a cleaning host provided by this utility model;

[0023] Figure 2 yes Figure 1 The diagram shows the internal structure of the cleaning unit.

[0024] Figure 3 yes Figure 1 A schematic diagram of the working range A of the robotic arm in the cleaning unit shown;

[0025] Figure 4 This is a schematic diagram of the robotic arm provided by this utility model in its extended state;

[0026] Figure 5 yes Figure 4 A schematic diagram of the cross-sectional structure of the robotic arm shown;

[0027] Figure 6 This is a schematic diagram of the robotic arm provided by this utility model in a folded state;

[0028] Figure 7 yes Figure 6 The diagram shows a cross-sectional view of the robotic arm.

[0029] Explanation of reference numerals in the attached figures

[0030] 1-Cleaning main unit; 10-Machine body; 20-Robotic arm;

[0031] 11-Roller brush; 12-Dust box; 13-Fan; 14-Pad assembly; 15-Drive wheel; 16-Control assembly;

[0032] 21-Base; 22-Arm body; 221-Rotating seat; 222-First arm; 223-Second arm; 224-Third arm; 225-Mechanical gripper; 226-Driver; 227-Gripper. Detailed Implementation

[0033] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0034] Furthermore, the terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error; unless otherwise stated, "multiple" means two or more. Terms such as "including" or "contains" indicate that the element preceding the word encompasses the element listed after the word, but do not exclude the possibility of encompassing other elements as well.

[0035] Please see Figure 1 , Figure 1 This is a top view of the cleaning unit provided by this utility model. It can be understood that... Figure 1 The directions F, B, L, and R marked in the diagram indicate the forward, backward, left, and right directions of the cleaning unit provided by this utility model, respectively. It should be noted that in the description of this utility model, the terms "upper," "lower," "left," "right," "front," "back," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0036] It is understood that the cleaning host 1 provided by this utility model can be applied to mobile cleaning equipment, such as sweeping robots, mopping robots, and robot vacuum and mop combos, and is designed to clean the environment to be cleaned while in motion. Existing cleaning hosts typically have a roller brush assembly, a fan assembly, and a mop assembly inside the machine body, and clean the environment to be cleaned by brushing, sucking, and mopping. However, there are large pieces of trash or obstacles in the environment to be cleaned, and traditional cleaning methods are difficult to remove large pieces of trash and clear obstacles. Secondly, the cleaning methods of existing cleaning hosts are difficult to clean corners, crevices, high places, under furniture, walls, and other areas, which has certain limitations in use.

[0037] To address this technical issue, Chinese utility model patent CN211749321U provides a self-moving cleaning device with a robotic arm. This cleaning device has a connecting seat at the top center of the main cleaning unit. A robotic arm is hinged to the end of the connecting seat away from the main unit. The end of the robotic arm away from the connecting seat has a gripping part for holding and moving garbage, obstacles, and other items. This enables environmental cleaning in the dead corners of traditional cleaning units, as well as the removal of large-volume garbage and the clearing of obstacles, thus improving the working range of traditional cleaning units.

[0038] However, the robotic arms in the aforementioned cleaning equipment are prone to the following problems in actual operation: when the robotic arm is holding a load (which can be understood as garbage, obstacles, or other objects in the environment to be cleaned) at the end away from the machine body, the machine body often tipes over due to the excessive weight of the load and the distance between the center of gravity of the robotic arm and the center of gravity of the machine body. This seriously affects the efficiency of the cleaning host and may even cause the cleaning host to be damaged by impact in severe cases.

[0039] To address the aforementioned technical issues, existing cleaning equipment products typically adjust the mass distribution of the robotic arm so that the distance between the projection of the robotic arm's center of gravity onto the horizontal plane and the projection of the machine's center of gravity onto the horizontal plane is closer (for example, setting a larger mass on the side of the robotic arm closer to the machine and a smaller mass on the side farther away from the machine). However, the above improvements still have problems: when the load held by the robotic arm is too large, the machine is still prone to tipping over due to the distance between the robotic arm's center of gravity and the machine's center of gravity.

[0040] To address the aforementioned technical problems, this utility model provides a cleaning host 1, for details please refer to [link / reference needed]. Figure 1 And please see Figure 2 and Figure 3 , Figure 2 yes Figure 1 The diagram shows the internal structure of the cleaning unit. Figure 3 yes Figure 1 The diagram shows the working range A of the robotic arm in the cleaning host. The cleaning host 1 includes a body 10 and a robotic arm 20 connected to the body 10. The robotic arm 20 includes a base 21 and an arm body 22. The base 21 is connected to the body 10; the connecting end of the arm body 22 is connected to the base 21, and the load end of the arm body 22 is used to grasp the load. The arm body 22 can rotate relative to the base 21 about a vertical rotation axis and swing along the vertical direction. The maximum distance D2 between the diameter D1 of the body 10 on the horizontal plane and the projection of the center of the load end and the center of the base 21 on the horizontal plane satisfies 0.6 ≤ D1 / D2 ≤ 1.5.

[0041] Understandably, the body 10 also integrates at least a cleaning unit for cleaning the environment to be cleaned, a control component 16 for controlling the movement of the body 10, controlling the operation of the cleaning unit, and controlling the rotation and swing of the robotic arm 20, as well as a travel component for moving and rotating the body 10.

[0042] The robotic arm 20 is connected to the body 10. In some alternative embodiments, the robotic arm 20 is fixed to the body 10, and the lower part of the base 21 is connected to the upper part of the body 10. In some other alternative embodiments (see [reference]...) Figure 2 The main body 10 has a robotic arm slot, and the base 21 of the robotic arm 20 is connected to the bottom surface inside the robotic arm slot, thereby improving the integration of the cleaning unit 1, making the cleaning unit 1 easier to store, and reducing its vertical height, making it convenient to clean under low cabinets, under beds, and other locations. More preferably, the opening of the robotic arm slot is also provided with an openable cover for sealing the robotic arm slot (see...). Figure 1 This allows the cleaning unit 1 to close the cover when the robotic arm 20 is not in use, preventing dust from entering the robotic arm slot. It is understood that the base 21 described above is connected to the body 10; the base 21 and body 10 can be fixedly connected, or they can be detachably connected.

[0043] The connecting end of the arm body 22 is connected to the base 21, and the load end of the arm body 22 is used to grasp the load. It can be understood that the connecting end and the load end are respectively located at both ends of the arm body 22. The arm body 22 has multiple sub-arms connected end-to-end, and a connecting joint is provided between every two adjacent sub-arms and between the arm body 22 and the base 21. Every two adjacent sub-arms can rotate about the axis of the connecting joint.

[0044] It should be emphasized that, in the above-mentioned connecting joint, the rotation axis of one part is perpendicular to the length direction of its two adjacent sub-arms, so that the two sub-arms can swing about the connecting joint as an axis; the rotation axis of the other part coincides with the length direction of its two adjacent sub-arms, so that the two sub-arms can rotate relative to each other about the rotation axis of the connecting joint as an axis.

[0045] It should be noted that the arm body 22 can rotate relative to the base 21 about a vertical axis of rotation and swing along the vertical direction. This can be understood as follows: a part of the sub-arms of the arm body 22 can simultaneously rotate relative to the base 21 about a vertical axis of rotation and swing along the vertical direction; another part of the sub-arms of the arm body 22 can rotate relative to the base 21 about a vertical axis of rotation or swing along the vertical direction.

[0046] Understandably, if D1 / D2 is set too large, the working range of the robotic arm 20 will be too small, and the load end of the robotic arm 20 will not be able to reach the edge of the machine body 10, resulting in a cleaning blind spot around the cleaning host 1. If D1 / D2 is set too small, when the robotic arm 20 extends and clamps the load, the torque of the load relative to the cleaning host 1 will be too large, making the machine body 10 more prone to tipping over.

[0047] refer to Figure 3 , Figure 3 Region A in the diagram represents the projection of the working area of ​​the robotic arm 20 provided by this invention onto the horizontal plane. Figure 3 The working area of ​​the robotic arm 20 provided by this invention, projected onto the horizontal plane, covers the projection of the body 10 onto the horizontal plane, thus eliminating blind spots in cleaning the robotic arm 20. The maximum distance D2 between the diameter D1 of the body 10 on the horizontal plane and the projection of the center of the load end and the center of the base 21 onto the horizontal plane satisfies 0.6 ≤ D1 / D2 ≤ 1.5, achieving a balance between the working range of the robotic arm 20 and the stability of the body 10.

[0048] Please refer to it again. Figure 3 In some preferred embodiments, D2 satisfies 200mm≤D2≤500mm; in some preferred embodiments, the distance D3 between the projections of the center of the body 10 and the center of the base 21 onto the horizontal plane satisfies 0.2≤D3 / D2≤0.5.

[0049] Understandably, if D2 is set too small, the working range of the robotic arm 20 will be too small, and the load end of the robotic arm 20 will not be able to reach the edge of the machine body 10, resulting in a cleaning blind spot around the cleaning host 1 around the machine body 10. If D2 is set too large, when the robotic arm 20 extends and clamps the load, the torque of the load relative to the cleaning host 1 will be too large, making the machine body 10 more prone to tipping over.

[0050] The cleaning host 1 provided in this embodiment has a maximum distance D2 between the center of the load end and the center of the base 21 projected onto the horizontal plane, satisfying 200mm≤D2≤500mm. This ensures that the working range of the robotic arm 20 has no cleaning blind spots while maintaining the stability of the machine body 10. This makes it less likely for the machine body 10 to tip over when the robotic arm 20 is holding a load.

[0051] Understandably, if D3 / D2 is set too small, the mounting position of the base 21 of the robotic arm 20 will deviate too much from the center of the body 10, thereby increasing the torque of the load end of the robotic arm 20 relative to the body 10, making the body 10 more prone to tipping over when the robotic arm 20 is under load. If D3 / D2 is set too large, the working range of the robotic arm 20 will be too small, and the load end of the robotic arm 20 will not be able to reach the edge of the body 10, resulting in a cleaning blind spot around the body 10 for the cleaning host 1.

[0052] The cleaning host 1 provided in this embodiment has a maximum distance D3 between the projections of the center of the body 10 and the center of the base 21 onto the horizontal plane, and a maximum distance D2 between the projections of the center of the load end and the center of the base 21 onto the horizontal plane, satisfying 0.2≤D3 / D2≤0.5. It is understood that the center of the body 10 refers to its geometric center, and the center of the base 21 refers to its geometric center.

[0053] It is understandable that if the mounting position of the base 21 deviates too much from the center of the body 10, the torque of the robotic arm 20 extending forward (to the side of the base 21 away from the center of the body 10) and grasping the load will be too large, making the body 10 more prone to tipping over. This embodiment reasonably limits the mounting position of the base 21 to prevent it from deviating too much from the center of the body 10, thus affecting the stability of the body 10. It is understandable that the weight setting of the robotic arm 20 has a significant impact on the stability of the cleaning host 1. Since the robotic arm 20 integrates multiple drive components 226 for driving the rotation or swing of each sub-arm, the robotic arm 20 inevitably has a large weight. However, when the weight ratio W1 / W2 of the robotic arm 20 to the weight of the body 10 is too large, the torque of the load end of the robotic arm 20 relative to the body 10 will be too large, making the body 10 of the cleaning host 1 more prone to tipping over.

[0054] In some preferred embodiments, the weight W1 of the robotic arm 20 and the weight W2 of the body 10 satisfy W1 / W2≤0.2. This avoids excessive torque on the load end of the robotic arm 20 relative to the body 10, which could affect the stability of the body 10 when the robotic arm 20 is holding a load, and makes the body 10 less prone to tipping over.

[0055] Please refer to it again. Figure 1 and Figure 2 In some preferred embodiments, the body 10 includes a roller brush 11 and a dust box 12, and the robotic arm 20, dust box 12, and roller brush 11 are arranged sequentially from front to back. It should be noted that in this embodiment, the roller brush 11 is horizontally positioned, with a portion extending beyond the bottom surface of the cleaning unit's housing to contact the surface to be cleaned, for brushing the surface. More preferably, referring to... Figure 2The rotation axis of the roller brush 11 is parallel to the left and right direction of the cleaning host 1 and is located in the middle position of the front and back direction of the cleaning host 1; this setting ensures that the roller brush 11 has high brushing efficiency and the cleaning host 1 has good cleaning effect.

[0056] The dust box 12 is located on the rear side of the roller brush 11. It can be understood that the dust box 12 has a first inlet on the side facing the roller brush 11. When the cleaning host 1 is running, the roller brush 11 sweeps the dirt in the environment to be cleaned into the dust box 12 through the first inlet, thereby realizing the collection of the swept dirt.

[0057] More preferably, two drive wheel assemblies are disposed opposite to each other at both ends of the roller brush 11, thereby driving the cleaning host 1 to move and rotate. More preferably, a control assembly 16 is also provided on the side of the robotic arm 20 away from the roller brush 11. The control assembly 16 is used to provide power for the cleaning and movement of the cleaning host 1, and to control the movement and operation of the cleaning host 1.

[0058] Please refer to it again. Figure 1 and Figure 2 In some preferred embodiments, the distance d1 between the center of the base 21 and the projection of the center of the roller brush 11 onto the horizontal plane satisfies 20mm≤d1≤80mm; in some preferred embodiments, the distance d2 between the center of the base 21 and the projection of the center of the dust box 12 onto the horizontal plane satisfies 60mm≤d2≤130mm.

[0059] It should be noted that the center position of the dust box 12 mentioned above refers to the geometric center of the dust box 12; the center position of the roller brush 11 mentioned above refers to the geometric center of the roller brush 11. It can be understood that if the distance d1 between the center of the base 21 and the center of the roller brush 11 projected onto the horizontal plane, and the distance d2 between the center of the base 21 and the center of the dust box 12 projected onto the horizontal plane are too large, the base 21 is too far from the roller brush 11 and the dust box 12, which increases the torque of the load end of the robotic arm 20 relative to the body 10, making the body 10 more prone to tipping over when the robotic arm 20 is bearing a load.

[0060] Understandably, if the distance between the base center and the roller brush and dust box is too small, the load end of the robotic arm 20 will have difficulty reaching the edge of the body 10, making it easier for the cleaning host 1 to form cleaning blind spots around the body 10. Therefore, it is necessary to reasonably limit the distance between the projections of the robotic arm 20 and the roller brush 11 on the horizontal plane, as well as the distance between the projections of the robotic arm 20 and the dust box 12 on the horizontal plane.

[0061] In this embodiment, the distance d1 between the center of the base 21 and the center of the roller brush 11 on the horizontal plane satisfies 20mm≤d1≤80mm; and the distance d2 between the center of the base 21 and the center of the dust box 12 on the horizontal plane satisfies 60mm≤d2≤130mm. Both of these conditions allow for a reasonable arrangement of the components of the cleaning host 1, good stability of the cleaning host 1, and prevent the robotic arm 20 from tipping over or forming blind spots when gripping the load.

[0062] Please refer to it again. Figure 1 and Figure 2 In some preferred embodiments, the body 10 further includes a fan 13 and a cloth assembly 14, with the fan 13 located adjacent to the dust box 12 on the side of the dust box 12 away from the roller brush 11, and the two cloth assemblies 14 respectively located on the left and right sides of the fan 13.

[0063] It is understood that the blower 13 is configured to suck up dirt from the environment to be cleaned, and the dust box 12 has a second inlet on the side facing the blower 13 for the dirt sucked up by the blower 13 to enter. Two cloth assemblies 14 are respectively located on the left and right sides of the blower 13. It is understood that each cloth assembly 14 includes a cloth and a drive assembly for driving the cloth to rotate and swing outwards. The two drive assemblies are respectively located on the left and right sides of the blower 13; the cloth is located below the drive assembly, extending beyond the bottom surface of the cleaning unit 1's housing. The center of the cloth is connected to the rotation shaft of the drive assembly. The specific structure of the blower 13 and the cloth assembly 14 is based on existing technology and will not be described in detail here.

[0064] refer to Figure 1 It is understandable that the robotic arm 20 is positioned forward in the front-to-back direction of the cleaning host 1, so when the robotic arm 20 extends forward towards the cleaning host 1, the machine body 10 is more likely to tip over.

[0065] It is understandable that the wiping assembly 14 and the fan 13 have a large weight. In the above embodiment, the wiping assembly 14 and the fan 13 are located at a rearward position in the front-rear direction of the cleaning host 1, so that the center of gravity of the cleaning host 1 is further rearward. When the robotic arm 20 extends forward, the load end of the robotic arm 20 can hold a heavier load.

[0066] Please refer to it again. Figure 1 and Figure 2 In some preferred embodiments, the center of gravity of the cleaning unit 1 is located at the fan 13, and the distance d3 between the center of the base 21 and the center of the fan 13 projected onto the horizontal plane satisfies 130mm≤d1≤200mm; in some preferred embodiments, the base 21, the roller brush 11 and the fan 13 are all arranged on the center line of the left and right direction of the cleaning unit 1.

[0067] The distance d3 between the center of the base 21 and the center of the fan 13 on the horizontal plane is too small, making it difficult for the load end of the robotic arm 20 to reach the front edge of the body 10, and making it easier for the cleaning host 1 to form cleaning blind spots around the body 10.

[0068] In this embodiment, the distance d3 between the center of the base 21 and the center of the fan 13 on the horizontal plane satisfies 130mm≤d1≤200mm, which makes the arrangement of the components of the cleaning host 1 reasonable, the stability of the cleaning host 1 better, and the body 10 is less likely to tip over when the robotic arm 20 grabs the load, and it is less likely to form a cleaning blind spot.

[0069] The base 21, roller brush 11 and fan 13 are all located on the center line of the cleaning host 1 in the left and right directions, so that the center of gravity of the cleaning host 1 is in the middle position in the left and right directions of the cleaning host 1, which ensures the stability of the body 10 when the robotic arm 20 extends in the left and right directions of the cleaning host 1.

[0070] Please see Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the robotic arm provided by this utility model in its extended state; Figure 5 yes Figure 4 The diagram shows a cross-sectional view of the robotic arm. In some preferred embodiments, the arm body 22 includes a rotating base 221, a first arm 222, a second arm 223, and a third arm 224 connected in sequence. The rotating base 221 connects the first arm 222 and the base 21, enabling the first arm 222 to rotate relative to the base 21 along a vertical axis and swing relative to the base 21 along a horizontal axis. The second arm 223 can swing relative to the first arm 222 along a horizontal axis, and the third arm 224 can swing relative to the second arm 223 along a horizontal axis. It is understood that the second arm 223 and the third arm 224 increase the working range and operational flexibility of the robotic arm 20.

[0071] Please refer to it again. Figure 4 and Figure 5 In some preferred embodiments, the arm body 22 further includes a mechanical gripper 225 connected to the third arm 224 and rotatable relative to the third arm 224. The end of the mechanical gripper 225 facing away from the third arm 224 includes at least two jaws 227, which are capable of approaching and moving away from each other to grip or release a load.

[0072] Understandably, the mechanical gripper 225 is configured as the load end of the robotic arm 20 for gripping loads. The mechanical gripper 225 and the third arm 224 are connected by a connecting joint, and the mechanical gripper 225 and the third arm 224 can rotate about the axis of rotation of the connecting joint.

[0073] In some embodiments, the rotation axis coincides with the length direction of the mechanical gripper 225 and the third arm 224, respectively, and the mechanical gripper 225 is configured to rotate relative to the third arm 224 about the rotation axis of the connecting joint.

[0074] In some other embodiments, the load end of the arm body 22 does not have a mechanical gripper 225. Instead, the load is lifted and moved by using magnetic, adsorption, or adhesive components at the load end. In some optional embodiments, the load component at the load end of the arm body 22 is a detachable component, which can be replaced with components of different models, types, and sizes as needed, and is also easy to clean.

[0075] Please refer to it again. Figure 4 and Figure 5 In some preferred embodiments, the arm body 22 is provided with a plurality of drive members 226 for rotating or swinging the first arm 222, the second arm 223 and the third arm 224.

[0076] Optionally, the drive member 226 may be disposed inside the aforementioned connecting joint. In some embodiments, the arm body 22 may also integrate a drive member 226 for rotating the mechanical gripper 225, and a drive member 226 for driving multiple grippers 227 to move closer to or separate from each other.

[0077] Please refer to it again. Figure 4 and Figure 5 And please see Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the robotic arm provided by this utility model in a folded state; Figure 7 yes Figure 6 The diagram shows a cross-sectional view of the robotic arm. In some preferred embodiments, the robotic arm 20 is configured to be foldable and stored inside the body 10.

[0078] In some specific embodiments, the first arm 222 and the third arm 224 are configured as driving arms, which integrate driving components 226 inside. The second arm 223 is configured as an extension arm, which does not have driving components 226 inside. This reduces the height of the robotic arm 20 after folding, allowing the robotic arm 20 to be stored inside the body 10, thereby improving the integration of the cleaning host 1 provided in this embodiment.

[0079] In the specific embodiment provided in the accompanying drawings, the robotic arm 20 includes a base 21, a rotating seat 221, a first arm 222, a first joint, a second arm 223, a second joint, a third arm 224, a third joint, and a robotic gripper 225 connected in sequence. The rotating seat 221 connects the first arm 222 and the base 21 and enables the first arm 222 to rotate and swing relative to the base 21.

[0080] When the distance between the center of the load end and the center of the base 21 projected onto the horizontal plane is at its maximum when the robotic arm 20 is extended, the first arm 222 is vertically positioned, while the second arm 223 and the third arm 224 are horizontally positioned. At this time, the distance between the geometric center of the projection of the gripper 227 at the end of the robotic claw 225 onto the horizontal plane and the geometric center of the projection of the base onto the horizontal plane can be understood as the maximum distance D2 between the center of the load end and the center of the base 21 projected onto the horizontal plane in this embodiment.

[0081] This utility model also provides a self-moving cleaning device, which includes the cleaning host 1 described above.

[0082] It is understood that the self-moving cleaning device provided by this utility model can be, but is not limited to, a sweeping robot, a mopping robot, a sweeping and mopping robot, or other cleaning devices with cleaning functions. It is also understood that the cleaning device provided by this utility model can be used not only for cleaning floors, but also for cleaning desktops and other platforms or non-platforms. The above are examples of application scenarios for the self-moving cleaning device provided by this utility model and should not be construed as limiting the application scenarios of the self-moving cleaning device provided by this utility model.

[0083] The self-moving cleaning device includes the aforementioned cleaning host 1. It is understood that the cleaning host 1 is configured to move within the environment to be cleaned and to clean that environment. The cleaning host 1 includes a robotic arm 20, enabling it to grasp or move objects such as obstacles or debris. The maximum distance D2 between the diameter D1 of the body 10 on the horizontal plane and the projection of the center of the load end and the center of the base 21 on the horizontal plane satisfies 0.6 ≤ D1 / D2 ≤ 1.5. This ensures that the gripping range of the robotic arm 20 is maintained, eliminating blind spots around the load end of the mechanical part around the body 10, while preventing excessive torque from the robotic arm 20 that could cause the cleaning host 1 to tip over.

[0084] In some embodiments, the self-propelled cleaning device further includes a cleaning base station, which is configured to clean the cleaning unit of the cleaning host 1. Cleaning includes, but is not limited to, collecting debris from the dustbin 12, washing the cloth in the cloth assembly 14, and removing dirt entangled on the roller brush 11. Preferably, the cleaning base station has tracks corresponding to the two drive wheels 15 of the cleaning host 1, allowing the cleaning host 1 to drive into them. When the cleaning base station is in operation, the cleaning host 1 drives into the cleaning base station, and the cleaning base station cleans the cleaning unit of the cleaning host 1.

[0085] Those skilled in the art should understand that the above embodiments or implementation methods are for illustrative purposes only and are not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or implementation methods or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. In particular, as long as there is no structural conflict, the various technical features mentioned in the different embodiments or implementation methods can be combined in any way.

Claims

1. A cleaning host (1), characterized in that, The cleaning host (1) includes a body (10) and a robotic arm (20) connected to the body (10), the robotic arm (20) including: Base (21), said base (21) being connected to said body (10); and The arm body (22) is connected to the base (21) at its connecting end. The load end of the arm body (22) is used to grip the load. The arm body (22) is capable of rotating relative to the base (21) about a vertical axis of rotation and swinging along the vertical direction. The maximum distance D2 between the diameter D1 of the body (10) on the horizontal plane and the projection of the center of the load end and the center of the base (21) on the horizontal plane satisfies 0.6≤D1 / D2≤1.

5.

2. The cleaning unit (1) according to claim 1, characterized in that, The D2 satisfies 200mm≤D2≤500mm; and / or The distance D3 between the projections of the center of the body (10) and the center of the base (21) onto the horizontal plane satisfies 0.2≤D3 / D2≤0.

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3. The cleaning unit (1) according to claim 1, characterized in that, The machine body (10) includes a roller brush (11) and a dust box (12), and the robotic arm (20), the roller brush (11) and the dust box (12) are arranged sequentially from front to back along the travel direction of the cleaning host (1).

4. The cleaning unit (1) according to claim 3, characterized in that, The distance d1 between the projection of the center of the base (21) and the center of the roller brush (11) on the horizontal plane satisfies 20mm≤d1≤80mm; and / or The distance d2 between the center of the base (21) and the center of the dust box (12) on the horizontal plane satisfies 60mm≤d2≤130mm.

5. The cleaning unit (1) according to claim 3, characterized in that, The body (10) also includes a fan (13) and a wiping cloth assembly (14). The fan (13) is located adjacent to the dust box (12) on the side of the dust box (12) away from the roller brush (11). The two wiping cloth assemblies (14) are respectively located on the left and right sides of the fan (13).

6. The cleaning unit (1) according to claim 5, characterized in that, The center of gravity of the cleaning unit (1) is located at the fan (13), and the distance d3 between the center of the base (21) and the center of the fan (13) projected onto the horizontal plane satisfies 130mm≤d1≤200mm; and / or The base (21), the roller brush (11) and the fan (13) are all located on the center line of the cleaning host (1) in the left and right directions.

7. The cleaning unit (1) according to any one of claims 1-6, characterized in that, The arm body (22) includes a rotating base (221), a first arm (222), a second arm (223), and a third arm (224) connected in sequence. The rotating base (221) connects the first arm (222) and the base (21) and enables the first arm (222) to rotate relative to the base (21) along a vertical axis and swing relative to a horizontal axis. The second arm (223) can swing relative to the first arm (222) along a horizontal axis, and the third arm (224) can swing relative to the second arm (223) along a horizontal axis.

8. The cleaning unit (1) according to claim 7, characterized in that, The arm body (22) also includes a mechanical gripper (225), which is connected to the third arm (224) and is rotatable relative to the third arm (224). The end of the mechanical gripper (225) away from the third arm (224) includes at least two jaws (227), which are able to move closer to each other to grip or release a load.

9. The cleaning unit (1) according to claim 7, characterized in that, The arm body (22) is internally provided with multiple drive components (226) for rotating or swinging the rotating seat (221), the first arm (222), the second arm (223), and the third arm (224); and / or The robotic arm (20) is configured to be foldable and stored inside the body (10).

10. A self-propelled cleaning device, characterized in that, The self-moving cleaning device includes a cleaning host (1) according to any one of claims 1-9.

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