Automatic cleaning equipment and automatic cleaning system

Abstract

The utility model provides automatic cleaning equipment and an automatic cleaning system. The automatic cleaning equipment comprises an equipment body and a mechanical arm, a bin is arranged on the equipment body, the mechanical arm can be stored in the bin, a plurality of walking wheels are arranged on the equipment body, and the bin is arranged among the multiple walking wheels. And the mechanical arm can be stored by arranging the bin, and when the mechanical arm is not used, the space occupied by the automatic cleaning equipment is reduced. The bin is arranged among the walking wheels, so that distribution of the overall gravity center of the automatic cleaning equipment is more reasonable. In the running process of the automatic cleaning equipment, the gravity center can stably fall within the supporting range formed by the walking wheels, and the situation that the automatic cleaning equipment inclines, shakes or loses balance in the walking process due to the fact that the weight distribution of parts such as a mechanical arm is not uniform can be effectively prevented; therefore, it is guaranteed that the automatic cleaning equipment can keep a stable walking posture under various terrains and working states, and the safety and reliability of equipment operation are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cleaning equipment, and particularly relates to an automatic cleaning device and an automatic cleaning system. BACKGROUND

[0002] With the increasing improvement of people's living standards, the automatic cleaning system emerges as the times require. It can automatically perform a series of cleaning functions such as sweeping and mopping without human intervention. The automatic cleaning system has become a popular smart home product and easily integrates into people's lives, bringing great convenience to family life.

[0003] In the prior art, the automatic cleaning device can perform dust collection and mopping operations. In actual working scenarios, there are usually some debris on the ground, which blocks the travel route of the automatic cleaning device. The existing automatic cleaning device usually detours around the debris when encountering the debris on the ground, so that the debris cannot be cleaned, which affects the cleaning effect. If a mechanical arm is installed on the automatic cleaning device, the mechanical arm can remove the obstacles, but the installation of the mechanical arm causes the overall volume of the cleaning device to increase, which does not meet the requirements of lightness, thinness and compactness, and cannot adapt to low working scenarios. In addition, the installed mechanical arm also affects the walking stability of the cleaning device. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the technical problem to be solved by the present application is to provide an automatic cleaning device and an automatic cleaning system, which can ensure good walking stability of the automatic cleaning device when a warehouse and a mechanical arm are arranged on the automatic cleaning device.

[0005] In order to solve the above problems, the first aspect of the present application provides an automatic cleaning device, comprising a device body and a mechanical arm, a warehouse is arranged on the device body, the mechanical arm can be accommodated into the warehouse, a plurality of walking wheels are arranged on the device body, the walking wheels are arranged at the bottom of the device body, and the warehouse is arranged between the plurality of walking wheels.

[0006] Optionally, the plurality of walking wheels comprises a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are arranged along the transverse axis direction of the device body, the warehouse extends along the transverse axis direction, and the projection of the warehouse in the vertical plane where the axis lines of the first driving wheel and the second driving wheel are located is located between the first driving wheel and the second driving wheel.

[0007] Optionally, the plurality of walking wheels comprises a driven wheel, the driven wheel is arranged at the front side of the warehouse in the travel direction of the automatic cleaning device, and the middle segment of the warehouse along the transverse axis direction is located in the range surrounded by the driven wheel, the first driving wheel and the second driving wheel.

[0008] Optionally, the automatic cleaning device comprises a rolling brush assembly, and the chamber is arranged at a front side of the rolling brush assembly along a traveling direction of the automatic cleaning device, and an extending direction of the chamber is parallel to an extending direction of an axis of the rolling brush assembly.

[0009] Optionally, the device body comprises an upper shell and a lower shell, the chamber is formed on the lower shell, and a chamber opening of the chamber is arranged upwardly, and the upper shell is provided with a through slot corresponding to the chamber opening, so that the mechanical arm enters and exits the chamber through the through slot.

[0010] Optionally, the automatic cleaning device comprises a mounting plate connected with the mechanical arm, the mounting plate is provided with a positioning hole and an assembly hole, and the chamber is provided with a positioning member on a chamber bottom, the positioning member is used for positioning through the positioning hole, and a fastener is connected with the mechanical arm through the chamber bottom and the assembly hole.

[0011] Optionally, the mounting plate is provided with a clearance, and a rotating table of the mechanical arm is located in the clearance.

[0012] Optionally, the automatic cleaning device comprises a functional member arranged in the device body, and the mechanical arm is connected with the functional member; the functional member comprises a power supply or a controller.

[0013] Optionally, the device body comprises a channel leading to the functional member, and an opening end of the channel leads to the chamber, and a cable of the mechanical arm is connected with the functional member through the channel.

[0014] Optionally, the device body comprises a limiting member connected with or formed on an inner wall of the chamber, and the limiting member is used for limiting the cable.

[0015] Optionally, the chamber is provided with a fixing groove for accommodating the cable, and the limiting member is located above or in the fixing groove.

[0016] Optionally, the device body comprises a cover plate connected with the inner wall of the chamber and used for covering the cable, the limiting member and the fixing groove.

[0017] Optionally, a longitudinal center line is obtained by halving a length of the automatic cleaning device along the traveling direction, a chamber wall of the chamber close to the longitudinal center line is arranged parallel to the longitudinal center line, and a minimum distance between the chamber wall and the longitudinal center line is 15 mm to 25 mm.

[0018] Optionally, a middle line that divides the length of the automatic cleaning device along the transverse axis direction is a transverse middle line, and the maximum distance between the two ends of the chamber along the transverse axis direction and the transverse middle line is 105-115 mm.

[0019] Optionally, the center point of the chamber along the transverse axis direction is on the transverse middle line.

[0020] Optionally, the mechanical arm comprises a rotating seat, a mechanical hand, and a plurality of sequentially articulated arm segments, the rotating seat is arranged on the mounting plate, in the plurality of sequentially articulated arm segments, the arm segment at one end is hinged to the rotating seat, and the arm segment at the other end is rotationally connected to the mechanical hand, when the mechanical arm is accommodated in the chamber, at least part of the arm segments are stacked in the chamber.

[0021] Optionally, the plurality of arm segments comprise a support arm, a connecting arm, and a working arm that are sequentially articulated, the support arm is hinged to the rotating seat, the rotating seat can drive the support arm to rotate, and the mechanical hand is rotationally connected to one end of the working arm away from the connecting arm.

[0022] Optionally, the mechanical arm further comprises a driving member, the driving member is arranged on the mounting plate, and the driving member is connected to the rotating seat to drive the rotating seat to rotate.

[0023] Optionally, when the mechanical arm is accommodated in the chamber, the support arm is stacked above the mounting plate, the driving member and the support arm are arranged along the transverse axis direction of the device body, the connecting arm is stacked above the driving member and the support arm, the working arm and the mechanical hand are stacked above the connecting arm, and the working arm and the mechanical hand extend along the transverse axis direction of the device body and are sequentially arranged.

[0024] Optionally, a first joint mechanism is arranged between the support arm and the connecting arm, the first joint mechanism is used to drive the connecting arm to rotate on the support arm, a second joint mechanism is arranged between the connecting arm and the working arm, the second joint mechanism is used to drive the working arm to rotate on the connecting arm, the chamber comprises a first accommodating section, a second accommodating section, and a third accommodating section that are sequentially arranged along the transverse axis direction of the device body, the width of the first accommodating section and the third accommodating section is greater than the width of the second accommodating section, when the mechanical arm is accommodated in the chamber, the first joint mechanism is in the third accommodating section, and the second joint mechanism is in the first accommodating section.

[0025] Optionally, the width of the second accommodating section is 35-45 mm; and / or, the width of the first and third accommodating sections is 50-60 mm; and / or, the length of the second accommodating section is 110-130 mm; and / or, the length of the first and third accommodating sections is 40-60 mm.

[0026] Optionally, when the mechanical arm is accommodated in the chamber, the inner side wall of the chamber is adapted to the circumferential outer contour of the mechanical arm, the gap between the inner side wall of the chamber and the circumferential outer contour of the mechanical arm is greater than 2 mm; the chamber bottom is adapted to the bottom surface of the mechanical arm, the gap between the chamber bottom and the bottom surface of the mechanical arm is greater than 0.5 mm; the chamber opening is adapted to the path passed by the mechanical arm.

[0027] Optionally, the center of gravity of the mechanical arm is located within the range surrounded by the driven wheel, the first driving wheel and the second driving wheel.

[0028] Optionally, the mounting plate length is in the shape of a long strip and extends along the transverse axis direction of the device body, and the rotating seat is arranged on the middle top surface in the length direction of the mounting plate.

[0029] Optionally, the automatic cleaning device comprises a door body, which is movable relative to the device body to open or close the chamber opening.

[0030] Optionally, a touch assembly is arranged around the chamber opening, which is configured to send a signal under mechanical stress, and the touch assembly is located between the door body and the device body when the door body closes the chamber opening.

[0031] Optionally, the touch assembly comprises a touch piece and a touch switch, the touch piece is distributed around the chamber opening, the touch piece is capable of floating relative to the device body, and the touch switch is located between the touch piece and the device body to enable the touch piece to contact the touch switch and trigger the touch switch to send a signal.

[0032] Optionally, the touch assembly further comprises an elastic piece, a first end of the elastic piece is connected with the touch piece, and a second end of the elastic piece is connected with the device body.

[0033] Optionally, an emergency stop button is arranged on the device body, and the emergency stop button is located on the outer circumferential side of the chamber opening.

[0034] Optionally, the emergency stop button is arranged outside the moving path of the door body.

[0035] Optionally, the device body comprises a frame, the frame is arranged along the circumference of the opening, and the emergency stop button is arranged on the frame.

[0036] Optionally, a function adjustment button is arranged on the device body at the periphery of the door body.

[0037] Optionally, the function adjustment button is arranged outside the moving path of the door body.

[0038] In a second aspect, the application provides an automatic cleaning system comprising a base station and an automatic cleaning device as described above, wherein the automatic cleaning device is adapted to dock on the base station.

[0039] Advantages

[0040] The automatic cleaning device and the automatic cleaning system provided in the embodiments of the application can realize the storage of the mechanical arm by arranging the chamber on the device body, and reduce the space occupied by the automatic cleaning device when the mechanical arm is not used. By arranging the chamber between the plurality of walking wheels, the distribution of the overall gravity center of the automatic cleaning device is more reasonable. During the operation of the automatic cleaning device, the gravity center can be relatively stably located within the support range formed by the walking wheels, which can effectively prevent the automatic cleaning device from tilting, shaking or losing balance when walking due to uneven weight distribution of the mechanical arm and other components, thereby ensuring that the automatic cleaning device can maintain a stable walking posture under various terrains and working conditions, and improving the safety and reliability of the device operation. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 FIG. 8 is a bottom view of the automatic cleaning device of the embodiment of the application;

[0042] Figure 2 FIG. 9 is a top view of the upper shell and the lower shell of the embodiment of the application;

[0043] Figure 3 FIG. 10 is a perspective structural schematic view of the upper shell and the lower shell of the embodiment of the application;

[0044] Figure 4 FIG. 11 is a top view of the lower shell and the mounting plate of the embodiment of the application;

[0045] Figure 5 FIG. 12 is a sectional view of part of the structure of the automatic cleaning device of the embodiment of the application;

[0046] Figure 6 FIG. 13 is a structural schematic view of the mounting plate of the embodiment of the application;

[0047] Figure 7 FIG. 14 is a structural schematic view of the automatic cleaning device of the embodiment of the application from a first perspective;

[0048] Figure 8 is Figure 7 an enlarged view of A in the middle;

[0049] Figure 9 is a structural schematic view of the automatic cleaning device of the embodiment of the present application in a second perspective;

[0050] Figure 10 is Figure 9 an enlarged view of B in the middle;

[0051] Figure 11 is a structural schematic view of the mechanical arm of the embodiment of the present application when unfolded;

[0052] Figure 12 is a structural schematic view of the mechanical arm of the automatic cleaning device of the embodiment of the present application when folded;

[0053] Figure 13 is a structural schematic view of the mechanical arm of the embodiment of the present application when folded;

[0054] Figure 14 is a structural schematic view of the mechanical arm of the automatic cleaning device of the embodiment of the present application when folded again;

[0055] Figure 15 is a structural schematic view of the mechanical arm of the automatic cleaning device of the embodiment of the present application when unfolded again;

[0056] Figure 16 is a structural schematic view of the touch assembly of the embodiment of the present application;

[0057] Figure 17 is a structural schematic view of the automatic cleaning device of the embodiment of the present application in a third perspective;

[0058] Figure 18 is Figure 17 an enlarged view of C in the middle.

[0059] The reference signs are represented as:

[0060] 110, device body; 111, upper shell; 112, lower shell; 113, chamber; 1131, first containing section; 1132, second containing section; 1133, third containing section; L1, longitudinal midline; L2, transverse midline; 120, mounting plate; 121, positioning hole; 122, assembly hole; 123, clearance; 124, groove; 130, mechanical arm; 131, rotating seat; 132, support arm; 133, connecting arm; 134, working arm; 135, mechanical hand; 136, driving piece; 137, first joint mechanism; 138, second joint mechanism; 140, positioning piece; 150, fastener; 160, cover plate; 170, cable; 180, socket; 190, limiting piece; 200, fixing groove; 210, touch assembly; 211, touch piece; 212, touch switch; 213, elastic piece; 220, emergency stop button; 230, frame; 240, function adjustment button; 310, first driving wheel; 320, second driving wheel; 330, driven wheel; 400, rolling brush assembly; 500, door body. DETAILED DESCRIPTION

[0061] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0062] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features referred to. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0063] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0064] The preferred embodiments of the utility model are described below in combination with the drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the utility model, and are not used to limit the utility model.

[0065] In combination with the drawings, Figures 1 to 18 According to the first aspect of the embodiments of the present application, an automatic cleaning device is provided, which comprises a device body 110 and a mechanical arm 130, the device body 110 is provided with a chamber 113, the mechanical arm 130 can be accommodated into the chamber 113, the device body 110 is provided with a plurality of walking wheels, the walking wheels are arranged at the bottom of the device body 110, and the chamber 113 is arranged between the plurality of walking wheels.

[0066] By arranging the chamber 113 on the device body 110, the mechanical arm 130 can be accommodated, and the space occupied by the automatic cleaning device is reduced when the mechanical arm 130 is not used. By arranging the chamber 113 between the plurality of walking wheels, the distribution of the overall center of gravity of the automatic cleaning device is more reasonable. During the operation of the automatic cleaning device, the center of gravity can be relatively stably located within the support range formed by the walking wheels, which can effectively prevent the automatic cleaning device from tilting, shaking or losing balance when walking due to uneven weight distribution of the mechanical arm 130 and other components, thereby ensuring that the automatic cleaning device can maintain a stable walking posture under various terrains and working conditions, and improving the safety and reliability of the device operation.

[0067] Since the mechanical arm 130 is heavy, arranging the chamber 113 between the plurality of walking wheels enables the walking wheels to more evenly share the weight of the mechanical arm 130, and the uniform stress distribution can reduce the wear of the walking wheels, thereby prolonging the service life of the walking wheels, and also ensuring that the automatic cleaning device has good support and traction force, successfully completes the cleaning task, and avoids walking difficulty or jamming phenomenon caused by excessive local stress.

[0068] The chamber 113 is arranged in the device body 110, and the chamber 113 has a chamber opening, the mechanical arm 130 can move out of or into the chamber 113 through the chamber opening, the chamber opening is arranged on the top surface of the device body 110 and is arranged in a facing manner. The mechanical arm 130 can be unfolded upward and moved out of the chamber 113 through the chamber opening, or folded downward and accommodated into the chamber 113.

[0069] The number of walking wheels is a plurality, and the plurality of walking wheels are arranged at the bottom of the device body 110 and protrude downward, thereby pressing on the ground to walk on the ground.

[0070] Specifically, the plurality of walking wheels are distributed in different regions of the bottom of the device body 110 and are substantially uniformly distributed, thereby being able to ensure a good and stable supporting effect. The bin 113 is arranged between the plurality of walking wheels, that is, the bin 113 is substantially located in a region surrounded by the plurality of walking wheels.

[0071] More specifically, the bin 113 is arranged between the plurality of walking wheels. The bin 113 can be in the same horizontal plane as the plurality of walking wheels, and the bin 113 is located between the plurality of walking wheels. Alternatively, in a projection of the bin 113 and the plurality of walking wheels in the same horizontal plane, the projection of the bin 113 is located between the projections of the plurality of walking wheels.

[0072] It should be noted that the bin 113 is located in the range surrounded by the plurality of walking wheels, which is also considered as the bin 113 being arranged between the plurality of walking wheels.

[0073] As shown in Figure 1 The plurality of walking wheels include a first driving wheel 310 and a second driving wheel 320, and the first driving wheel 310 and the second driving wheel 320 are arranged along the transverse axis direction of the device body 110, as shown in Figure 2 The bin 113 extends along the transverse axis direction, and the projection of the bin 113 in the vertical plane in which the center lines of the first driving wheel 310 and the second driving wheel 320 are located is located between the first driving wheel 310 and the second driving wheel 320.

[0074] So that the automatic cleaning device forms a more stable support structure in the transverse direction, ensuring good stability. During the operation of the automatic cleaning device, the first driving wheel 310 and the second driving wheel 320 can jointly bear the gravity of the automatic cleaning device, effectively reducing the risk of the automatic cleaning device tipping or sliding due to uneven force, and improving the stability and safety of the automatic cleaning device.

[0075] The bin 113 is arranged to extend along the transverse axis direction, and by arranging the position of the bin 113, the projection of the bin 113 on the line connecting the first driving wheel 310 and the second driving wheel 320 is located between the first driving wheel 310 and the second driving wheel 320, making full use of the space in the transverse axis direction of the device body 110, making the structure of the automatic cleaning device more compact, avoiding waste of space, providing more possibilities for the layout of other components, helping to optimize the overall layout of the device, making the connection and cooperation between components more smooth, and improving the integration and space utilization of the device.

[0076] The transverse axis direction of the device body 110 is a direction perpendicular to the forward direction of the automatic cleaning device in the horizontal plane, and can also be understood as the left-right direction of the automatic cleaning device.

[0077] The shaft center line of the first driving wheel 310 and the second driving wheel 320 is collinear, and is a straight line extending horizontally, and the projection plane is a vertical plane passing through the straight line, and the projection of the bin chamber 113 in the vertical plane is located between the first driving wheel 310 and the second driving wheel 320.

[0078] Specifically, the first driving wheel 310 and the second driving wheel 320 are respectively connected with the power device of the automatic cleaning equipment, so that the power device can drive the first driving wheel 310 and the second driving wheel 320 to rotate, and the automatic cleaning equipment can walk on the ground.

[0079] As shown in Figure 1 , in one embodiment, the first driving wheel 310 can be arranged on the right side of the device body 110 in the direction of travel, which can also be called the right side wheel. The second driving wheel 320 can be arranged on the left side of the device body 110 in the direction of travel, which can also be called the left side wheel.

[0080] As shown in Figure 1 , the plurality of walking wheels includes a driven wheel 330, the driven wheel 330 is arranged on the front side of the bin chamber 113 in the direction of travel of the automatic cleaning equipment, and the middle section of the bin chamber 113 in the transverse axis direction is within the range surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320.

[0081] By arranging the driven wheel 330, the support of the automatic cleaning equipment is more stable. The driven wheel 330, the first driving wheel 310 and the second driving wheel 320 jointly constitute a more stable support structure. During the travel of the automatic cleaning equipment, the middle section of the bin chamber 113 is within the range jointly surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320, so that the weight of the automatic cleaning equipment can be more evenly distributed on each walking wheel, which can effectively reduce the problems of walking wheel slipping or equipment tilting caused by excessive local stress, and can better maintain the balance and stability of the equipment, ensure the smooth travel of the equipment, and improve the continuity and reliability of the cleaning operation.

[0082] Among them, the driven wheel 330, the first driving wheel 310 and the second driving wheel 320 form an isosceles triangle structure, the driven wheel 330 is at the top angle, and the first driving wheel 310 and the second driving wheel 320 are respectively at the two bottom angles.

[0083] Among them, the driven wheel 330 is located directly in front of the midpoint of the bin chamber 113 in the transverse axis direction. The length direction of the bin chamber 113 is the transverse axis direction.

[0084] The middle section of the bin chamber 113 along the transverse axis direction refers to a section of the bin chamber 113 that is in the middle along the transverse axis direction of the automatic cleaning device. Since the bin chamber 113 extends along the transverse axis direction, that is, the middle part of the length direction of the bin chamber 113 is within the range surrounded by the driven wheel 330, the first driving wheel 310, and the second driving wheel 320.

[0085] Specifically, in the bin chamber 113, more than two-thirds of the middle part is within the range surrounded by the driven wheel 330, the first driving wheel 310, and the second driving wheel 320.

[0086] As shown in Figure 1 The automatic cleaning device includes a roller brush assembly 400, the bin chamber 113 is arranged at the front side of the roller brush assembly 400 along the advancing direction of the automatic cleaning device, and the extension direction of the bin chamber 113 is parallel to the extension direction of the rotation axis of the roller brush assembly 400.

[0087] Since the weight of the roller brush assembly 400 is relatively large and occupies a large space range, by arranging the bin chamber 113 at the front side of the roller brush assembly 400 along the advancing direction of the automatic cleaning device and making the extension direction of the bin chamber 113 parallel to the extension direction of the rotation axis of the roller brush assembly 400, the driven wheel 330, the first driving wheel 310, and the second driving wheel 320 can more evenly share the weight of the roller brush assembly 400 and the mechanical arm 130, further ensuring the stability of the center of gravity of the entire automatic cleaning device.

[0088] When the automatic cleaning device is working, the mechanical arm 130 cooperates with the roller brush assembly 400 to clean the ground. Specifically, the mechanical arm 130 can first clean larger debris on the ground in front, such as removing items that may get stuck in the roller brush assembly 400, for example, removing items such as wires and clothes out of the advancing path of the automatic cleaning device. Then the roller brush assembly 400 performs regular cleaning operations on the ground, avoiding the interference of debris with the normal operation of the roller brush assembly 400, ensuring that the roller brush assembly 400 can continuously and efficiently clean the ground without frequent shutdowns or adjustments due to debris problems, improving overall cleaning efficiency and reducing cleaning time.

[0089] After the mechanical arm 130 cleans the debris in front, the roller brush assembly 400 cleans the ground again, which can timely process fine pollutants such as dust and debris generated during the operation of the mechanical arm 130, preventing these pollutants from scattering on the ground again and causing secondary pollution. At the same time, due to the positional relationship between the bin chamber 113 and the roller brush assembly 400, the dust and other pollutants during the cleaning process can be more smoothly sucked into the dust box or dust collection device inside the device under the action of the roller brush assembly 400, further improving the cleaning effect and making the ground cleaner and more tidy.

[0090] The chamber 113 is parallel to the rolling brush assembly 400, and the chamber 113 is arranged adjacent to the rolling brush assembly 400.

[0091] The device body 110 includes an upper shell 111 and a lower shell 112. The chamber 113 is formed on the lower shell 112, and the chamber opening of the chamber 113 is arranged upward. The upper shell 111 is provided with a through slot corresponding to the chamber opening, so that the mechanical arm 130 can enter and exit the chamber 113 through the through slot.

[0092] The chamber 113 is formed on the lower shell 112 and the chamber opening is upward. The through slot of the upper shell 111 is matched, so that the mechanical arm 130 can smoothly enter or exit the chamber 113 through the through slot, and can quickly and accurately return to the storage position, thereby improving the use convenience of the device.

[0093] The upper shell 111 is coupled with the lower shell 112, that is, the upper shell 111 is coupled on the top of the lower shell 112, so that the upper shell 111 and the lower shell 112 enclose an internal space, and other components of the automatic cleaning device provide a mounting position.

[0094] The chamber wall of the chamber 113 protrudes upward from the lower shell 112, thereby enclosing the chamber 113. The through slot is provided on the upper shell 111 and generally penetrates the upper shell 111 in the up-down direction. The through slot is opposite to the chamber opening of the chamber 113 in the up-down direction, thereby forming a space for the mechanical arm 130 to enter and exit.

[0095] Specifically, the chamber 113 is integrally formed on the lower shell 112, and the through slot is integrally formed on the upper shell 111. The shape of the through slot is matched with the chamber opening of the chamber 113, and the size can be slightly larger than the size of the chamber opening, thereby avoiding scratching with the mechanical arm 130.

[0096] In one embodiment, as shown in Figure 4 and Figure 5 The automatic cleaning device includes a mounting plate 120 connected with the mechanical arm 130. The mounting plate 120 is provided with a positioning hole 121 and an assembly hole 122. The chamber bottom of the chamber 113 is provided with a positioning piece 140. The positioning piece 140 is used for positioning through the positioning hole 121. A fastener 150 is connected with the mechanical arm through the chamber bottom and the assembly hole 122.

[0097] When the automatic cleaning device is assembled, the mounting plate 120 is connected to the mechanical arm 130, so that the mechanical arm 130 and the mounting plate 120 form an integral whole. During the assembly process, the integral whole formed by the mechanical arm 130 and the mounting plate 120 is assembled to the device body 110. At the beginning of the assembly process, the positioning hole 121 on the mounting plate 120 can be aligned with the positioning piece 140 on the bottom of the chamber, and then the integral whole formed by the mechanical arm 130 and the mounting plate 120 is positioned on the device body 110, so as to complete the preliminary positioning of the mechanical arm 130 and the mounting plate 120. Then, the fastener 150 can be used to vertically pass through the bottom of the chamber 113 and the assembly hole 122 and then be connected to the mechanical arm 130, so as to connect the mechanical arm 130 to the bottom of the chamber. Based on this, the fixation of the mechanical arm 130 can be completed, and the assembly of the cleaning device can be completed.

[0098] By arranging the mounting plate 120, the positioning piece 140 and the fastener 150, the mechanical arm 130 can be positioned at least by the positioning piece 140 and the fastener 150, so that the fixation of the mechanical arm 130 is more reliable. During the assembly process, the positioning hole 121 on the mounting plate 120 can be used in cooperation with the positioning piece 140 to achieve the preliminary positioning of the mechanical arm 130, so as to improve the assembly efficiency. By arranging the mounting plate 120, the contact area between the integral whole formed by the mounting plate 120 and the mechanical arm 130 and the bottom plate of the device body 110 is larger, so that the gap between the mechanical arm 130 and the device body 110 can be reduced, and the swing range of the mechanical arm 130 can be limited. In combination with the positioning piece 140 and the fastener 150, the fixation of the mechanical arm 130 can be more reliable.

[0099] It can be understood that the positioning piece 140 can be a protrusion or a protruding column formed on the device body 110, specifically a protrusion or a protruding column formed on the bottom of the lower shell 112. The profile of the positioning hole 121 is adapted to the profile of the positioning piece 140, and the positioning hole 121 is slightly larger than the positioning piece 140, so that the positioning piece 140 can be inserted into the positioning hole 121. After the positioning piece 140 is inserted into the positioning hole 121, the swing of the mounting plate 120 based on the mechanical arm 130 can be limited.

[0100] It can be understood that the fastener 150 can include a bolt, a screw, a rivet, a clamping piece, an expansion screw or any structure capable of connecting different objects.

[0101] It can be understood that the bottom of the bin chamber 113 is vertically provided with a through hole, which penetrates the bottom and the lower shell 112 in the vertical direction. When the fastener 150 is assembled, the fastener 150 can pass through the through hole from the side of the lower shell 112 away from the mechanical arm 130, then pass through the assembly hole 122, and finally be connected to the mechanical arm 130. In this way, the assembly of the fastener 150 is facilitated, the bottom of the device body 110 can have a larger operation space, and the connection between the device body 110, the mounting plate 120 and the mechanical arm 130 can be more reliable.

[0102] The mounting plate 120 is long and extends along the transverse axis of the device body 110.

[0103] Specifically, the length of the mounting plate 120 is 120mm to 200mm, the width of the mounting plate 120 is 25mm to 50mm, and the thickness of the mounting plate 120 is 2mm to 5mm, so that the mounting plate 120 is flat, facilitating the processing and installation of the mounting plate 120, and being able to have a larger contact area with the mechanical arm 130, thereby improving the installation strength.

[0104] The mounting plate 120 extends along the transverse axis, which is beneficial for space layout, compact structure, and fixing of the mechanical arm 130. Meanwhile, the mechanical arm 130 is fixed at the front of the automatic cleaning device body 110, and the mechanical arm 130 mainly operates the area in front of the automatic cleaning device body 110, so that the activity space range is larger and the grabbing of objects is more convenient.

[0105] As shown in Figure 6 The mounting plate 120 is formed with a clearance 123, and the turntable of the mechanical arm 130 is located in the clearance 123.

[0106] The clearance 123 can be formed above the mounting plate 120, and the mechanical arm 130 can rotate in the space of the clearance 123. In combination with the extension of the mechanical arm 130, the movable space of the mechanical arm 130 can be increased, and the mechanical arm 130 can grab objects. When an object is in front of the automatic cleaning device in the running direction, the mechanical arm 130 can grab the obstacle and move it to another area that does not hinder the normal operation of the automatic cleaning device, so that the operation of the automatic cleaning device is smoother.

[0107] The clearance 123 is formed above the mounting plate 120, and the mechanical arm 130 can be assembled in the clearance 123. The assembly height of the mechanical arm 130 can be reduced, the center of gravity of the mechanical arm 130 can be lower, and the probability of the mechanical arm 130 falling can be further reduced, so that the operation of the automatic cleaning device is safer.

[0108] It can be understood that the rotating table is a component capable of rotating the mechanical arm 130 relative to the lower shell 112, which can increase the working range of the mechanical arm 130.

[0109] Specifically, the thickness of the mounting plate 120 is 2-5 mm. The stability of the mechanical arm 130 is ensured, and the thickness of the mounting plate 120 is reduced as much as possible, thereby reducing the assembly depth of the mechanical arm 130. On the one hand, in the same space, a larger mechanical arm 130 can be assembled, which is more convenient for the mechanical arm 130 to grasp the object. On the other hand, the center of gravity of the mechanical arm 130 can be reduced, especially when the mechanical arm 130 is in the storage state, the mechanical arm 130 can be stored in the lower shell 112, which can make the movement of the automatic cleaning device more stable. On the other hand, the weight of the automatic cleaning device can be reduced, thereby reducing the energy consumption of the automatic cleaning device when moving.

[0110] Specifically, in order to ensure the mechanical strength of the mounting plate 120, the mounting plate 120 can be made of steel.

[0111] In one embodiment, as shown in Figure 2 The bottom wall of the warehouse 113 is formed with a positioning rib, as shown in Figure 6 The peripheral side of the mounting plate 120 is formed with a groove 124, and at least part of the positioning rib is located in the groove 124.

[0112] The positioning rib and the groove 124 can be used to accurately position the mounting plate 120 in the warehouse 113. At the same time, in order to ensure the mechanical strength of the installation, the mounting plate 120 is usually made of high-strength material, such as steel or other metal materials. In order to reduce the weight of the automatic cleaning device, the main body of the automatic cleaning device is usually made of resin material, and the mechanical strength of the lower shell 112 is low, which has the risk of deformation. When the lower shell 112 deforms, it will also affect the fixing strength of the mechanical arm 130. The groove 124 can be formed on the mounting plate 120, and the positioning rib can be formed on the lower shell 112. When the mounting plate 120 is assembled on the lower shell 112, the positioning rib is inserted into the groove 124, which can increase the strength of the lower shell 112, increase the contact area between the lower shell 112 and the mounting plate 120, and make the fixing of the mechanical arm 130 more reliable.

[0113] Specifically, the groove 124 is a plurality of grooves 124, and the plurality of grooves 124 are arranged at intervals, and the grooves 124 are distributed on the peripheral side of the mounting plate 120. In this way, on the one hand, the plurality of grooves 124 can form more positioning ribs on the lower shell 112, which can further improve the strength; on the other hand, the grooves 124 are distributed on the peripheral side of the mounting plate 120, which is convenient for the positioning rib to be inserted into the groove 124.

[0114] The automatic cleaning device comprises a functional part arranged in the device body 110, and the mechanical arm 130 is connected to the functional part; the functional part comprises a power supply or a controller.

[0115] The functional part is connected to the mechanical arm 130, and the functional part can power on the mechanical arm 130, control the operation of the mechanical arm 130, and make the use of the mechanical arm 130 more convenient.

[0116] As shown in Figure 10 , Figure 17 and Figure 18 , the device body 110 comprises a channel 180 leading to the functional part, the opening end of the channel 180 leads to the chamber 113, and the cable 170 of the mechanical arm 130 passes through the channel 180 and is connected to the functional part.

[0117] In addition to the connection and fixation of the mechanical structure, the mechanical arm 130 may also involve power-on or communication control, and the power-on or communication connection of the mechanical arm 130 in the traditional technology is also relatively cumbersome. Figure 10 , Figure 17 and Figure 18 , in a feasible embodiment, the automatic cleaning device can also comprise a channel 180 arranged at the chamber 113 and leading to the functional part, based on which the cable 170 of the mechanical arm 130 can pass through the channel 180 and be connected to the functional part, thereby completing the rapid assembly of the electrical connection and communication connection of the mechanical arm 130, and further improving the assembly efficiency.

[0118] The end of the cable 170 can be formed with a plug, and the channel 180 can be formed with a socket, the plug is directly inserted into the socket 180, thereby establishing the rapid connection of the plug and the socket 180, and making the electrical connection and communication connection of the mechanical arm 130 more convenient.

[0119] As shown in Figure 9 and Figure 10 , the device body 110 comprises a limiting part 190 connected to or formed on the inner wall of the chamber 113, and the limiting part 190 is used for limiting the cable 170.

[0120] Wherein, considering that the mechanical arm 130 needs to move, such as possible to involve stretching, storing, rotating or swinging and the like, therefore the movement of the mechanical arm 130 may displace the cable 170 or the mechanical arm 130 is easy to scratch the cable 170, based on this, the automatic cleaning equipment can further include a limiting piece 190, through the limiting piece 190, the cable 170 can be limited, prevent the cable 170 from appearing unexpected running, and can reduce the probability of the mechanical arm 130 and the cable 170 contacting and scratching, so that the communication connection and electrical connection of the mechanical arm 130 are more reliable.

[0121] Specifically, the setting number of the limiting piece 190 can be multiple, multiple limiting pieces 190 are arranged along the arrangement direction of the cable 170, which can further improve the limiting effect of the cable 170.

[0122] As shown in Figure 9 and Figure 10 , the fixed groove 200 is formed in the warehouse 113, the fixed groove 200 is used for accommodating the cable 170, and the limiting piece 190 is located above the fixed groove 200 or in the fixed groove 200.

[0123] Wherein, if the cable 170 of the mechanical arm 130 is directly arranged in the warehouse 113, then the mechanical arm 130 still exists in the probability of scratching the cable 170, especially when the mechanical arm 130 is in the storage state, the mechanical arm 130 is particularly easy to press on the cable 170, which is easy to cause damage to the cable 170. Based on this, by forming the fixed groove 200 in the warehouse 113, based on this, the cable 170 can be sunk in the fixed groove 200, which can greatly reduce the probability of the mechanical arm 130 and the cable 170 contacting, at the same time, through the formation of the fixed groove 200, the inner wall of the fixed groove 200 can also limit the cable 170, which can further reduce the probability of the cable 170 running.

[0124] Further, the limiting piece 190 can be formed on the inner wall of the fixing groove 200. In this way, the limiting piece 190 does not occupy too much space in the chamber 113, or in other words, the limiting piece 190 does not protrude in the chamber 113, and does not hinder the storage of the mechanical arm 130. This can help to reduce the height of the automatic cleaning device, so that the structural layout of the automatic cleaning device is more compact. After the height of the automatic cleaning device is reduced, it can more easily enter low areas such as the bottom of a sofa or the bottom of a bed. These areas are often difficult to reach for traditional cleaning tools. The low-height automatic cleaning device can more effectively remove dust and dirt in these areas, thereby improving overall cleaning coverage. The low-height automatic cleaning device generally has higher flexibility and can easily move between furniture to avoid collisions with furniture. This flexibility not only helps to improve cleaning efficiency, but also reduces the risk of damage to the automatic cleaning device during operation. For users, the low-height automatic cleaning device is easier to store and store, and does not occupy too much space. The low-height automatic cleaning device can be applied to more different cleaning scenarios, such as homes, offices, and shopping malls. In particular, in places with higher cleaning requirements, such as hospitals and laboratories, the low-height automatic cleaning device can more effectively meet cleaning needs.

[0125] As shown in Figure 7 and Figure 8 , the device body 110 includes a cover plate 160, which is used to connect to the inner wall of the chamber 113 and cover the cable 170, the limiting piece 190, and the fixing groove 200.

[0126] By providing the cover plate 160 and allowing the cover plate 160 to cover the cable 170, the limiting piece 190, and the passage 180, the appearance of the chamber 113 can be made more tidy, while the amount of dust entering the fixing groove 200 and the passage 180 can be reduced, and the probability of the mechanical arm 130 contacting the cable 170 can be further reduced. This can make the use of the automatic cleaning device safer, especially the operation of the mechanical arm 130.

[0127] The cover plate 160 can be connected to the chamber 113 by clamping or bolting, which can make the connection more reliable and facilitate disassembly.

[0128] Specifically, the cover plate 160 is a plurality of cover plates 160 that are clamped to the inner wall of the chamber 113 and are used to cover the passage 180. This facilitates the clamping of the narrow fixing groove 200, facilitates the assembly of the cover plate 160, and facilitates the capping of the passage 180, which can make the chamber 113 of the automatic cleaning device more tidy and safe.

[0129] As shown in Figure 1 and Figure 2As shown, the middle line that divides the length of the automatic cleaning device in the direction of travel is the longitudinal middle line. Figure 1 and Figure 2 In the middle, L1 is the longitudinal middle line. The warehouse wall of the warehouse chamber 113 close to the longitudinal middle line is parallel to the longitudinal middle line, and the minimum distance between the longitudinal middle line is 15-25 mm.

[0130] In which, the longitudinal middle line extends along the horizontal axis direction, and in turn divides the automatic cleaning device in the longitudinal direction into two parts of the same length.

[0131] In which, by setting the warehouse chamber 113 to have a minimum distance of 15-25 mm from the longitudinal middle line, it can effectively avoid the automatic cleaning device from tilting or deviating due to excessive weight difference, thereby improving the stability of the device during straight travel and turning, reducing the risk of rollover or loss of control due to unstable center of gravity, and ensuring that the automatic cleaning device can move smoothly in various ground environments and complete the cleaning task.

[0132] Specifically, in one embodiment, the minimum distance between the warehouse chamber 113 and the longitudinal middle line is 20 mm.

[0133] As shown in Figure 1 and Figure 2 The middle line that divides the length of the automatic cleaning device along the horizontal axis direction is the horizontal middle line. Figure 1 and Figure 2 In the middle, L2 is the horizontal middle line. The maximum distance between the two ends of the warehouse chamber 113 along the horizontal axis direction and the horizontal middle line is 105-115 mm.

[0134] In which, the horizontal middle line extends in the horizontal plane and perpendicular to the horizontal axis direction, and in turn divides the automatic cleaning device in the horizontal direction into two parts of the same length.

[0135] In which, by setting the warehouse chamber 113 to have a maximum distance of 105-115 mm between the two ends along the horizontal axis direction and the horizontal middle line, it can improve the stability of the device during straight travel and turning, reduce the risk of rollover or loss of control due to unstable center of gravity, and ensure that the automatic cleaning device can move smoothly in various ground environments and complete the cleaning task.

[0136] Specifically, in one embodiment, the maximum distance between the two ends of the warehouse chamber 113 along the horizontal axis direction and the horizontal middle line is 110 mm.

[0137] The center point of the bin chamber 113 in the transverse axis direction is on the transverse center line. That is, the bin chamber 113 is symmetrically distributed relative to the device body 110 in the transverse axis direction. During the operation of the automatic cleaning device, the force on the cleaning device in the transverse axis direction is more balanced. For example, when the device turns, the lateral forces on the left and right walking wheels can be better balanced, reducing the risk of device side slipping or tilting due to uneven force, improving the stability and safety of the device when moving in the transverse axis direction, ensuring that the device can smoothly complete various cleaning tasks, and avoiding the impact on cleaning effect or device damage due to instability.

[0138] By setting the center point of the bin chamber 113 in the transverse axis direction on the transverse center line, the overall center of gravity distribution in the transverse axis direction is optimized. Since the bin chamber 113 contains components such as the mechanical arm 130, the weight distribution has a greater impact on the overall center of gravity of the device. When the center point of the bin chamber 113 is on the transverse center line, the center of gravity of the device in the transverse axis direction is closer to the ideal balance position, making the load on the front and rear wheels more uniform during walking, reducing the problem of excessive wear of the walking wheels or device tilting due to the offset of the center of gravity, further improving the stability and smoothness of the device walking, prolonging the service life of the walking wheels and other components, and reducing the energy consumption during device operation.

[0139] The bin chamber 113 is a rectangular structure, and the length direction is the transverse axis direction. The center point of the bin chamber 113 in the transverse axis direction is on the transverse center line, that is, the left half of the length direction of the bin chamber 113 is arranged in the left half of the automatic cleaning device, and the right half of the length direction of the bin chamber 113 is arranged in the right half of the automatic cleaning device.

[0140] The mechanical arm 130 includes a rotating seat 131, a mechanical hand 135, and a plurality of sequentially articulated arm segments. The rotating seat 131 is arranged on the mounting plate 120. In the plurality of sequentially articulated arm segments, one end of the arm segment is hinged to the rotating seat 131, and the other end of the arm segment is rotatably connected to the mechanical hand 135. When the mechanical arm 130 is stored in the bin chamber 113, at least part of the arm segments are stacked in the bin chamber 113.

[0141] By allowing the plurality of sequentially articulated arm segments to be stacked when stored in the bin chamber 113, the space of the bin chamber 113 is fully utilized, minimizing the space occupied by the mechanical arm 130 in the storage state, avoiding the occupation of too much internal space of the device due to the extension of the mechanical arm 130, and ensuring the compactness of the overall structure. For example, when the device is not performing cleaning operations, the mechanical arm 130 can be neatly stored in the bin chamber 113, without affecting the normal work of other functional components of the device, and without making the device too large to affect its movement and storage in a small space, improving the space utilization and maneuverability of the device.

[0142] When the mechanical arm 130 is accommodated into the warehouse 113, at least part of the arm segments are stacked in the vertical direction in the warehouse 113.

[0143] Specifically, adjacent arm segments are hingedly connected, so that at least part of the hingedly connected arm segments can be folded and attached together.

[0144] The rotating seat 131 is arranged at the middle position of the mounting plate 120, and can be arranged on the middle top surface of the mounting plate 120 in the length direction, thereby ensuring good stability and stable center of gravity.

[0145] When the mechanical arm 130 moves out of the warehouse 113, the mechanical arm 130 in the folded state is unfolded, thereby being capable of grasping objects within a certain range.

[0146] As shown in Figure 11 and Figure 13 The plurality of arm segments include a support arm 132, a connecting arm 133 and a working arm 134 hingedly connected in sequence, the support arm 132 is hingedly connected to the rotating seat 131, the rotating seat 131 can drive the support arm 132 to rotate, and a mechanical hand 135 is rotationally connected to an end of the working arm 134 away from the connecting arm 133.

[0147] By hingedly connecting the support arm 132, the connecting arm 133 and the working arm 134 in sequence, and cooperating with the rotational connection of the rotating seat 131 and the mechanical hand 135, a multi-degree-of-freedom motion system is formed, thereby enabling the mechanical arm 130 to realize complex and diverse motion trajectories in three-dimensional space.

[0148] Specifically, when cleaning obstacles of different positions and shapes on the ground, the rotating seat 131 can drive the support arm 132 to rotate as a whole to adjust the orientation of the mechanical arm 130. The hinged joints between the connecting arm 133, the support arm 132 and the working arm 134 can realize bending and stretching actions, so that the mechanical arm 130 can span a certain distance and height. The rotational connection of the working arm 134 and the mechanical hand 135 facilitates adjustment of the grasping angle of the mechanical hand 135. Through the cooperative work of each arm segment, the mechanical arm 130 can accurately move the mechanical hand 135 to the target position and complete various operations such as grasping, pushing and rotating, thereby greatly improving the ability to cope with complex cleaning scenes, ensuring that obstacles of various shapes and positions can be effectively handled, and improving cleaning efficiency and quality.

[0149] The end of the support arm 132 away from the connecting arm 133 is connected to the rotating seat 131, and the support arm 132, the connecting arm 133 and the working arm 134 are hingedly connected in sequence.

[0150] Specifically, the rotating seat 131 can drive the support arm 132 to rotate, and the rotation axis line in the rotating process is a vertical straight line, which is defined as a first axis line. The rotation axis line of the support arm 132 and the rotating seat 131 is a horizontal straight line, which is defined as a second axis line. The support arm 132 is connected with a lifting driving component, and the lifting driving component is used to drive the support arm 132 to swing up and down around the second axis line. When the support arm 132 is folded to the mounting plate 120, the rotating seat 131 first drives the support arm 132 to rotate around the first axis line, and when the support arm 132 rotates to a position above the folding position on the mounting plate 120, the rotating seat 131 stops rotating, and at this time, the lifting driving component drives the support arm 132 to rotate downward around the second axis line until it stops rotating at the folding position, thereby achieving shielding. The folding position refers to the position of the support arm 132 when it is completely folded to the mounting plate 120.

[0151] As shown in Figure 11 and Figure 13 , the mechanical arm 130 further includes a driving piece 136, which is arranged on the mounting plate 120 and connected with the rotating seat 131 to drive the rotating seat 131 to rotate.

[0152] By arranging the driving piece 136 and connecting it with the rotating seat 131, the rotation of the rotating seat 131 can be accurately controlled. When the mechanical arm 130 is working, the orientation and position of the mechanical hand 135 can be accurately adjusted according to the actual cleaning task requirements. For example, when facing obstacles in different directions or needing to perform cleaning operations at a specific angle, the driving piece 136 can drive the rotating seat 131 to rotate the mechanical arm 130 as a whole, accurately aiming the mechanical hand 135 at the target position, thereby improving the adaptability and operation accuracy of the mechanical arm 130 to complex cleaning scenes.

[0153] In one embodiment, the driving piece 136 includes a motor and a transmission mechanism, which can be a speed reduction gear mechanism. Specifically, the output shaft of the motor is in transmission connection with the rotating seat 131 through the speed reduction gear mechanism, and the rotating seat 131 is provided with a gear, and the gear on the rotating seat 131 is in meshing connection with the output gear of the speed reduction gear mechanism, so as to realize the rotation of the rotating seat 131 driven by the motor, that is, the rotation of the rotating seat 131 driven by the driving piece 136.

[0154] Specifically, when the support arm 132 is unfolded from the mounting plate 120, the lifting driving component drives the support arm 132 to rotate upward around the second axis line as the rotation center, for example, by 90°, so that the support arm 132 is perpendicular to the mounting plate 120, at this time, the mechanical arm has moved out of the warehouse 113. Then the rotating seat 131 drives the support arm 132 to rotate around the first axis line, for example, by 90°, so that the mechanical arm 130 faces the front of the automatic cleaning device, the unfolding action is completed, and the mechanical arm 130 can work. Wherein, the driving piece 136 is arranged on one side of the rotating seat 131, when the support arm 132 is stacked on the mounting plate 120, the support arm 132 rotates and folds to the side away from the driving piece 136.

[0155] Wherein, the driving piece 136 can be a motor.

[0156] When the mechanical arm 130 is stored in the warehouse 113, the support arm 132 is stacked above the mounting plate 120, the driving piece 136 and the support arm 132 are arranged along the transverse axis direction of the device body 110, the connecting arm 133 is stacked above the driving piece 136 and the support arm 132, and the working arm 134 and the manipulator 135 are stacked above the connecting arm 133. The working arm 134 and the manipulator 135 extend along the transverse axis direction of the device body 110 and are arranged in sequence.

[0157] By stacking the mechanical arm 130 in sequence, the space in the vertical direction of the warehouse 113 can be fully utilized. The support arm 132 is stacked above the mounting plate 120, the connecting arm 133 is stacked above the support arm 132 and the driving piece 136, and the working arm 134 and the manipulator 135 are stacked above the connecting arm 133. The mechanical arm 130 occupies the smallest space volume in the storage state, and realizes the compact storage of the mechanical arm 130 in the warehouse 113.

[0158] By stacking the mechanical arm 130 in the above manner, the center of gravity distribution of the automatic cleaning device as a whole can be optimized. Since the support arm 132, the connecting arm 133, the working arm 134 and the manipulator 135 and other components form a relatively stable stacking structure when stored, and are reasonably arranged along the transverse axis direction of the device body 110, the center of gravity of the mechanical arm 130 can be in a relatively stable and reasonable position. The center of gravity distribution of the mechanical arm 130 in the storage state can be coordinated with the center of gravity of the device as a whole, and the problem of center of gravity deviation of the device caused by the storage of the mechanical arm 130 is reduced.

[0159] Specifically, as shown in FIG. 6, the support arm 132 is arranged on one side of the mounting plate 120, and the driving piece 136 is arranged on the other side of the mounting plate 120. Figure 13As shown, the length of the connecting arm 133 is relatively long, so that the connecting arm 133 can be stacked on the driving member 136, the rotating seat 131 and the supporting arm 132 at the same time. The length of the working arm 134 and the manipulator 135 is relatively short, and the working arm 134 is stacked above the connecting arm 133. The working arm 134 and the manipulator 135 are not stacked and are arranged in the same direction. The manipulator 135 is also stacked above the connecting arm 133, and the end of the manipulator 135 away from the working arm 134 can slightly protrude from the range of the connecting arm 133.

[0160] The first joint mechanism 137 is arranged between the supporting arm 132 and the connecting arm 133, and is used to drive the connecting arm 133 to rotate on the supporting arm 132. The second joint mechanism 138 is arranged between the connecting arm 133 and the working arm 134, and is used to drive the working arm 134 to rotate on the connecting arm 133, as shown in Figure 3 As shown, the chamber 113 includes the first accommodating section 1131, the second accommodating section 1132 and the third accommodating section 1133 arranged in sequence along the transverse axis direction of the device body 110. The width of the first accommodating section 1131 and the third accommodating section 1133 is greater than the width of the second accommodating section 1132. When the manipulator 130 is accommodated into the chamber 113, the first joint mechanism 137 is located in the third accommodating section 1133, and the second joint mechanism 138 is located in the first accommodating section 1131.

[0161] As shown in Figure 12 The first joint mechanism 137 is located in the third accommodating section 1133, and the second joint mechanism 138 is located in the first accommodating section 1131. This layout enables the joint mechanisms to be accurately placed in the corresponding positions of the chamber 113 when the manipulator 130 is accommodated, and fully utilizes the space of the chamber 113. Since the first accommodating section 1131 and the third accommodating section 1133 have a relatively large width, sufficient space is provided for the joint mechanisms, avoiding collision or extrusion of the joint mechanisms with the wall of the chamber 113 when the joint mechanisms are accommodated, ensuring that the manipulator 130 can be smoothly accommodated, and improving the stability and safety of the accommodation. At the same time, the adaptation of the joint mechanisms to the space of the chamber 113 also makes the manipulator 130 more compact in the accommodated state, reduces the occupied space volume, and is conducive to maintaining the compactness of the overall structure of the device, facilitating the storage and movement of the device.

[0162] In the storage process, by arranging the first joint mechanism 137 and the second joint mechanism 138 in the wider accommodation sections respectively, the first joint mechanism 137 and the second joint mechanism 138 can be effectively protected, the walls of the warehouse 113 can block the invasion of dust and sundries from the outside, reducing the wear and tear and jam caused by dust accumulation or foreign matter entering the joint, prolonging the service life of the joint mechanism. In addition, the appropriate accommodation space can also prevent the joint mechanism from being damaged by external force impact when the equipment moves or is slightly bumped, improving the reliability of the mechanical arm 130 and reducing the maintenance cost of the equipment.

[0163] The first joint mechanism 137 and the second joint mechanism 138 can include a rotating motor and a speed reduction mechanism, which in turn drives the connected arm segments to rotate.

[0164] Specifically, the motor is connected to the input end of the speed reduction mechanism, and the output end of the speed reduction mechanism is connected to the adjacent arm segment, which in turn drives the connected arm segment to rotate. The speed reduction mechanism can be a harmonic speed reduction mechanism or a planetary gear speed reduction mechanism.

[0165] The warehouse 113 is generally "concave" in horizontal section, and the two wider parts are the first accommodation section 1131 and the third accommodation section 1133, and the narrower part in the middle is the second accommodation section 1132. Since the first joint mechanism 137 and the second joint mechanism 138 are relatively wide, the first joint mechanism 137 and the second joint mechanism 138 are arranged in the wider first accommodation section 1131 and the third accommodation section 1133 respectively, avoiding scratching the warehouse wall. The width of each arm segment between the first joint mechanism 137 and the second joint mechanism 138 is relatively narrow when folded, and is correspondingly arranged in the narrower second accommodation section 1132, reducing the overall space occupied by the warehouse 113.

[0166] It should be noted that the width of the warehouse 113 is the length value of the warehouse 113 along the direction of movement of the automatic cleaning device. The width of each joint mechanism and each arm segment in the mechanical arm 130 is also the length value along the direction of movement of the automatic cleaning device.

[0167] The width of the second accommodation section 1132 is 35mm to 45mm, and / or the width of the first accommodation section 1131 and the third accommodation section 1133 is 50 to 60mm; and / or the length of the second accommodation section 1132 is 110mm to 130mm; and / or the length of the first accommodation section 1131 and the third accommodation section 1133 is 40mm to 60mm.

[0168] The first accommodating section 1131 and the third accommodating section 1133 are set to have a width of 50-60 mm, which provides a suitable space for accommodating the first joint mechanism 137 and the second joint mechanism 138 of the mechanical arm 130, so that the joint mechanisms are not squeezed and have sufficient space for movement when being accommodated. The second accommodating section 1132 is set to have a width of 35-45 mm, which is suitable for the size of the connecting arm 133 and other components, so that the connecting arm 133 can be placed in the space without interference with the wall of the chamber 113, ensuring that the components of the mechanical arm 130 are in order when being accommodated, fully utilizing the space of the chamber 113, and improving the compactness of the accommodation.

[0169] Specifically, in an embodiment, the second accommodating section 1132 has a width of 40 mm, the first accommodating section 1131 and the third accommodating section 1133 have a width of 55 mm, and the second accommodating section 1132 has a length of 120 mm. The first accommodating section 1131 and the third accommodating section 1133 have a length of 50 mm.

[0170] During the deployment and movement of the mechanical arm 130, the above-mentioned size settings can ensure that the joint mechanisms and arm segments of the mechanical arm 130 have sufficient space for rotation, stretching, and other movements when moving, and are not limited by the space of the chamber 113. For example, when the first joint mechanism 137 drives the connecting arm 133 to rotate on the support arm 132, the space of the first accommodating section 1131 can accommodate the movement range of the connecting arm 133, preventing the connecting arm 133 from colliding with the wall of the chamber 113, and ensuring the smoothness and flexibility of the movement of the mechanical arm 130, thereby improving the ability of the mechanical arm 130 to cope with complex cleaning scenarios and enhancing cleaning efficiency.

[0171] When the mechanical arm 130 is accommodated in the chamber 113, the inner side wall of the chamber 113 is adapted to the circumferential outer contour of the mechanical arm 130, and the gap between the inner side wall of the chamber 113 and the circumferential outer contour of the mechanical arm 130 is greater than 2 mm. The bottom of the chamber 113 is adapted to the bottom surface of the mechanical arm 130, and the gap between the bottom of the chamber 113 and the bottom surface of the mechanical arm 130 is greater than 0.5 mm. The chamber opening of the chamber 113 is adapted to the path of the mechanical arm 130.

[0172] By adapting the inner side wall of the chamber 113 to the circumferential outer contour of the mechanical arm 130, it is ensured that the mechanical arm 130 can be accurately placed in the chamber 113 when being accommodated. At the same time, the overall structure of the mechanical arm 130 after being accommodated is more compact, fully utilizing the space of the chamber 113, improving the utilization rate of the internal space of the device, and being conducive to maintaining the stability of the overall structure of the device.

[0173] By making the gap between the bottom of the bin and the bottom surface of the mechanical arm 130 greater than 0.5mm, protection is also provided. On the one hand, it prevents the mechanical arm 130 from being directly in contact with the bottom of the bin due to gravity or device vibration in the storage state, causing wear. On the other hand, if debris or dust enters the bottom of the mechanical arm 130, there is enough space to accommodate it, preventing further damage to the mechanical arm 130 and the bottom of the bin, ensuring the integrity of the internal structure of the bin chamber 113, and facilitating long-term stable operation of the device.

[0174] Among them, the bin chamber 113 is provided with a slope at the bin opening, which can avoid scratching when the mechanical arm 130 passes.

[0175] The center of gravity of the mechanical arm 130 is within the range surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320.

[0176] The mechanical arm 130 has a large weight, so it has a great influence on the overall center of gravity distribution of the automatic cleaning device. By designing the center of gravity of the mechanical arm 130 within the range surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320, the automatic cleaning device can maintain a more reasonable center of gravity position during walking. When the device starts, stops, turns or drives on uneven ground, a stable center of gravity helps to reduce the risk of tilting, shaking or overturning of the device due to the shift of the center of gravity, ensuring that the automatic cleaning device always maintains a stable walking posture, improving the stability and safety of the device, and reducing the possibility of damage due to loss of balance during operation. At the same time, it also enables the driven wheel 330, the first driving wheel 310 and the second driving wheel 320 to more evenly share the weight of the mechanical arm 130 and other components. When the device is in different working states, the load borne by each walking wheel is relatively balanced, avoiding the problem of excessive wear or skidding of the walking wheel due to excessive local stress.

[0177] Among them, the length and mass of each arm segment can be designed through calculation, simulation test and other means, so as to ensure that the center of gravity of the mechanical arm 130 is within the range surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320.

[0178] Among them, in the empty state and under load, the center of gravity of the mechanical arm 130 is within the range surrounded by the driven wheel 330, the first driving wheel 310 and the second driving wheel 320.

[0179] Specifically, under load, the attitude of the mechanical arm 130 can be adjusted by the control system of the mechanical arm 130 to ensure the stability of the center of gravity. When the load is too large and the center of gravity may shift outside the range, the mechanical hand 135 can be controlled to release the object, thereby ensuring the stability of the automatic cleaning device.

[0180] The automatic cleaning device comprises a door body 500 which is movable relative to the device body 110 to open or close the opening of the bin chamber 113.

[0181] By arranging the door body 500 and making the door body 500 movable relative to the device body 110 to open or close the opening, when the door body 500 closes the opening, the bin chamber 113 is relatively closed, which can prevent dust, liquid and the like from the external environment from entering the bin chamber 113, reduce the possibility that the mechanical arm 130 in the bin chamber 113 is polluted by dust or soaked by liquid from the external environment, and be beneficial to prolong the service life of the mechanical arm 130, thereby improving the overall reliability of the cleaning device.

[0182] A touch assembly 210 is arranged around the opening, and the touch assembly 210 is configured to send a signal under mechanical stress. When the door body 500 closes the opening, the touch assembly 210 is between the door body 500 and the device body 110.

[0183] By arranging the touch assembly 210 on the device body 110, the touch assembly 210 is located at the opening, and the touch assembly 210 is configured to send a signal under mechanical stress. Thus, when the mechanical arm 130 is folded and stored in the bin chamber 113 or stretched out of the bin chamber 113, a hand or a foreign object near the opening contacts or collides with the touch assembly 210, so that the touch assembly 210 sends a signal under mechanical stress, which indicates that the touch assembly 210 contacts or collides with the hand or the foreign object, and there is a risk that the hand or the foreign object is clamped at the opening. Therefore, the mechanical arm 130 or the automatic cleaning device can make corresponding actions according to the signal, such as the control device of the automatic cleaning device controls the mechanical arm 130 to stop moving according to the signal, so as to avoid the possibility that the mechanical arm 130 continues to move and clamps the hand or the foreign object at the opening, reduce personal injury or financial loss caused in the process that the mechanical arm 130 stretches out of the bin chamber 113 or is stored in the bin chamber 113, and be beneficial to improve the safety of use of the mechanical arm 130 and improve the satisfaction of users.

[0184] As shown in Figure 14 and Figure 15 , the shape of the touch assembly 210 corresponds to the opening, for example, the opening is generally rectangular, and the touch assembly 210 also corresponds to a square ring structure. The touch assembly 210 is arranged on the side of the opening, that is, the opening is in the space surrounded by the touch assembly 210, that is, the touch assembly 210 is arranged around the opening. When the door body 500 closes the opening, the touch assembly 210 is between the door body 500 and the device body 110. Specifically, the side of the opening is recessed to form a receiving groove, the touch assembly 210 is arranged in the receiving groove, and the door body 500 is pressed on the top of the touch assembly 210 when the door body 500 closes the opening, so that the door body 500 does not protrude from the upper surface of the device body 110.

[0185] The peripheral side of the opening refers to the peripheral area of the opening edge of the chamber 113, that is, a ring-shaped or approximately ring-shaped area is formed around the opening as the center, which covers the boundaries in all directions of the opening.

[0186] In one embodiment, when the door body 500 closes the opening, the door body 500 does not contact the triggering assembly 210, thereby avoiding the triggering assembly 210 being triggered by mistake. In this embodiment, when the door body 500 closes the opening, a gap is left between the door body 500 and the triggering assembly 210, which can be very small, for example, 1-2 mm, which can avoid the door body 500 contacting the triggering assembly 210.

[0187] In one embodiment, when the door body 500 closes the opening, the door body 500 is pressed on the triggering assembly 210, thereby making the triggering assembly 210 receive mechanical stress to send a signal, which can play a role in detecting the position. In this embodiment, the triggering assembly 210 can cooperate with the second position detection member to achieve accurate and stable detection of the door body 500 closing to the position.

[0188] The triggering assembly 210 includes a triggering member 211 and a triggering switch 212. The triggering member 211 is distributed on the peripheral side of the opening, and the triggering member 211 can float relative to the device body 110. The triggering switch 212 is located between the triggering member 211 and the device body 110, so that the triggering member 211 can contact the triggering switch 212 and trigger the triggering switch 212 to send a signal.

[0189] Since the triggering member 211 is distributed on the peripheral side of the opening and can float up and down relative to the device body 110, and the triggering switch 212 is located between the triggering member 211 and the device body 110, for example, the triggering switch 212 is located below the triggering member 211. Thus, when a hand or a foreign object touches or contacts the triggering member 211, the triggering member 211 will float downward relative to the device body 110 and trigger the triggering switch 212 to send a signal, thereby making the mechanical arm 130 stop moving according to the signal, avoiding the possibility that the mechanical arm 130 continues to move and clamps the hand or the foreign object at the opening, reducing the personal injury or financial loss caused by the process of folding and storing the mechanical arm 130 into the arm chamber or extending the mechanical arm 130 out of the arm chamber, which is conducive to improving the safety of the mechanical arm 130 and enhancing the user's satisfaction.

[0190] In this embodiment, the triggering member 211 can float up and down relative to the device body 110, so that the triggering member 211 can move downward to act on the triggering switch 212 and trigger the triggering switch 212 to send a signal after contacting the hand or the foreign object, and the triggering member 211 can move upward to reset to the initial position after the hand or the foreign object leaves the triggering member 211.

[0191] The number of the touch switches 212 is one or more, and the plurality of touch switches 212 are distributed along the circumference of the touch piece 211 between the touch piece 211 and the device body 110, so that different positions of the touch piece 211 can trigger the touch switches 212 to trigger signals when the touch piece 211 is lowered relative to the device body 110, which is conducive to improving the comprehensiveness and accuracy of the anti-pinch detection of the entire touch assembly 210.

[0192] Specifically, the touch switch 212 can be at least one of a mechanical switch, a photoelectric switch, a piezoelectric switch, and a touch switch. It can be understood that when the number of the touch switch 212 is more than one, the plurality of touch switches 212 can be of the same type or different types.

[0193] Specifically, the touch switch 212 can be connected to the device body 110 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and an adhesive.

[0194] As shown in Figure 16 The touch assembly 210 further includes an elastic member 213, a first end of the elastic member 213 being connected to the touch piece 211, and a second end of the elastic member 213 being connected to the device body 110.

[0195] The elastic member 213 connects the touch piece 211 and the device body 110, which can achieve floating connection of the touch piece 211 and the device body 110, so that the touch piece 211 can be lowered to act on the touch switch 212 and trigger the touch switch 212 after contacting with a human hand or a foreign object, and the touch piece 211 can be reset to the initial position under the action of the elastic member 213 when the human hand or the foreign object leaves the touch piece 211.

[0196] Specifically, the elastic member 213 can be a spring, a tension spring, a torsion spring, a spring piece, a springy glue, or other elastic members 213 that meet the requirements.

[0197] Specifically, the number of the elastic member 213 can be one or more, and the plurality of elastic members 213 are distributed along the circumference of the touch piece 211 between the touch piece 211 and the device body 110, so that each part of the touch piece 211 has good floating property with the device body 110 at the corresponding position, which is conducive to improving the uniformity of the entire touch piece 211 floating up and down relative to the device body 110, and improving the comprehensiveness and accuracy of the anti-pinch detection of the entire touch assembly 210.

[0198] Specifically, the first end of the elastic member 213 can be connected to the triggering member 211 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, a hooking structure, and an adhesive. The second end of the elastic member 213 can be connected to the device body 110 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, a hooking structure, and an adhesive.

[0199] As shown in Figure 14 and Figure 15 , the device body 110 is provided with an emergency stop button 220, and the emergency stop button 220 is located on the outer circumferential side of the opening.

[0200] The automatic cleaning device can be provided with an emergency stop module. Specifically, the emergency stop module is arranged on the device body 110 of the automatic cleaning device, and is used at least to control the execution of a safety operation mode of the grabbing member mechanical arm 130. When the automatic cleaning device fails, the emergency stop module can make the mechanical arm power off, stop, and / or the cleaning device walking wheel power off and stop, etc. The emergency stop module includes an emergency stop button 220. The user can start the emergency stop module by touching the emergency stop button 220, so as to make the mechanical arm power off, stop, and / or the cleaning device walking wheel power off and stop, etc. By arranging the emergency stop button 220, the triggering of the emergency stop module is more convenient, the use of the automatic cleaning device is more convenient, the user experience can be improved, and the response efficiency of the emergency stop module can be improved, so as to facilitate timely control of the mechanical arm 130 to execute the safety operation mode.

[0201] The emergency stop button 220 is arranged outside the moving path of the door body 500.

[0202] The door body 500 can avoid blocking the emergency stop button 220 when the door body 500 opens or closes the opening, so that the user cannot touch the emergency stop button 220.

[0203] In one embodiment, when the door body 500 opens the opening, the door body 500 opens backward in the horizontal direction, and the emergency stop button 220 is arranged on the horizontal front side of the opening.

[0204] As shown in Figure 14 and Figure 15 , the device body 110 includes a frame 230, the frame 230 is arranged along the circumference of the opening, and the emergency stop button 220 is arranged on the frame 230.

[0205] Specifically, the upper surface of the device body 110 is concave downward at the opening, forming a sunken recessed area in the circumferential direction of the opening, the recessed area surrounds the opening, the recessed area forms a stepped structure with the upper surface of the device body 110, and the groove depth of the recessed area is close to the thickness of the frame 230. The frame 230 is substantially a square ring structure, and the frame 230 is arranged in the recessed area. Specifically, the bottom of the frame 230 is arranged on the groove bottom of the recessed area, and the top of the frame 230 is substantially flush with the upper surface of the device body 110. After the door body 500 closes the opening, the door body 500 is located in the central space surrounded by the frame 230, and the top of the door body 500 is flush with the top of the frame 230, which ensures good aesthetics.

[0206] The frame 230 is arranged on the top of the chamber 113, so that the top of the device body 110 has more levels and the device body 110 is more beautiful. Further, the frame 230 can be arranged around the area where the mechanical arm 130 extends and is stored, which can play a warning role, reduce the probability of the user touching the working coverage area of the mechanical arm 130, and make the use of the automatic cleaning device safer.

[0207] In this technical solution, the emergency stop button 220 is arranged on the frame 230. Based on this, during the assembly of the automatic cleaning device, the emergency stop button 220 can be arranged on the frame 230 first, and then the frame 230 together with the emergency stop button 220 is connected to the device body 110, which facilitates the rapid assembly of the automatic cleaning device, and makes the emergency stop button 220 closer to the mechanical arm 130. When the automatic cleaning device appears a special working condition, the first reaction of the user is to observe the device body 110, the user can find the emergency stop button 220 closer to the mechanical arm 130 at the first time, and the user can operate the emergency stop button 220 as soon as possible to control the mechanical arm 130 to execute a safe working mode as soon as possible, so that the use of the automatic cleaning device is safer.

[0208] The function adjustment module can be arranged in the automatic cleaning device, and the working mode of the device body 110 can be adjusted through the function adjustment module, so that the control of the device body 110 is more convenient.

[0209] The function adjustment module includes a function adjustment button 240, and the user can start the function adjustment module by touching the function adjustment button 240, so that the triggering of the function adjustment module is more convenient, the use of the automatic cleaning device is more convenient, and the user experience can be improved.

[0210] As shown in Figure 14 and Figure 15 , the function adjustment button 240 is arranged on the outer circumferential side of the door body 500, which is convenient for the user to touch and control.

[0211] The function adjustment button 240 is arranged apart from the emergency stop button 220, that is, there is a certain distance between the function adjustment button 240 and the emergency stop button 220. Based on this, when the automatic cleaning device is in an abnormal working state, the user can identify the emergency stop button 220 in the first time, and can immediately control the mechanical arm 130 to stop working through the emergency stop button 220, which can improve the efficiency of emergency stop response, especially avoid false operation, such as avoiding that the function adjustment button 240 is mistaken for the emergency stop button 220, and can make the use of the automatic cleaning device more safe.

[0212] The function adjustment button 240 is arranged outside the moving path of the door body 500.

[0213] The function adjustment button 240 can be avoided from being blocked by the door body 500 when the door body 500 opens the storage opening, so that the user cannot touch the function adjustment button 240.

[0214] In an embodiment, when the door body 500 opens the storage opening, the door body 500 opens backward in the horizontal direction, and the function adjustment button 240 is arranged in front of the storage opening in the horizontal direction.

[0215] In a second aspect, the present application provides an automatic cleaning system, which comprises a base station and an automatic cleaning device as described above, and the automatic cleaning device is adapted to be docked on the base station.

[0216] It is easy for those skilled in the art to understand that the above advantageous modes can be freely combined and superimposed without conflict.

[0217] The above is only a preferred embodiment of the present application, and does not limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above is only a preferred embodiment of the present application, and it should be pointed out that, for ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, which should be regarded as the protection scope of the present application.

Claims

1. An automatic cleaning apparatus, characterized by, The automatic cleaning device comprises a device body (110) and a mechanical arm (130), the device body (110) is provided with a warehouse (113), the mechanical arm (130) can be accommodated into the warehouse (113), the device body (110) is provided with a plurality of walking wheels, the walking wheels are arranged at the bottom of the device body (110), and the warehouse (113) is arranged between the walking wheels. 2.The automatic cleaning device of claim 1, wherein, The first driving wheel (310) and the second driving wheel (320) are arranged along the transverse axis direction of the device body (110), the warehouse (113) extends along the transverse axis direction, and the projection of the warehouse (113) in the vertical plane where the axis lines of the first driving wheel (310) and the second driving wheel (320) are located is located between the first driving wheel (310) and the second driving wheel (320). 3.The automatic cleaning device of claim 2, wherein, The driven wheel (330) is arranged at the front side of the warehouse (113) in the direction in which the automatic cleaning device travels, and the middle section of the warehouse (113) along the transverse axis direction is located in the range surrounded by the driven wheel (330), the first driving wheel (310) and the second driving wheel (320). 4.The automatic cleaning device of claim 1, wherein, The automatic cleaning device comprises a rolling brush assembly (400), the warehouse (113) is arranged at the front side of the rolling brush assembly (400) in the direction in which the automatic cleaning device travels, and the extension direction of the warehouse (113) is parallel to the extension direction of the rotation axis of the rolling brush assembly (400). 5.The automatic cleaning device of claim 1, wherein, The device body (110) comprises an upper shell (111) and a lower shell (112), the warehouse (113) is formed on the lower shell (112), the warehouse opening of the warehouse (113) is arranged upward, and the upper shell (111) is provided with a through slot corresponding to the warehouse opening, so that the mechanical arm (130) can enter and exit the warehouse (113) through the through slot. 6.The automatic cleaning device of claim 1, wherein, The automatic cleaning device comprises a mounting plate (120), the mounting plate (120) is connected with the mechanical arm (130), the mounting plate (120) is formed with a positioning hole (121) and an assembly hole (122), the warehouse bottom of the warehouse (113) is provided with a positioning piece (140), the positioning piece (140) is used for positioning through the positioning hole (121), and a fastener (150) is connected with the mechanical arm by penetrating the warehouse bottom and the assembly hole (122). 7.The automatic cleaning device according to claim 6, characterized in that, The mounting plate (120) is formed with a clearance (123), and the rotating table of the mechanical arm (130) is located in the clearance (123). 8.The automatic cleaning device of claim 1, wherein, The automatic cleaning device comprises a functional piece, the mechanical arm (130) is connected to the functional piece; The functional piece comprises a power supply or a controller. 9.The automatic cleaning device according to claim 8, characterized in that, The device body (110) comprises a channel (180) leading to the functional part, an open end of the channel (180) leading to the chamber (113), and a cable (170) of the mechanical arm (130) connected to the functional part through the channel (180). 10.The automatic cleaning device according to claim 9, characterized in that, The device body (110) comprises a limiting part (190) connected to or formed on an inner wall of the chamber (113), and the limiting part (190) is used for limiting the cable (170). 11.The automatic cleaning device according to claim 10, characterized in that, The chamber (113) is provided with a fixing groove (200) for accommodating the cable (170), and the limiting part (190) is located above or in the fixing groove (200). 12.The automatic cleaning device of claim 11, wherein, The device body (110) comprises a cover plate (160) connected to an inner wall of the chamber (113) and covering the cable (170), the limiting part (190) and the fixing groove (200). 13.The automatic cleaning device of claim 1, wherein, A longitudinal center line is obtained by equally dividing the length of the automatic cleaning device along the advancing direction, a chamber wall of the chamber (113) close to the longitudinal center line is arranged parallel to the longitudinal center line, and the minimum distance between the chamber wall and the longitudinal center line is 15-25 mm. 14.The automatic cleaning device of claim 1, wherein, A transverse center line is obtained by equally dividing the length of the automatic cleaning device along the transverse axis direction, and the maximum distance between the two ends of the chamber (113) along the transverse axis direction and the transverse center line is 105-115 mm. 15.The automatic cleaning device according to claim 14, characterized in that, The center point of the chamber (113) along the transverse axis direction is on the transverse center line. 16.The automatic cleaning device according to claim 6, wherein, The mechanical arm (130) comprises a rotating seat (131), a mechanical hand (135) and a plurality of sequentially articulated arm segments, the rotating seat (131) is arranged on the mounting plate (120), in the plurality of sequentially articulated arm segments, one end of the arm segment is hinged to the rotating seat (131), and the other end of the arm segment is rotationally connected to the mechanical hand (135), and at least part of the arm segments are overlapped in the chamber (113) when the mechanical arm (130) is accommodated in the chamber (113). 17.The automatic cleaning device according to claim 16, wherein, The plurality of arm segments comprises a support arm (132), a connecting arm (133) and a working arm (134) which are sequentially articulated, the support arm (132) is hinged to the rotating seat (131), the rotating seat (131) can drive the support arm (132) to rotate, and the mechanical hand (135) is rotationally connected to one end of the working arm (134) away from the connecting arm (133). 18.The automatic cleaning device according to claim 17, wherein, The mechanical arm (130) further comprises a driving part (136) arranged on the mounting plate (120), and the driving part (136) is connected to the rotating seat (131) to drive the rotating seat (131) to rotate. 19.The automatic cleaning device according to claim 18, wherein, When the mechanical arm (130) is accommodated into the chamber (113), the support arm (132) is stacked above the mounting plate (120), the driving member (136) and the support arm (132) are arranged along the transverse axis direction of the device body (110), the connecting arm (133) is stacked above the driving member (136) and the support arm (132), and the working arm (134) and the mechanical hand (135) are stacked above the connecting arm (133), and the working arm (134) and the mechanical hand (135) extend along the transverse axis direction of the device body (110) and are arranged in sequence. 20.The automatic cleaning device of claim 17, wherein, A first joint mechanism (137) is arranged between the support arm (132) and the connecting arm (133) and is used to drive the connecting arm (133) to rotate on the support arm (132), a second joint mechanism (138) is arranged between the connecting arm (133) and the working arm (134) and is used to drive the working arm (134) to rotate on the connecting arm (133), the chamber (113) comprises a first accommodating section (1131), a second accommodating section (1132) and a third accommodating section (1133) arranged in sequence along the transverse axis direction of the device body (110), the widths of the first accommodating section (1131) and the third accommodating section (1133) are greater than the width of the second accommodating section (1132), when the mechanical arm (130) is accommodated into the chamber (113), the first joint mechanism (137) is located in the third accommodating section (1133), and the second joint mechanism (138) is located in the first accommodating section (1131). 21.The automatic cleaning device according to claim 20, wherein, The width of the second accommodating section (1132) is 35mm to 45mm; and / or, The widths of the first accommodating section (1131) and the third accommodating section (1133) are 50mm to 60mm; and / or, The length of the second accommodating section (1132) is 110mm to 130mm; and / or, The lengths of the first accommodating section (1131) and the third accommodating section (1133) are 40mm to 60mm. 22.The automatic cleaning device according to claim 3, wherein, When the mechanical arm (130) is accommodated into the chamber (113), the inner side wall of the chamber (113) is matched with the circumferential outer contour of the mechanical arm (130), the gap between the inner side wall of the chamber (113) and the circumferential outer contour of the mechanical arm (130) is greater than 2mm, the bottom of the chamber (113) is matched with the bottom surface of the mechanical arm (130), the gap between the bottom of the chamber (113) and the bottom surface of the mechanical arm (130) is greater than 0.5mm, and the chamber opening of the chamber (113) is matched with the path passed by the mechanical arm (130). 23.The automatic cleaning device according to claim 3, characterized in that, The center of gravity of the mechanical arm (130) is located in the range surrounded by the driven wheel (330), the first driving wheel (310) and the second driving wheel (320). 24.The automatic cleaning device of claim 16, wherein, The mounting plate (120) is long and extends along the lateral axis of the device body (110), and the rotating seat (131) is arranged on the top surface of the middle part of the mounting plate (120) in the length direction. 25.The automatic cleaning device according to claim 1, wherein, The automatic cleaning device comprises a door body (500) which is movable relative to the device body (110) to open or close the chamber opening of the chamber (113).

26. The automatic cleaning device of claim 25, wherein, A touch assembly (210) is arranged around the chamber opening, and the touch assembly (210) is configured to send a signal under mechanical stress. When the door body (500) closes the chamber opening, the touch assembly (210) is between the door body (500) and the device body (110).

27. The automatic cleaning device of claim 26, wherein, The touch assembly (210) comprises a touch piece (211) and a touch switch (212). The touch piece (211) is distributed around the chamber opening, and the touch piece (211) is movable relative to the device body (110). The touch switch (212) is between the touch piece (211) and the device body (110), so that the touch piece (211) can contact the touch switch (212) and trigger the touch switch (212) to send a signal.

28. The automatic cleaning device of claim 27, wherein, The touch assembly (210) further comprises an elastic piece (213). The first end of the elastic piece (213) is connected to the touch piece (211), and the second end of the elastic piece (213) is connected to the device body (110). 29.The automatic cleaning device according to claim 25, wherein, An emergency stop button (220) is arranged on the device body (110) and located outside the periphery of the chamber opening. 30.The automatic cleaning device according to claim 29, wherein, The emergency stop button (220) is arranged outside the moving path of the door body (500). 31.The automatic cleaning device according to claim 29, wherein, The device body (110) comprises a frame (230) arranged around the chamber opening, and the emergency stop button (220) is arranged on the frame (230).

32. The automatic cleaning device of claim 25, wherein, A function adjustment button (240) is arranged on the device body (110) outside the periphery of the door body (500).

33. The automatic cleaning device of claim 32, wherein, The function adjustment button (240) is arranged outside the moving path of the door body (500).

34. An automated cleaning system characterized by, The automatic cleaning device comprises a base station and a function adjustment button (240) arranged on the device body (110) outside the periphery of the door body (500).

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