A cleaning apparatus and cleaning system
By designing the robotic arm to be housed in a storage cavity at the front of the machine body in the cleaning equipment, and by utilizing multi-axis drive and extension arm assembly, the problems of flexibility and efficiency caused by the increase in the length of the robotic arm are solved, achieving more efficient, stable and durable cleaning operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 麦悦未来智能科技(苏州)有限公司
- Filing Date
- 2025-06-17
- Publication Date
- 2026-06-12
AI Technical Summary
The increased length of robotic arms in cleaning equipment due to their installation location being far from the operating space affects flexibility and cleaning efficiency, and makes them susceptible to damage from collisions.
The robotic arm is designed to be housed in a storage cavity at the front of the machine body. It achieves three-dimensional motion through a multi-axis drive device and an extension arm assembly. Combined with anti-collision plate protection, the extension, retraction, and posture adjustment of the robotic arm are optimized.
Reduce the overall length and weight of the robotic arm, improve operational flexibility and cleaning efficiency, enhance equipment stability and durability, and adapt to the cleaning needs of complex environments.
Smart Images
Figure CN224344848U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of cleaning equipment technology, specifically to a cleaning device and a cleaning system. Background Technology
[0002] In the robotic arm control system of cleaning equipment, the robotic arm is typically used to perform specific cleaning tasks to improve cleaning efficiency and coverage. The robotic arm is usually positioned at the top center of the cleaning equipment. After unfolding from the equipment's storage space, the robotic arm needs to extend from the top of the machine before reaching into the operating space to perform the cleaning task. Within the same operating space, the greater distance between the robotic arm's mounting position on the cleaning equipment and its operating space results in a longer overall length, increasing its weight and design complexity, and impacting its flexibility and cleaning efficiency. Utility Model Content
[0003] In view of the above-mentioned shortcomings, this disclosure provides a cleaning device and cleaning system to improve the technical problems of the robotic arm's installation position being far from the robotic arm's operating space and the overall design of the robotic arm being long, which affects the robotic arm's flexibility and cleaning efficiency.
[0004] To achieve the above and other related objectives, the first aspect of this disclosure provides a cleaning device, which includes a body, a storage cavity, and a robotic arm. The storage cavity is disposed within the body, and a mounting base is provided within the storage cavity. The robotic arm is connected to the mounting base and has a retracted state within the storage cavity and a working state extending from the storage cavity to perform operations. In the retracted state, the robotic arm is located in the front region of the body; in the working state, the robotic arm extends from the side wall region of the front of the body to the outside of the storage cavity.
[0005] In the above technical solution, the mounting base of the cleaning equipment is connected to the robotic arm, and the robotic arm is located in the front area of the machine body when retracted. This significantly shortens the distance between the mounting base and the operating space of the robotic arm, thereby effectively reducing the overall length of the robotic arm. While meeting the same operating space and load requirements, this reduces the overall weight, design complexity, and power requirements for driving the robotic arm. The reduced overall length of the robotic arm significantly improves its operational flexibility in complex areas, enabling more precise cleaning operations and further enhancing cleaning effectiveness and efficiency. Furthermore, in the working state, the robotic arm extends from the front side wall area of the machine body to the outside of the retracted cavity. The robotic arm can adapt to the cleaning needs of low-ceilinged spaces, while the overall center of gravity of the cleaning equipment is lowered, providing sufficient downforce and improving the overall stability of the cleaning equipment when moving on the ground.
[0006] In one embodiment of the cleaning device disclosed herein, the machine body further includes a crash barrier, which is disposed on the side wall region of the front side of the machine body. A storage cavity is located within the included angle region corresponding to the crash barrier. An opening is provided on the crash barrier, and in the working state, a robotic arm extends from the storage cavity through the opening to perform its work.
[0007] In the above technical solution, the anti-collision plate is located on the side wall area at the front of the machine body. This effectively absorbs and disperses collision energy that the cleaning equipment may encounter during the cleaning process, improving the durability of the cleaning equipment and reducing the risk of equipment damage due to collisions. The storage cavity is located within the included angle area corresponding to the anti-collision plate, providing additional protection for the robotic arm in its retracted state, preventing it from being subjected to external impacts during storage, and extending the service life of the robotic arm. Furthermore, the openings on the anti-collision plate ensure that the robotic arm can smoothly extend into its working state.
[0008] In one embodiment of the cleaning equipment disclosed herein, the robotic arm includes a first drive device, a first arm, a second drive device, a second arm, and an actuator. The first drive device is disposed on a mounting base and includes a first power output end. The first arm is connected to the first power output end and rotates about a first axis under the drive of the first power output end. The second drive device is disposed on the first arm and includes a second power output end. The second arm is connected to the second power output end and rotates about a second axis under the drive of the second power output end. The actuator is connected to the second arm. The first axis is along the height of the robotic arm, and the first axis and the second axis are perpendicular to each other.
[0009] In the above technical solution, the first axis is the height direction of the machine body. The first drive device drives the first arm to rotate around the first axis, causing the actuator of the robotic arm to rotate horizontally out of the machine body from the storage cavity. The second axis is perpendicular to the first axis. The second drive device drives the second arm to rotate around the second axis, allowing the actuator extending out of the machine body to adjust its height. The rotation design of the robotic arm around the first and second axes allows the cleaning equipment to flexibly adjust its posture, adapting to the cleaning needs of both low-ceilinged and high-ceilinged spaces, effectively expanding the operating space range of the robotic arm and improving the operational flexibility of the cleaning equipment in complex environments.
[0010] In one embodiment of the cleaning equipment disclosed herein, the robotic arm further includes a third driving device disposed on the second arm. The third driving device includes a third power output end. The third power output end is connected to an actuator to drive the actuator to rotate about a third axis. In the working state, the third axis is perpendicular to both the first axis and the second axis.
[0011] In the above technical solution, the three orthogonal degrees of freedom—the first, second, and third axes—enable the robotic arm to achieve omnidirectional movement in three-dimensional space, expanding its operating space and covering a wider cleaning area. Simultaneously, the robotic arm can flexibly adjust the actuator's posture through the coordinated movement of these three orthogonal degrees of freedom, improving adaptability to complex environments and achieving precise positioning and operation. The actuator's rotation around the third axis allows for adjustment of its working angle, enhancing positioning and operational accuracy, increasing its working capacity, and further improving the operational flexibility and adaptability of the cleaning equipment.
[0012] In one embodiment of the cleaning equipment disclosed herein, the robotic arm further includes an extension arm assembly, and the second arm is connected to the actuator via the extension arm assembly.
[0013] In the above technical solution, the extension arm assembly effectively extends the overall length of the robotic arm. During the cleaning process, the actuator can reach a greater distance, allowing the robotic arm to operate in a wider range of spaces, reducing the number of times the robotic arm needs to move, and improving the cleaning efficiency of the cleaning equipment.
[0014] In one embodiment of the cleaning equipment disclosed herein, the extended arm assembly includes a first extended arm, a fourth drive device, and a second extended arm. The first extended arm is rotatably connected to the second arm about a third axis. The fourth drive device is disposed on the first extended arm and includes a fourth power output end. The second extended arm is connected to the fourth power output end and rotates about the fourth axis under the drive of the fourth power output end. In the working state, the fourth axis is parallel to the first axis, and the second extended arm is connected to an actuator.
[0015] In the above technical solution, the fourth power output end of the fourth drive device drives the second extended arm to rotate around the fourth axis, increasing the rotational freedom of the robotic arm and further enhancing the flexibility of the actuator at the end of the robotic arm and the overall robotic arm. The robotic arm can achieve more complex motion trajectories in three-dimensional space and cover a wider operating area. The combination of the first and second extended arms extends the effective length of the robotic arm, enabling the actuator to reach a greater distance, improving the operating accuracy and operating range of the robotic arm, and enhancing the environmental adaptability of the robotic arm.
[0016] In one embodiment of the cleaning equipment disclosed herein, the extended arm assembly further includes a fifth driving device, which is disposed on the second extended arm and includes a fifth power output end. The fifth power output end is connected to the fourth power output end to drive the second extended arm to rotate about a fifth axis.
[0017] In the above technical solution, the fifth drive device drives the second extension arm to rotate around the fifth axis, which not only provides the robotic arm with new rotational degrees of freedom, improving its operational accuracy and range, and enhancing its environmental adaptability, but also allows the extension arm assembly to fold more compactly in the storage state, significantly reducing the volume occupied by the extension arm assembly in the storage cavity. This multi-folding and rotational design further improves the balance between space occupation, operational range, and operational flexibility of the robotic arm.
[0018] In one embodiment of the cleaning device disclosed herein, the actuator includes a frame, a sixth drive device, a first clamping part, a seventh drive device, and a second clamping part. The sixth drive device and the seventh drive device are respectively disposed on the frame. The sixth drive device is connected to the first clamping part to drive the first clamping part to rotate relative to the frame. The seventh drive device is connected to the second clamping part to drive the second clamping part to rotate relative to the frame.
[0019] In the above technical solution, the sixth driving device and the seventh driving device drive the first clamping part and the second clamping part independently, so that the two clamping parts can adjust their angle and position independently, thereby achieving more flexible clamping operation, improving the working capacity of the actuator, and enabling the actuator to complete the task more efficiently during the cleaning process.
[0020] In one embodiment of the cleaning device disclosed herein, an opening is provided in the side wall region on the front side of the main body. In the retracted state, the first clamping part and the second clamping part cover the opening.
[0021] In the above technical solution, the first clamping part and the second clamping part can serve as working components when the cleaning equipment performs cleaning tasks. At the same time, the first clamping part and the second clamping part cover the opening, making the equipment more convenient for portability or storage and preventing damage to the internal structure of the robotic arm due to exposed openings. This also simplifies the structural design of the machine body, eliminating the need for new cover plates and opening / closing structures to cover or block the openings, thus reducing design costs.
[0022] In one embodiment of the cleaning device disclosed herein, the cleaning device further includes a sensing module, which is installed in the front area of the device body, and the mounting base is located on the side of the sensing module.
[0023] In the above technical solution, the sensing module is located in the front area of the machine body. When the cleaning equipment is working, the sensing module can perceive the environmental information in the operating space of the robotic arm in real time, providing more accurate feedback for the operation of the robotic arm. The operation of the robotic arm in the operating space is more intelligent, and it can adjust the cleaning strategy in a timely manner according to the environmental changes detected by the sensing module.
[0024] A second aspect of this disclosure provides a cleaning system comprising the aforementioned cleaning equipment and a base station adapted to the cleaning equipment.
[0025] In the above technical solution, by adopting the aforementioned cleaning equipment, the overall weight, design complexity, space occupation, and power requirements for driving the robotic arm are reduced while meeting the same operating space and load requirements. Furthermore, the design of storing the robotic arm in the storage cavity does not affect its compatibility with existing base stations, ensuring the overall synergy and portability of the cleaning system.
[0026] In the cleaning equipment and system disclosed herein, a mounting base for the cleaning equipment is connected to a robotic arm, which, in its retracted state, is located in the front area of the machine body. This significantly shortens the distance between the mounting base and the robotic arm's operating space, thereby effectively reducing the overall length of the robotic arm. While meeting the same operating space and load requirements, this reduces the overall weight, design complexity, and power requirements for driving the robotic arm. The reduced overall length of the robotic arm significantly improves its operational flexibility in complex areas, enabling more precise cleaning actions and further enhancing cleaning effectiveness and efficiency. Furthermore, in its working state, the robotic arm extends from the front side wall of the machine body to the outside of the retracted cavity, allowing it to adapt to cleaning needs in low-ceilinged spaces. Simultaneously, the lowered center of gravity of the cleaning equipment provides sufficient downforce, improving the overall stability of the cleaning equipment when moving on the ground. Attached Figure Description
[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.
[0028] Figure 1 This is a schematic diagram of the robotic arm in working condition in one embodiment of the cleaning equipment of this disclosure;
[0029] Figure 2 This is a schematic diagram of the robotic arm in a retracted state in one embodiment of the cleaning equipment disclosed herein;
[0030] Figure 3 This is an exploded view of the body and robotic arm of the cleaning equipment disclosed herein in one embodiment, in the working state;
[0031] Figure 4 This is an exploded view of the cleaning device of this disclosure in a retracted state, showing the body and robotic arm in one embodiment.
[0032] Figure 5 This is a schematic diagram of the front area of the body of a cleaning device according to an embodiment of the present disclosure;
[0033] Figure 6This is a schematic diagram of an angle structure of a robotic arm in one embodiment of the cleaning equipment disclosed herein;
[0034] Figure 7 This is a schematic diagram of the robotic arm from another angle in one embodiment of the cleaning equipment disclosed herein;
[0035] Figure 8 This is a schematic diagram of the third drive device and its installation structure in one embodiment of the cleaning equipment disclosed herein;
[0036] Figure 9 This is a schematic diagram of the fourth drive device and its installation structure in one embodiment of the cleaning equipment disclosed herein;
[0037] Figure 10 This is a schematic diagram of the fifth drive device and its installation structure in one embodiment of the cleaning equipment disclosed herein;
[0038] Figure 11 This is a schematic diagram of the actuator structure in one embodiment of the cleaning equipment disclosed herein.
[0039] Component designation explanation:
[0040] 10. First axis; 20. Second axis; 30. Third axis; 40. Fourth axis; 50. Fifth axis; 100. Body; 110. Storage cavity; 120. Mounting base; 130. Anti-collision plate; 131. Opening; 200. Robotic arm; 210. First drive device; 211. First power input end; 212. First power output end; 220. First arm; 230. Second drive device; 231. Second power input end; 232. Second power output end; 240. Second arm; 250. Actuator; 251. Frame; 2511. First frame; 2512. 252. Sixth drive unit; 253. First clamping part; 254. Seventh drive unit; 255. Second clamping part; 256. Eighth drive unit; 260. Third drive unit; 261. Third power input end; 262. Third power output end; 270. Extension arm assembly; 271. First extension arm; 272. Fourth drive unit; 2721. Fourth power input end; 2722. Fourth power output end; 273. Second extension arm; 274. Fifth drive unit; 2741. Fifth power input end; 2742. Fifth power output end; 300. Sensing module. Detailed Implementation
[0041] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of this disclosure is for describing specific implementation schemes and not for limiting the scope of protection of this disclosure. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.
[0042] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in this disclosure, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this disclosure and the description of this disclosure by those skilled in the art can be implemented using any methods, apparatus, and materials similar to or equivalent to those in the embodiments of this disclosure.
[0043] It should be noted that the terms such as "upper", "lower", "left", "right", "middle" and "one" used in this specification are only for clarity of description and are not intended to limit the scope of this disclosure. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this disclosure.
[0044] Please see Figures 1 to 11 This disclosure provides a cleaning device and a cleaning system. The cleaning device can be a vacuum cleaner, a floor scrubber, or a robotic vacuum cleaner, but is not limited to these. Taking a robotic vacuum cleaner as an example, please refer to [link to relevant documentation]. Figure 1The cleaning equipment includes a body 100, a storage cavity 110, and a robotic arm 200. The body 100 is the main structure of the cleaning equipment, serving as its core framework and supporting key components and functional modules. The storage cavity 110 is located within the body 100. The structure and shape of the storage cavity 110 are not limited; it can be any suitable structure capable of housing the robotic arm 200. A mounting base 120 is provided within the storage cavity 110. The mounting base 120 serves as the connecting component for mounting the robotic arm 200 within the storage cavity 110. The mounting connection position between the mounting base 120 and the robotic arm 200 determines the length of the robotic arm 200 extending beyond the body 100. Given a fixed design length for the robotic arm 200, the closer the mounting connection position of the mounting base 120 is to the front of the body 100, the longer the extension path of the robotic arm 200 outside the body 100, and the larger the operating space of the robotic arm 200 outside the body 100. The mounting base 120 and the robotic arm 200 can be detachably connected or integrally fixedly connected, but are not limited to this.
[0045] Please see Figure 1 and Figure 2 The robotic arm 200 is detachably and fixedly connected to the mounting base 120. The robotic arm 200 has a retracted state (stored within the storage cavity 110) and a working state (extending out of the storage cavity 110 to perform cleaning operations). In the retracted state, the robotic arm 200 can be stored in the storage cavity 110 by folding, rotating, or extending, or a combination thereof, reducing its footprint outside the main body 100 and ensuring portability of the cleaning equipment during storage and transport. When the robotic arm 200 needs to enter the working state, it extends from its mounting position with the mounting base 120 outside the main body 100 and enters the operating space in front of the main body 100 in the direction of travel to perform cleaning work.
[0046] Please see Figure 2 and Figure 5In its retracted state, the robotic arm 200 of this cleaning device is located in the front area of the body 100, specifically at the connection point between the mounting base 120 and the robotic arm 200. The robotic arm 200 can be located in the left or right front area of the body 100's direction of travel, but is not limited to this. It should be noted that the front area of the body 100, taking a circular structure as an example, is defined as the center or center of gravity of the body 100 as the center of the circle, and the direction of travel of the body 100 is the radial direction corresponding to the 12 o'clock position of the center. This area is a fan-shaped or semi-circular region formed by rotating the body 100 no more than 90° to the left or right in its direction of travel. The area of the body 100 corresponding to this fan-shaped or semi-circular region is defined as the front area of the body 100. The robotic arm 200 significantly shortens the straight-line distance between the mounting base 120 and the operating space of the robotic arm 200, thereby effectively reducing the overall design length of the robotic arm 200. While meeting the same operating space and load requirements, reducing the overall length of the robotic arm 200 lowers its overall weight, design complexity, and power requirements. This reduced overall length significantly improves the robotic arm 200's operational flexibility in complex areas, enabling more precise cleaning actions and further enhancing cleaning effectiveness and efficiency.
[0047] Please see Figure 1 In the working state, the robotic arm 200 extends from the front side wall area of the main body 100 to the outside of the storage cavity 110. The front side wall area of the main body 100 is the side wall of the front part of the main body 100 along the height direction. In the retracted state, the robotic arm 200 can retract from the front side wall area of the main body 100 into the storage cavity 110, thereby reducing the space occupied by the robotic arm 200 outside the main body 100 and ensuring that the overall height of the cleaning equipment remains unchanged. At the same time, the robotic arm 200 extending from the front side wall area of the main body 100 to the outside of the storage cavity 110 in the working state can adapt to the cleaning needs of low spaces. In addition, the overall center of gravity of the cleaning equipment is lowered, providing sufficient downforce for the cleaning equipment and improving the overall stability of the cleaning equipment when moving on the ground. When the cleaning equipment is a robot vacuum cleaner, it can also improve the mopping ability of the robot vacuum cleaner.
[0048] Please see Figure 1 and Figure 5In one embodiment of the cleaning equipment disclosed herein, the body 100 further includes a crash barrier 130, which is disposed on the side wall region at the front of the body 100. The crash barrier 130 can effectively absorb and disperse the collision energy that the cleaning equipment may encounter during the cleaning process, improve the durability of the cleaning equipment, and reduce the risk of equipment damage caused by collisions. The storage cavity 110 is located within the included angle region corresponding to the crash barrier 130, that is, the storage cavity 110 is located within the body 100 in the included angle region. An opening 131 is provided on the crash barrier 130, which serves as a through channel for the robotic arm 200 to achieve the working state or the storage state, and the opening 131 connects the storage cavity 110 and the outside of the body 100. Specifically, please refer to Figure 5 The included angle area corresponding to the anti-collision plate 130 is, taking the body 100 of the cleaning equipment as a circular structure as an example, on one side of the body 100 in the direction of travel of the cleaning equipment, the anti-collision plate 130 at least surrounds and covers part of the front side wall area of the body 100. The included angle area is the area of the body 100 corresponding to the fan-shaped or semi-circular area formed by the center of gravity or center of the cleaning equipment and the two ends of the anti-collision plate 130. The included angle of the included angle area can be any angle within 180°, and there is no restriction here, as long as it can satisfy the requirement that the storage cavity 110 is close to the front side wall area of the body 100, so that the robotic arm 200 can extend from the storage cavity 110 through the opening 131 to work in the working state. For example, with the traveling direction of the body 100 as the axis, the area enclosed by a 60° angle to the left or right of the traveling direction can be the setting area of the storage cavity 110. This allows the robotic arm 200 to quickly extend outside the body 100 and enter the operating space, while reducing the overall weight, design length, and power requirements of the robotic arm 200 to operate, while meeting the same operating space and load requirements. Furthermore, the anti-collision plate 130 is set in the side wall area on the front side of the body 100, and the storage cavity 110 is located in the corresponding angle area of the anti-collision plate 130, which provides additional protection for the robotic arm 200 in the stored state, preventing the robotic arm 200 from being subjected to external impacts during storage and extending the service life of the robotic arm 200.
[0049] Please see Figure 6 and Figure 7In one embodiment of the cleaning equipment disclosed herein, the robotic arm 200 includes a first drive device 210, a first arm 220, a second drive device 230, a second arm 240, and an actuator 250. The first drive device 210 is the core power source of the robotic arm 200, driving the entire robotic arm 200 to rotate around a first axis 10. The first drive device 210 is mounted on a mounting base 120 and includes a first power input end 211 and a first power output end 212. The first power input end 211 provides the source power for the rotation of the first arm 220. The first power input end 211 can be a commonly used power supply device such as a motor, servo motor, or servo motor. The first power input end 211 can be directly connected to the first power output end 212, or it can be connected to the first power output end 212 through a commonly used mechanical transmission structure, such as a gear transmission structure, a chain transmission structure, or a worm gear transmission structure, to realize power transmission. The first power output end 212 is connected to the first arm 220, and the first power input end 211 transmits the source power to the first power output end 212, driving the first power output end 212 to rotate. The first power output end 212 is fixedly connected to the first arm 220, thereby driving the first arm 220 to rotate around the first axis 10. The first axis 10 is the height direction of the body 100. When the first arm 220 rotates around the first axis 10, the actuator 250 of the robotic arm 200 is horizontally rotated out of the storage cavity 110 to the outside of the body 100. The horizontal rotation design ensures that the extension of the robotic arm 200 does not affect the overall height of the cleaning equipment, and the cleaning equipment and robotic arm 200 can adapt to the cleaning needs of low spaces.
[0050] Please see Figure 7The second drive device 230 is fixedly installed on the first arm 220. The second drive device 230 includes a second power input end 231 and a second power output end 232. The second power input end 231 can be a common power supply device such as a motor, servo motor, or servo motor, providing the source power for the rotation of the second arm 240 around the second axis 20. The second power output end 232 is fixedly connected to the second power input end 231 and the second arm 240 respectively to transmit power to the second arm 240. Specifically, in this embodiment, the second power input end 231 is a motor, which is fixedly installed on the first arm 220. The second power output end 232 is a connecting rod, with the output shaft of the motor fixedly connected to the connecting rod, and the connecting rod fixedly connected to the second arm 240. The second power input end 231 drives the second power output end 232 to rotate, thereby driving the second arm 240 to rotate around the second axis 20. The actuator 250 can be directly installed on the second arm 240, or it can be indirectly connected to the actuator 250 through an extension arm structure, which can be determined comprehensively according to the design length of the robotic arm 200. The second axis 20 is perpendicular to the first axis 10. The second arm 240 rotates around the second axis 20 to adjust the position of the actuator 250 in the height direction of the body 100, thereby enabling the robotic arm 200 to meet cleaning needs in high-level spaces. This effectively expands the operating space of the robotic arm 200 in the height direction of the body 100, improving the operational flexibility and cleaning ability of the cleaning equipment in complex environments. The actuator 250 of the robotic arm 200 can be a sweeping module, vacuuming module, nozzle module, gripping module, mopping module, etc., but is not limited to these; it can be specifically selected according to the functional design needs of the cleaning equipment.
[0051] Please see Figure 8In one embodiment of the cleaning equipment disclosed herein, the robotic arm 200 further includes a third drive device 260, which is a power supply device for the actuator 250 to rotate around a third axis 30. The third drive device 260 is mounted on the second arm 240. The third drive device 260 includes a third power input end 261 and a third power output end 262. The third power input end 261 is fixedly installed inside the second arm 240 and is connected to the third power output end 262 to transmit power to the third power output end 262. In one embodiment, the third power input end 261 includes a motor (not shown) for providing a power source and a worm gear assembly for transmitting power. The worm gear assembly's worm wheel is coaxially and fixedly connected to the third power output end 262 to drive the third power output end 262 to rotate. The third power output end 262 is rotatably mounted on the second arm 240 and fixedly connected to the actuator 250. The self-locking characteristic of the worm gear assembly enables reverse self-locking, ensuring the stability of the actuator 250 during rotation around the third axis 30. The third power output end 262 can be directly and fixedly connected to the actuator 250, or indirectly and fixedly connected to the actuator 250 through an extension arm structure. The third power input end 261 drives the third power output end 262 to rotate, thereby causing the actuator 250 to rotate around the third axis 30. In the working state, the third axis 30 of the robotic arm 200 is perpendicular to both the first axis 10 and the second axis 20. That is, when the robotic arm 200 is in working state, the three orthogonal degrees of freedom of the first axis 10, the second axis 20, and the third axis 30 enable the robotic arm 200 to achieve omnidirectional movement in three-dimensional space, allowing it to expand its operating space and cover a wider cleaning area. Simultaneously, the robotic arm 200 can flexibly adjust the actuator's posture through the coordinated movement of the three orthogonal degrees of freedom, improving its adaptability to complex environments and achieving precise positioning and operation. The actuator 250 rotates around the third axis 30 to adjust the working angle of the actuator 250, thereby improving the positioning and operation accuracy of the actuator 250, enhancing the working capacity of the actuator 250, and further improving the operational flexibility and adaptability of the cleaning equipment.
[0052] Please see Figure 9 In one embodiment of the cleaning equipment disclosed herein, the robotic arm 200 further includes an extension arm assembly 270, through which the second arm 240 is connected to the actuator 250. The extension arm assembly 270 effectively extends the overall extension length of the robotic arm 200. During the cleaning process, the actuator 250 can reach a greater distance, allowing the robotic arm 200 to operate in a wider range of spaces, reducing the number of times the robotic arm 200 needs to move, and improving the cleaning efficiency of the cleaning equipment. The extension arm assembly 270 can be a single extension arm or a combination of multiple extension arms, and can be configured according to the extension length requirements of the robotic arm 270 and the storage space of the storage cavity 110.
[0053] Please see Figure 9 In one embodiment of the cleaning equipment disclosed herein, the extended arm assembly 270 employs a combination structure of multiple extended arms. The extended arm assembly 270 includes a first extended arm 271, a fourth drive device 272, and a second extended arm 273. The first extended arm 271 is fixedly connected to a third power output end 262. Driven by the third power input end 261, the third power output end 262 drives the first extended arm 271 to rotate around a third axis 30, thereby driving the second extended arm 273 and the actuator 250 to rotate synchronously around the third axis 30. The fourth drive device 272 is disposed in the first extended arm 271, and provides power for the second extended arm 273 to rotate around a fourth axis 40. The fourth drive device 272 includes a fourth power input end 2721 and a fourth power output end 2722. Specifically, the fourth power input end 2721 is a motor and is fixedly installed inside the first extended arm 271. The output shaft of the fourth power input end 2721 is fixedly connected to the fourth power output end 2722, which is a connecting rod. The fourth power output end 2722 is connected to the second extended arm 273. In the working state, the fourth axis 40 of the robotic arm 200 is parallel to the first axis 10. The fourth power input end 2721 drives the second extended arm 273 to rotate through the fourth power output end 2722, thereby enabling the second extended arm 273 to rotate around the fourth axis 40, increasing the rotational freedom of the robotic arm 200. The second extended arm 273 is connected to the actuator 250, further enhancing the flexibility of the actuator 250 and the robotic arm 200 as a whole. The robotic arm 200 can achieve more complex motion trajectories in three-dimensional space, covering a wider operating area. The combination of the first extended arm 271 and the second extended arm 273 extends the effective length of the robotic arm 200, allowing the actuator 250 to reach greater distances, increasing the operating range of the robotic arm 200, and enhancing its environmental adaptability.
[0054] Please see Figure 10In one embodiment of the cleaning equipment disclosed herein, the extended arm assembly 270 further includes a fifth drive device 274, which is disposed in the second extended arm 273. The fifth drive device 274 provides power for the rotation of the second extended arm 273 around the fifth axis 50. The fifth drive device 274 includes a fifth power input end 2741 and a fifth power output end 2742. The fifth power input end 2741 includes a motor (not shown) and a worm gear assembly. The motor is fixedly installed inside the second extended arm 273, and the output shaft of the motor is connected to the worm gear, which drives the worm wheel to rotate. The fifth power output end 2742 is a transmission shaft, which is rotatably connected to the second extended arm 273. The worm wheel and the fourth power output end 2722 are coaxially fixed to the fifth power output end 2742. The worm gear rotates, causing the fifth power output end 2742 and the fourth power output end 2722 to rotate synchronously around the fifth axis 50. This means the second extension arm 273 rotates relative to the fourth power output end 2722 around the fifth axis 50. The fifth drive device 274 drives the second extension arm 273 to rotate around the fifth axis 50, providing the robotic arm 200 with new rotational freedom, improving its operational accuracy and range, and enhancing its environmental adaptability and operational flexibility. Simultaneously, the parallelism of the fourth axis 40 and the fifth axis 50 allows the first extension arm 271 and the second extension arm 273 of the extension arm assembly 270 to fold more compactly in the retracted state, significantly reducing the volume occupied by the extension arm assembly 270 in the storage cavity 110. Furthermore, the overall extended length of the robotic arm 200 is longer when the first extension arm 271 and the second extension arm 273 are in operation. The multi-folding and rotating design of the robotic arm 200 further improves the balance between space occupation, operational range, and operational flexibility.
[0055] Please see Figure 11In one embodiment of the cleaning equipment disclosed herein, the actuator 250 includes a frame 251, a sixth drive device 252, a first clamping part 253, a seventh drive device 254, and a second clamping part 255. The frame 251 can be directly fixedly connected to the second arm 240, or indirectly rotatably mounted to the second arm 240 via a third power output end 262, or indirectly connected to the second arm 240 via an extension arm assembly 270. Specifically, in this embodiment, the frame 251 is fixedly connected to the second extension arm 273. The sixth drive device 252 and the seventh drive device 254 are respectively provided on the frame 251, and the sixth drive device 252 and the seventh drive device 254 are motors. The output shaft of the sixth drive device 252 is fixedly connected to the first clamping part 253 to drive the first clamping part 253 to rotate relative to the frame 251, and the output shaft of the seventh drive device 254 is fixedly connected to the second clamping part 255 to drive the second clamping part 255 to rotate relative to the frame 251. The sixth drive device 252 and the seventh drive device 254 independently drive the first clamping part 253 and the second clamping part 255, respectively, so that the two clamping parts can independently adjust their angle and position, thereby achieving more flexible clamping operation, improving the working capacity of the actuator 250, and enabling the actuator 250 to perform clamping cleaning operations more efficiently during the cleaning process.
[0056] Please see Figure 11 In one embodiment of the cleaning equipment disclosed herein, the frame 251 includes a first frame 2511 and a second frame 2512, the first frame 2511 and the second frame 2512 are rotatably connected, and the actuator 250 further includes an eighth drive device 256, the eighth drive device 256 is installed on the first frame 2511, and the output end of the eighth drive device 256 is fixedly connected to the second frame 2512 to drive the second frame 2512 to rotate relative to the first frame 2511, thereby increasing the clamping angle of the first clamping part 253 and the second clamping part 255, and further improving the clamping capacity of the actuator 250.
[0057] Please see Figure 4 and Figure 5In one embodiment of the cleaning device disclosed herein, an opening 131 is provided in the side wall region on the front side of the body 100. The opening 131 serves as a through channel for the robotic arm 200 to operate or be retracted, and connects the storage cavity 110 to the outside of the body 100. The shape of the opening 131 is not limited, as long as it allows the robotic arm 200 to extend from the storage cavity 110 to the outside of the body 100 and to retract from the operating state into the storage cavity 110. When the robotic arm 200 is in the retracted state, the first clamping part 253 and the second clamping part 255 cover the opening 131. Specifically, the opening 131 can be provided on the shell structure of the side wall region on the front side of the body 100, or on the anti-collision plate 130 of the side wall region on the front side of the body 100, but is not limited thereto. The first clamping part 253 and the second clamping part 255 can serve as working parts when the cleaning equipment performs cleaning tasks. At the same time, the first clamping part 253 and the second clamping part 255 cover the opening 131, making the cleaning equipment more convenient for portability or storage and preventing damage to the internal structure of the robotic arm 200 due to exposure of the opening 131. At the same time, it can simplify the structural design of the body 100 shell or the anti-collision plate 130, eliminating the need to design a new cover plate and opening and closing structure to cover or block the opening 131, thus reducing design costs.
[0058] Please see Figure 5 In one embodiment of the cleaning equipment disclosed herein, the cleaning equipment further includes a sensing module 300. The sensing module 300 is a key component of the cleaning equipment used to sense and identify information about the surrounding environment, helping the cleaning equipment better understand its surrounding space, obstacles, cleaning targets, and other relevant information, thereby achieving intelligent cleaning operations. The sensing module 300 may include commonly used sensing components such as lidar, cameras, and sensors, but is not limited thereto. The sensing module 300 is mounted on the body 100 and located in the front area of the body 100. Specifically, in this embodiment, the sensing module 300 is located at the front end of the body 100 in the direction of travel. The mounting base 120 is located on the side of the sensing module 300. The sensing area of the sensing module 300 covers the operating space of the robotic arm 200. When the cleaning equipment is working, the sensing module 300 can sense environmental information in the operating space of the robotic arm 200 in real time, providing more accurate feedback for the operation of the robotic arm 200, making the operation of the robotic arm 200 in the operating space more intelligent. The robotic arm 200 can adjust its cleaning strategy in a timely manner based on environmental changes detected by the sensing module 300, thereby improving its cleaning efficiency.
[0059] A second aspect of this disclosure provides a cleaning system comprising the aforementioned cleaning equipment and a base station adapted to the cleaning equipment. This cleaning system, while meeting the same operating space and load requirements, reduces the overall weight, design complexity, space occupation, and power requirements for driving the robotic arm 200. Furthermore, the design of housing the robotic arm 200 within the storage cavity 110 does not affect its compatibility with existing base stations, ensuring the overall synergy and portability of the cleaning system.
[0060] In the cleaning equipment and system disclosed herein, a robotic arm is connected to a mounting base, and the robotic arm, in its retracted state, is located in the front area of the machine body. This significantly shortens the distance between the mounting base and the robotic arm's operating space, thereby effectively reducing the overall length of the robotic arm. While meeting the same operating space and load requirements, this reduces the overall weight, design complexity, and power requirements for driving the robotic arm. The reduced overall length of the robotic arm significantly improves its operational flexibility in complex areas, enabling more precise cleaning actions and further enhancing cleaning effectiveness and efficiency. Furthermore, in its working state, the robotic arm extends from the front side wall of the machine body to the outside of the retracted cavity, allowing it to adapt to cleaning needs in low-ceilinged spaces. Simultaneously, the lowered center of gravity of the cleaning equipment provides sufficient downforce, improving its overall stability when moving on the ground. Therefore, this disclosure effectively overcomes practical problems and thus has high utilization value and practical significance.
[0061] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.
Claims
1. A cleaning device, characterized in that, include: fuselage (100); A storage cavity (110) is disposed inside the body (100), and a mounting base (120) is disposed inside the storage cavity (110); The robotic arm (200) is connected to the mounting base (120) and has a storage state in which it is housed in the storage cavity (110) and a working state in which it extends out of the storage cavity (110) to perform work. In the storage state, the robotic arm (200) is located in the front area of the body (100), and in the working state, the robotic arm (200) extends from the side wall area on the front side of the body (100) to the outside of the storage cavity (110).
2. The cleaning equipment according to claim 1, characterized in that, The body (100) also includes a crash plate (130), which is disposed on the side wall area at the front of the body (100); the storage cavity (110) is located in the included angle area corresponding to the crash plate (130); the crash plate (130) has an opening (131), and in the working state, the robotic arm (200) extends out from the storage cavity (110) through the opening (131) to perform work.
3. The cleaning equipment according to claim 1, characterized in that, The robotic arm (200) includes: A first drive device (210) is disposed on the mounting base (120); the first drive device (210) includes a first power output end (212); The first arm (220) is connected to the first power output end (212) and rotates around the first axis (10) under the drive of the first power output end (212); A second drive device (230) is disposed on the first arm (220), and the second drive device (230) includes a second power output end (232); The second arm (240) is connected to the second power output end (232) and rotates around the second axis (20) under the drive of the second power output end (232); Actuator (250) is connected to the second arm (240); Wherein, the first axis (10) is the height direction of the fuselage (100), and the first axis (10) and the second axis (20) are perpendicular to each other.
4. The cleaning equipment according to claim 3, characterized in that, The robotic arm (200) further includes a third drive device (260), which is disposed on the second arm (240). The third drive device (260) includes a third power output end (262). The third power output end (262) is connected to the actuator (250) to drive the actuator (250) to rotate around a third axis (30). In the working state, the third axis (30) is perpendicular to the first axis (10) and the second axis (20) respectively.
5. The cleaning equipment according to claim 3, characterized in that, The robotic arm (200) also includes an extension arm assembly (270), through which the second arm (240) is connected to the actuator (250).
6. The cleaning equipment according to claim 5, characterized in that, The extension arm assembly (270) includes: The first extension arm (271) is rotatably connected to the second arm (240) about the third axis (30); A fourth drive unit (272) is disposed on the first extension arm (271), the fourth drive unit (272) including a fourth power output end (2722). The second extension arm (273) is connected to the fourth power output end (2722) and rotates around the fourth axis (40) under the drive of the fourth power output end (2722); in the working state, the fourth axis (40) is parallel to the first axis (10); the second extension arm (273) is connected to the actuator (250).
7. The cleaning equipment according to claim 6, characterized in that, The extended arm assembly (270) further includes a fifth drive device (274), which is disposed on the second extended arm (273). The fifth drive device (274) includes a fifth power output end (2742). The fifth power output end (2742) is connected to the fourth power output end (2722) to drive the second extended arm (273) to rotate around a fifth axis (50). The fifth axis (50) is parallel to the fourth axis (40).
8. The cleaning equipment according to claim 3, characterized in that, The actuator (250) includes a frame (251), a sixth drive device (252), a first clamping part (253), a seventh drive device (254), and a second clamping part (255). The frame (251) is provided with the sixth drive device (252) and the seventh drive device (254). The sixth drive device (252) is connected to the first clamping part (253) to drive the first clamping part (253) to rotate relative to the frame (251). The seventh drive device (254) is connected to the second clamping part (255) to drive the second clamping part (255) to rotate relative to the frame (251).
9. The cleaning equipment according to claim 8, characterized in that, An opening (131) is provided in the side wall area on the front side of the body (100); in the stored state, the first clamping part (253) and the second clamping part (255) cover the opening (131).
10. The cleaning equipment according to claim 1, characterized in that, The cleaning equipment also includes a sensing module (300) installed in the front area of the body (100), and the mounting base (120) is located on the side of the sensing module (300).
11. A cleaning system, characterized in that, It includes the cleaning equipment as described in any one of claims 1 to 10 and a base station adapted to the cleaning equipment.