Cleaning apparatus
By optimizing the spatial layout of the robotic arm base and roller brush assembly in the cleaning equipment, the problem of increased thickness caused by the robotic arm assembly was solved, enabling the integration of the robotic arm module without increasing the height, thus improving cleaning efficiency and stability.
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
- 2026-06-19
Smart Images
Figure CN224369769U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cleaning equipment technology, and more particularly to a cleaning device. Background Technology
[0002] In recent years, self-moving cleaning robots (such as robotic vacuum cleaners and robotic vacuum and mop combos) have seen a diversification of cleaning component forms to improve cleaning efficiency due to their automation and convenience. Common forms include rotating disc mops, rolling cleaning rollers, and tracked cleaning components. To further adapt to people's needs, self-moving cleaning robots with robotic arm components have emerged. These robotic arm components are typically used to perform tasks such as grasping, obstacle removal, assisting in cleaning, or operating switches. The mounting position of the base, the range of motion, and the joint space are key considerations for the overall robot layout.
[0003] In related technologies, a robotic arm assembly is integrated into the upper part of the rear of the robot. However, when the cleaning component uses a roller (such as a plush roller brush) or a track (such as a continuous cleaning cloth track) structure, the cleaning component occupies the vertical space at the rear of the self-moving cleaning robot. This significantly reduces the available height of the space above the rear chassis of the robot, making it difficult to integrate the robotic arm assembly. Increasing the thickness of the self-moving cleaning robot, on the other hand, results in an excessively tall self-moving cleaning robot that cannot enter low-ceilinged spaces, leading to poor cleaning performance. Utility Model Content
[0004] This application provides a cleaning device with a compact structure, which solves the problem in the above-mentioned related technologies where the thickness of tracked or roller cleaning robots is increased due to the installation of robotic arm components, affecting the cleaning effect.
[0005] To achieve the above objectives, the embodiments of this application provide the following technical solutions:
[0006] This application provides a cleaning device, including a device body, a robotic arm base, a roller brush assembly, and a cleaning assembly. The device body includes a front end and a rear end disposed opposite each other along a first direction. A drive wheel and a driven wheel are provided at the bottom of the cleaning device, with the driven wheel positioned closer to the front end of the device body relative to the drive wheel. The robotic arm base is disposed at the bottom of the device body, and in the first direction, the robotic arm base is positioned closer to the driven wheel relative to the drive wheel. The roller brush assembly is located on the side of the robotic arm base away from the driven wheel in the first direction. The roller brush assembly is used to perform cleaning operations on the surface to be cleaned. The orthographic projection of the robotic arm base onto the surface to be cleaned does not overlap with the orthographic projection of the roller brush assembly onto the surface to be cleaned. The cleaning assembly is located on the side of the roller brush assembly closer to the rear end of the device body in the first direction.
[0007] The cleaning device in this embodiment of the application, by setting the driven wheel at the front end of the device body and setting the robotic arm base closer to the driven wheel relative to the drive wheel, that is, the robotic arm base is located between the drive wheel and the driven wheel, so that the center of gravity of the cleaning device is closer to the front end of the cleaning device, can enhance the stability of the cleaning device during movement and operation.
[0008] By placing the roller brush assembly on the side of the robotic arm base away from the driven wheels, and the cleaning assembly on the side of the roller brush assembly closer to the rear of the main body of the equipment, it can be ensured that the roller brush assembly can first contact the ground for sweeping (e.g., dry sweeping) when the cleaning equipment moves forward. Subsequently, the cleaning assembly can further process residual dirt and dust (e.g., wet cleaning, wiping, etc.). In this way, the mechanical action of the roller brush assembly can loosen stubborn dirt on the surface to be cleaned, and then the cleaning assembly can wipe away fine dust and dirt on the surface to be cleaned, thereby improving the overall cleaning efficiency.
[0009] By separating the robotic arm base from the cleaning component in the first direction, the robotic arm base and the cleaning component do not overlap in the height direction of the main body of the equipment. In other words, the robotic arm module does not occupy the space above the cleaning component, thus integrating the functionality of the robotic arm module without increasing the height of the main body of the equipment. This ensures that the cleaning equipment has a relatively small height, allowing it to enter low-ceilinged spaces, expand the cleaning area, reduce cleaning blind spots, and improve the user experience.
[0010] In one possible implementation, the orthographic projection of the brush assembly onto a vertical plane passing through the first direction at least partially coincides with the orthographic projection of the drive wheel onto the vertical plane passing through the first direction.
[0011] By partially overlapping the projection of the drive wheels with the projection of the roller brush assembly, efficient use of the internal space of the cleaning equipment can be achieved. This compact design helps reduce the overall size of the equipment, making it more suitable for operation in confined spaces. Furthermore, the partially overlapping design helps to better distribute the weight and center of gravity of the cleaning equipment, ensuring stability during operation. This optimized center of gravity helps reduce the risk of tipping over during movement or operation.
[0012] In one possible implementation, the orthographic projection of the brush assembly onto the vertical plane passing through the first direction lies within the orthographic projection of the drive wheel onto the vertical plane passing through the first direction.
[0013] This design further improves the compactness of the cleaning equipment structure, better distributes the weight and center of gravity of the cleaning equipment, ensures the stability of the cleaning equipment during operation, and reduces the risk of tipping over during movement or operation.
[0014] In one possible implementation, the device body includes a mounting cavity. The mounting cavity extends from the top of the device body to the robotic arm base along the height direction of the device body, and has an opening at one end of the mounting cavity located at the top of the device body. The mounting cavity is used to house the robotic arm module.
[0015] This design effectively utilizes the vertical space of the main body of the device, allowing the robotic arm module to be compactly integrated into the main body. This helps reduce the overall space occupied by the main body, making it suitable for use in space-constrained environments. The mounting cavity design provides some protection for the robotic arm module, preventing damage from the external environment. The top opening of the mounting cavity makes the installation and maintenance of the robotic arm module more convenient. The integration of the robotic arm base with the bottom of the main body lowers the center of gravity of the robotic arm module, thereby enhancing its stability and reliability.
[0016] In one possible implementation, the opening of the mounting cavity is larger in the first direction than the end of the mounting cavity near the robotic arm base. The orthographic projection of the mounting cavity onto the surface to be cleaned at least partially coincides with the orthographic projection of the roller brush assembly onto the surface to be cleaned.
[0017] By making the opening of the mounting cavity larger than its bottom dimension, this conical or trapezoidal design optimizes the use of internal space within the equipment body. This allows the cleaning equipment to accommodate more functions within a limited space and also makes the robotic arm module easier to install and remove. The larger opening provides more operating space, facilitating the placement and adjustment of the robotic arm by technicians. The smaller bottom dimension of the mounting cavity optimizes the weight distribution of the cleaning equipment, resulting in a lower center of gravity. This helps improve the balance of the cleaning equipment, especially when the robotic arm module is performing complex operations, reducing the risk of tipping over.
[0018] By setting the orthographic projection of the mounting cavity onto the surface to be cleaned to at least partially overlap with the orthographic projection of the roller brush assembly onto the surface to be cleaned, that is, by placing part of the structure of the mounting cavity in the upper space of part of the roller brush assembly, the height space above the roller brush assembly can be fully utilized, the spatial distribution can be optimized, and the space of the receiving cavity can be expanded without increasing the size in the first direction, so as to ensure the installation of the robotic arm module and make the structure of the cleaning equipment more compact.
[0019] In one possible implementation, the mounting cavity includes a first part, a second part, and a third part arranged sequentially along the height direction of the device body, with the first part positioned close to the robotic arm base. The third part is larger in dimension than the second part in the first direction. The second part is also larger in dimension than the first part in the first direction.
[0020] By dividing the mounting cavity into three progressively larger sections, the installation of the robotic arm module is guided step-by-step, facilitating gradual stabilization and reducing wobbling or misalignment caused by size mismatches. The first section, closest to the robotic arm base and the smallest in size, provides stronger support and fixation, ensuring stability and precision during operation. Its smaller base helps concentrate support forces, increasing structural strength. The third section, the largest, offers a larger opening, facilitating installation, debugging, and maintenance by technicians. The larger opening also allows for more flexible operation and reduces installation and maintenance difficulty. The progressively larger dimensions help optimize the robotic arm's center of gravity, bringing it closer to the center of the main body of the equipment, thus improving overall stability, especially during dynamic operation. The gradually expanding structure also provides shock absorption and cushioning during operation, reducing vibration transmission and improving operational smoothness.
[0021] In one possible implementation, the brush assembly includes a brush housing forming a brush cavity. A second portion of the mounting cavity includes a transition region located on the side of the second portion closer to the first portion in the height direction of the device body. The mounting cavity includes a transition sidewall located on the side of the mounting cavity away from the driven wheel in the first direction. The transition sidewall matches the shape of the brush housing.
[0022] By matching the shape of the transition sidewall to the roller brush housing to ensure a tight fit between the mounting cavity and the roller brush assembly, the utilization of the internal space of the equipment body can be optimized.
[0023] In one possible implementation, the orthographic projection of the drive wheel onto the vertical plane passing through the first direction does not overlap with the orthographic projection of the robotic arm base onto the vertical plane passing through the first direction.
[0024] By separating the projections of the drive wheels and the robotic arm base, the weight and center of gravity of the cleaning equipment can be better distributed. This distribution helps improve the stability of the cleaning equipment, especially when the robotic arm is operating or the equipment is moving, reducing the risk of tipping over. Because the drive wheels and the robotic arm base are structurally separated, technicians can more easily access and maintain each component, simplifying the equipment's maintenance and repair process.
[0025] In one possible implementation, a dustbin is also included. In the first direction, the dustbin is located between the cleaning assembly and the roller brush assembly. The orthographic projection of the dustbin onto the surface to be cleaned at least partially coincides with the orthographic projection of the roller brush assembly onto the surface to be cleaned, and / or, the orthographic projection of the dustbin onto the surface to be cleaned at least partially coincides with the orthographic projection of the cleaning assembly onto the surface to be cleaned.
[0026] By positioning the dustbin between the cleaning and roller brush components, dust and debris can directly enter the dustbin after being processed by the cleaning or roller brush components. This direct path reduces secondary contamination and leakage of dust, improving cleaning efficiency. By aligning the projection of the dustbin with the projection of the roller brush and / or cleaning components, the internal space of the device can be utilized more effectively. This design reduces unnecessary space waste, making the device more compact. The alignment of the dustbin's position and projection optimizes the airflow path, allowing dust and debris to be sucked into the dustbin more smoothly, reducing airflow resistance and improving suction efficiency.
[0027] In one possible implementation, the orthographic projection of the drive wheel onto a vertical plane passing through the first direction at least partially coincides with the orthographic projection of the dust box onto a vertical plane passing through the first direction.
[0028] By partially overlapping the projections of the drive wheels with those of the roller brush assembly and dustbin, efficient use of the internal space of the cleaning equipment can be achieved. This compact design helps reduce the overall size of the equipment, making it more suitable for operation in confined spaces. Furthermore, the partially overlapping design helps to better distribute the weight and center of gravity of the cleaning equipment, ensuring stability during operation. This optimized center of gravity helps reduce the risk of tipping over during movement or operation.
[0029] In one possible implementation, two drive wheels are spaced apart relative to each other along a second direction, with the first direction perpendicular to the second direction. The orthographic projection of the brush assembly onto a vertical plane passing through the second direction does not overlap with the orthographic projections of the two drive wheels onto the same vertical plane. Similarly, the orthographic projection of the robotic arm base onto a vertical plane passing through the second direction does not overlap with the orthographic projections of the two drive wheels onto the same vertical plane.
[0030] By spacing the two drive wheels and ensuring that the orthographic projections of the roller brush assembly and robotic arm base in the vertical plane passing through the second direction do not overlap with the drive wheels, the weight and center of gravity of the cleaning equipment can be better distributed. This helps improve the stability of the equipment, especially during movement and operation. The spacing of the two drive wheels in the second direction provides a wider support base, enhancing the stability and maneuverability of the cleaning equipment during movement and reducing the risk of tipping over and slipping. By avoiding the overlap of the projections of the roller brush assembly and robotic arm base with the drive wheels, physical interference and potential wear between components are reduced, thereby improving the durability and reliability of the equipment. This layout ensures the functional independence of the drive system, roller brush assembly, and robotic arm system. Each component can operate independently without affecting each other, thus improving the overall performance of the equipment. The independent layout between components makes it easier for technicians to access and maintain each component, simplifying the maintenance and repair process.
[0031] In one possible implementation, the cleaning component is a rolling cleaning roller or a tracked cleaning component.
[0032] By setting the cleaning components to a rolling cleaning roller, dust, debris, and dirt on the floor can be effectively swept and collected. The roller's rotation can reach deep into carpet fibers or floor crevices, improving cleaning results and quickly covering large areas, thus increasing cleaning efficiency.
[0033] By setting the cleaning components to a tracked cleaning assembly, a continuous contact surface can be provided, enabling stable cleaning results on uneven surfaces (such as carpets, tiles, and other irregular surfaces), making it suitable for handling various terrains. It also provides a larger ground contact area, enhancing the stability of the cleaning equipment, especially on sloping or uneven ground. Attached Figure Description
[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0035] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application;
[0036] Figure 2 This is a schematic diagram of the bottom structure of a cleaning device provided in an embodiment of this application;
[0037] Figure 3 This is a cross-sectional structural diagram of a cleaning device provided in an embodiment of this application;
[0038] Figure 4 for Figure 3 Enlarged diagram of part A in the diagram;
[0039] Figure 5 This is a schematic diagram of the structure of a roller brush housing for a cleaning device provided in an embodiment of this application;
[0040] Figure 6 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application.
[0041] Explanation of reference numerals in the attached figures:
[0042] 100 - Cleaning equipment; 10 - Equipment body; 11 - Bottom of the equipment body;
[0043] 12-Top of the main body of the equipment; 13-Front end; 14-Rear end;
[0044] 15-Mounting cavity; 151-Opening; 152-First part;
[0045] 153 - Part Two; 1531 - Transition Region; 1532 - Transition Sidewall;
[0046] 154 - Part 3; 20 - Robotic arm base; 30 - Roller brush assembly;
[0047] 31-Roller brush housing; 311-Roller brush chamber; 312-Cleaning port;
[0048] 32 - Roller brush; 40 - Cleaning components; 50 - Drive wheel;
[0049] 60 - Driven wheel; 70 - Dust box; 80 - Robotic arm module. Detailed Implementation
[0050] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0051] For cleaning equipment that includes rolling cleaning rollers and tracked cleaning components, the large dimensions of these components in the vertical direction require space at the rear of the equipment. Therefore, if the robotic arm module is also placed at the rear of the cleaning equipment, the available space for the robotic arm module will be limited, making its installation inconvenient.
[0052] Increasing the height of the cleaning equipment to accommodate the robotic arm module would result in an excessively tall device that cannot access low spaces such as under beds and sofas, potentially leading to incomplete cleaning and affecting overall hygiene. This could necessitate manual cleaning by the user, increasing their workload and resulting in a poor user experience.
[0053] To address the aforementioned technical problems, this application provides a cleaning device, including but not limited to cleaning devices comprising rolling cleaning rollers and cleaning devices comprising tracked cleaning components. By positioning the robotic arm base between the drive wheels and the front end of the device body, the space of the device body can be rationally utilized. More functional modules can be integrated without increasing the height of the cleaning device, ensuring that the cleaning device has a relatively small height, allowing it to enter low-ceilinged spaces, expand the cleaning area, reduce cleaning blind spots, and improve the user experience.
[0054] The cleaning equipment provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0055] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application. Figure 2 This is a schematic diagram of the bottom structure of a cleaning device provided in an embodiment of this application.
[0056] It should be noted that, for ease of description, in this embodiment of the application, the height direction of the cleaning equipment is taken as the z-direction, the first direction as the x-direction, and the second direction as the y-direction.
[0057] This application provides a cleaning device, such as... Figure 1 and Figure 2 As shown, the cleaning device 100 may include a device body 10, a robotic arm base 20, a roller brush assembly 30, and a cleaning assembly 40. For example, the robotic arm base 20 and the cleaning assembly 40 are both located at the bottom 11 of the device body. The roller brush assembly 30 is disposed facing the bottom 11 of the device body, and a portion of the structure of the roller brush assembly 30 is exposed at the bottom 11 of the device body to contact the surface to be cleaned and perform cleaning operations on the surface.
[0058] like Figure 2 As shown, the main body of the device 10 may include a front end 13 and a rear end 14 arranged opposite to each other along a first direction (x direction). The bottom 11 of the main body of the device is provided with a drive wheel 50 and a driven wheel 60. The driven wheel 60 is arranged closer to the front end 13 of the main body of the device 10 than the drive wheel 50.
[0059] The robotic arm base 20 is located at the bottom 11 of the main body of the device. In the first direction (x direction), the robotic arm base 20 is positioned closer to the driven wheel 60 than the drive wheel 50. That is, the robotic arm base 20 is located between the drive wheel 50 and the driven wheel 60.
[0060] The roller brush assembly 30 is located on the side of the robotic arm base 20 away from the driven wheel 60 in the first direction (x direction). The roller brush assembly 30 is used to perform cleaning operations on the surface to be cleaned. The orthographic projection of the robotic arm base 20 on the surface to be cleaned does not overlap with the orthographic projection of the roller brush assembly 30 on the surface to be cleaned. The cleaning assembly 40 is located on the side of the roller brush assembly 30 near the rear end 14 of the device body 10 in the first direction (x direction).
[0061] It should be noted that "surface to be cleaned" is a broad term, generally referring to the ground parallel to a horizontal plane or the plane containing the bottom of the equipment. For example, on a slope, the surface to be cleaned is the plane containing that slope. The surface to be cleaned is usually perpendicular to the height of the cleaning equipment. In the diagram, it refers to the xy plane.
[0062] It should be noted that the front end 13 and rear end 14 of the main body 10 are defined based on the forward direction of the cleaning equipment 100 during operation. Specifically, the front end 13 of the main body 10 refers to the end of the cleaning equipment 100 facing the forward direction in normal working condition, and the rear end 14 refers to the end facing away from the forward direction.
[0063] It should be noted that "the orthographic projection of the robotic arm base 20 onto the surface to be cleaned does not overlap with the orthographic projection of the roller brush assembly 30 onto the surface to be cleaned" means that the projections of the robotic arm base 20 and the roller brush assembly 30 do not overlap. For example, there is a gap between the orthographic projection of the robotic arm base 20 onto the surface to be cleaned and the orthographic projection of the roller brush assembly 30 onto the surface to be cleaned. Alternatively, the orthographic projection of the robotic arm base 20 onto the surface to be cleaned is adjacent to the orthographic projection of the roller brush assembly 30 onto the surface to be cleaned, and there is no gap.
[0064] The cleaning device 100 in this embodiment of the application improves stability during movement and operation by placing the driven wheel 60 at the front end 13 of the device body 10 and positioning the robotic arm base 20 closer to the driven wheel 60 relative to the drive wheel 50, i.e., between the drive wheel 50 and the driven wheel 60.
[0065] By positioning the roller brush assembly 30 on the side of the robotic arm base 20 away from the driven wheel 60, and the cleaning assembly 40 on the side of the roller brush assembly 30 closer to the rear end 14 of the main body of the device, it can be ensured that the roller brush assembly 30 can first contact the ground for cleaning (e.g., dry cleaning) when the cleaning device 100 moves forward. Subsequently, the cleaning assembly 40 can further process residual dirt and dust (e.g., wet cleaning, wiping, etc.). In this way, the mechanical action of the roller brush assembly 30 can loosen stubborn dirt on the surface to be cleaned, and then the cleaning assembly 40 can wipe the fine dust and dirt on the surface to be cleaned, thereby improving the overall cleaning efficiency.
[0066] By separating the robotic arm base 20 from the cleaning component 40 in the first direction (x-direction), the robotic arm base 20 and the cleaning component 40 do not overlap in the height direction of the main body 10. In other words, the robotic arm module 80 does not occupy the space above the cleaning component 40, thus integrating the functions of the robotic arm module 80 without increasing the height of the main body 10. This ensures that the cleaning device 100 has a relatively low height, allowing it to access low-ceilinged spaces, expand the cleaning area, reduce cleaning blind spots, and improve the user experience.
[0067] In one possible implementation, such as Figure 2 As shown, the two drive wheels 50 are spaced apart relative to each other along the second direction (y-direction), and the first direction (x-direction) is perpendicular to the second direction (y-direction). The orthographic projection of the brush assembly 30 onto the vertical plane passing through the second direction (y-direction) does not overlap with the orthographic projections of the two drive wheels 50 onto the vertical plane passing through the second direction (y-direction). The orthographic projection of the robotic arm base 20 onto the vertical plane passing through the second direction (y-direction) does not overlap with the orthographic projections of the two drive wheels 50 onto the vertical plane passing through the second direction (y-direction).
[0068] For example, in the second direction (y direction), both the roller brush assembly 30 and the robotic arm base 20 are located inside the plane containing the inner contours of the two drive wheels 50. Here, the inner contour of the drive wheels 50 refers to the side where the two drive wheels 50 are close to each other.
[0069] It should be noted that "the first direction (x-direction) is perpendicular to the second direction (y-direction)" means that the first direction (x-direction) and the second direction (y-direction) are approximately perpendicular within a certain margin of error. For example, the angle between the first direction (x-direction) and the second direction (y-direction) is 90° or close to 90°. For instance, angles between the first direction (x-direction) and the second direction (y-direction) of 85° to 90° and 90° to 95° can be considered as perpendicular. For example, when the angle between the first direction (x-direction) and the second direction (y-direction) is 85°, 86°, 87°, 88°, 89°, 91°, 92°, 93°, 94°, or 95°, the first direction (x-direction) and the second direction (y-direction) are all perpendicular.
[0070] It should be noted that since the x-direction is parallel to the forward direction of the cleaning equipment and perpendicular to the y-direction, the y-direction can be considered as the left and right direction of the cleaning equipment. In other words, the two drive wheels are respectively located on the left and right sides of the main body of the equipment.
[0071] It should be noted that "the vertical plane passing through the second direction (y direction)" refers to a plane that passes through the second direction and is perpendicular to the surface to be cleaned. The height direction of the cleaning equipment is perpendicular to the surface to be cleaned. Therefore, the vertical plane passing through the second direction also passes through the height direction of the cleaning equipment, which is represented as the yz plane in the figure.
[0072] By spacing the two drive wheels 50 and ensuring that the orthographic projections of the roller brush assembly 30 and the robotic arm base 20 in the vertical plane passing through the second direction (y-direction) do not overlap with the drive wheels 50, the weight and center of gravity of the cleaning equipment 100 can be better distributed. This helps improve the stability of the equipment, especially during movement and operation. The spacing of the two drive wheels 50 in the second direction (y-direction) provides a wider support base, enhancing the stability and maneuverability of the cleaning equipment 100 during movement and reducing the risk of tipping over and slipping. By avoiding the overlap of the projections of the roller brush assembly 30 and the robotic arm base 20 with the drive wheels 50, physical interference and potential wear between components are reduced, thereby improving the durability and reliability of the equipment. This layout ensures the functional independence of the drive system, the roller brush assembly 30, and the robotic arm system. Each component can operate independently without affecting each other, thereby improving the overall performance of the equipment. The independent layout between components makes it easier for technicians to access and maintain each component, simplifying the maintenance and repair process of the equipment.
[0073] In one possible implementation, the orthographic projection of the drive wheel 50 onto a vertical plane passing through the first direction (x-direction) does not overlap with the orthographic projection of the robotic arm base 20 onto the same vertical plane. That is, the drive wheel 50 and the robotic arm base 20 do not occupy the same space in the first direction (x-direction). In other words, in the x-direction, the side of the drive wheel 50 closer to the driven wheel 60 is adjacent to or spaced apart from the side of the robotic arm base 20 furthest from the driven wheel 60.
[0074] By separating the projections of the drive wheels 50 and the robotic arm base 20, the weight and center of gravity of the cleaning equipment 100 can be better distributed. This distribution helps improve the stability of the cleaning equipment 100, especially when the robotic arm is operating or the equipment is moving, reducing the risk of tipping over. Because the drive wheels 50 and the robotic arm base 20 are structurally separated, technicians can more easily access and maintain each component, simplifying the maintenance and repair process.
[0075] See also Figure 2 As shown, the orthographic projection of the drive wheel 50 onto a vertical plane passing through the first direction (x-direction) at least partially coincides with the orthographic projection of the brush assembly 30 onto the same vertical plane passing through the first direction (x-direction). In other words, the brush assembly 30 and the drive wheel 50 occupy the same space in the first direction (x-direction); that is, at least a portion of the structure of the brush assembly 30 is located within the outer contour of the drive wheel 50 in the first direction (x-direction).
[0076] In some embodiments, the orthographic projection of the roller brush assembly 30 onto the vertical plane passing through the first direction (x direction) can be located within the orthographic projection of the drive wheel 50 onto the vertical plane passing through the first direction (x direction). That is, in the first direction (x direction), the entire structure of the roller brush assembly 30 is located within the outer contour of the drive wheel 50.
[0077] In some other embodiments, a portion of the orthographic projection of the roller brush assembly 30 onto the vertical plane passing through the first direction (x direction) may lie within the orthographic projection of the drive wheel 50 onto the vertical plane passing through the first direction (x direction). That is, in the first direction (x direction), a portion of the roller brush assembly 30's structure lies within the outer contour of the drive wheel 50, while another portion of the roller brush assembly 30's structure lies outside the outer contour of the drive wheel 50.
[0078] It should be noted that "the vertical plane passing through the first direction (x direction)" refers to a plane that passes through the first direction and is perpendicular to the surface to be cleaned. Since the height direction of the cleaning equipment is perpendicular to the surface to be cleaned, the vertical plane passing through the first direction also passes through the height direction of the cleaning equipment, which is represented as the xz plane in the figure. "At least partially coincident" includes partial coincidence and complete coincidence.
[0079] By partially overlapping the projection of the drive wheel 50 with the projection of the roller brush assembly 30, efficient use of the internal space of the cleaning device 100 can be achieved. This compact design helps reduce the overall size of the device, making it more suitable for operation in confined spaces. Furthermore, the partially overlapping design helps to better distribute the weight and center of gravity of the cleaning device 100, ensuring its stability during operation. This optimized center of gravity helps reduce the risk of tipping over during movement or operation.
[0080] In one possible implementation, such as Figure 3 As shown, the main body 10 of the device may include a mounting cavity 15. Specifically, in the height direction (z-direction) of the cleaning device 100, the mounting cavity 15 extends from the top 12 of the main body to the robotic arm base 20, and an opening 151 is provided at one end of the mounting cavity 15 located at the top of the main body 10. The mounting cavity 15 is used to house the robotic arm module 80 (see...). Figure 6 (As shown).
[0081] For example, the mounting cavity 15 has a certain length in the first direction (x direction) and a certain width in the y direction, and the robotic arm module 80 can be folded and disposed inside the mounting cavity 15. In use, the robotic arm module 80 can extend out of the mounting cavity 15 through the opening 151 of the mounting cavity 15, and then perform cleaning or other operations through the robotic arm module 80.
[0082] By positioning the mounting cavity 15 from the top 12 of the device body to the robotic arm base 20, the vertical space of the device body 10 can be effectively utilized, allowing the robotic arm module 80 to be compactly integrated into the device body 10. This helps reduce the overall space occupied by the device body 10, making it suitable for use in space-constrained environments. The design of the mounting cavity 15 provides some protection for the robotic arm module 80, preventing damage from the external environment. The top opening of the mounting cavity 15 makes the installation and maintenance of the robotic arm module 80 more convenient. The combination of the robotic arm base 20 and the bottom 11 of the device body lowers the center of gravity of the robotic arm module 80, thereby enhancing its stability and reliability.
[0083] See also Figure 3 As shown, the size of the opening 151 of the mounting cavity 15 in the first direction (x direction) is larger than the size of the end of the mounting cavity 15 near the robotic arm base 20 in the first direction (x direction). The orthographic projection of the mounting cavity 15 onto the surface to be cleaned at least partially coincides with the orthographic projection of the roller brush assembly 30 onto the surface to be cleaned.
[0084] It should be noted that the dimension of the opening 151 of the mounting cavity 15 in the first direction (x direction) can be understood as the length of the opening 151 of the mounting cavity 15 in the first direction (x direction). That is, the distance L1 between the two sidewalls of the opening 151 of the mounting cavity 15 in the first direction.
[0085] Similarly, the dimension of the end of the mounting cavity 15 near the robotic arm base 20 in the first direction (x direction) can be understood as the length of the end of the mounting cavity 15 near the robotic arm base 20 in the first direction (x direction). That is, the distance L2 between the two sidewalls of the end of the mounting cavity 15 near the robotic arm base 20 in the first direction.
[0086] It should be noted that the bottom of the robotic arm module 80 is usually fixed to the side of the robotic arm base 20 facing the mounting cavity 15, so that the robotic arm base 20 can provide a certain support for the robotic arm module 80.
[0087] By setting the opening 151 of the mounting cavity 15 to be larger than its bottom dimension, this conical or trapezoidal design optimizes the utilization of the internal space of the main body 10, allowing the cleaning equipment 100 to accommodate more functions within a limited space, and also making it easier to install and disassemble the robotic arm module 80. The larger opening 151 provides more operating space, facilitating the placement and adjustment of the robotic arm by technicians. Because the bottom dimension of the mounting cavity 15 is smaller, the center of gravity distribution of the cleaning equipment is optimized, resulting in a lower center of gravity and improved overall equipment balance, especially reducing the risk of tipping over when the robotic arm module is performing complex operations.
[0088] It should be noted that "the orthographic projection of the mounting cavity 15 onto the surface to be cleaned at least partially coincides with the orthographic projection of the roller brush assembly 30 onto the surface to be cleaned" means that a portion of the structure of the mounting cavity 15 is located in the upper space of a portion of the roller brush assembly 30. For example, as the mounting cavity 15 extends upward from the bottom 11 of the device body along the z-direction, it can gradually extend towards the roller brush assembly 30 in the x-direction, thereby making the size of the opening 151 of the mounting cavity 15 in the x-direction larger than the size of the portion of the structure of the mounting cavity 15 near the bottom of the device body 10 in the x-direction.
[0089] This allows for full utilization of the height space above the roller brush assembly 30, optimizing the spatial distribution and expanding the space of the receiving cavity without increasing the dimensions in the first direction (x direction), thus ensuring the installation of the robotic arm module 80 and making the structure of the cleaning equipment 100 more compact.
[0090] like Figure 4As shown, in the height direction (z direction) of the main body 10, the mounting cavity 15 may include a first part 152, a second part 153 and a third part 154 arranged in sequence, wherein the first part 152 is located close to the robotic arm base 20.
[0091] For example, the third part 154 has a larger dimension in the first direction (x direction) than the second part 153 has in the first direction (x direction). The second part 153 has a larger dimension in the first direction (x direction) than the first part 152 has in the first direction (x direction).
[0092] It should be noted that "the dimension of the third part 154 in the first direction (x-direction) is greater than the dimension of the second part 153 in the first direction (x-direction). The dimension of the second part 153 in the first direction (x-direction) is greater than the dimension of the first part 152 in the first direction (x-direction)" can be understood as follows: the maximum length of the third part 154 in the first direction (x-direction) is greater than the maximum length of the second part 153 in the first direction (x-direction). And the maximum length of the second part 153 in the first direction (x-direction) is greater than the maximum length of the first part 152 in the first direction (x-direction).
[0093] In one possible implementation, the widths of the first portion 152, the second portion 153, and the third portion of the mounting cavity 15 in the y-direction can all be the same.
[0094] It should be noted that the first part 152, the second part 153, and the third part 154 are interconnected. Dividing the mounting cavity 15 into the first part 152, the second part 153, and the third part 154 in the z-direction is merely to illustrate that the mounting cavity 15 includes multiple parts with different dimensions in the first direction. During assembly, the bottom of the robotic arm module 80 can be fixed to the first part 152, and the other structural parts of the robotic arm module 80 can be folded and disposed within the second part 153 and the third part 154.
[0095] Of course, in other embodiments, the mounting cavity 15 may also include two, four, five, or more components. Specifically, in the direction from the bottom 11 to the top of the device body, the lower component of two adjacent components has a smaller dimension in the x-direction, while the component at the top of the device body 10 has the largest dimension in the x-direction. In this embodiment, the specific structure of the mounting cavity 15 is not further limited.
[0096] By dividing the mounting cavity 15 into three parts, each with progressively increasing dimensions, gradual guidance is provided during the installation of the robotic arm module 80. This helps to stabilize the robotic arm gradually during installation, reducing wobbling or misalignment caused by size mismatch. The first part 152, located near the robotic arm base 20, is the smallest, providing stronger support and fixation to ensure the stability and accuracy of the robotic arm during operation. The smaller bottom size helps to concentrate support forces and improve structural strength. The third part 154 is the largest, providing a larger opening 151, facilitating the installation, debugging, and maintenance of the robotic arm by technicians. The larger opening 151 allows for more flexible operation and reduces the difficulty of installation and maintenance. The progressively increasing size design helps optimize the center of gravity of the robotic arm, bringing it closer to the center of the main body 10, thereby improving the overall stability of the equipment, especially during dynamic operation. The gradually expanding structure provides shock absorption and cushioning during robotic arm operation, reducing vibration transmission and improving the smoothness of equipment operation.
[0097] See Figure 5 As shown, the roller brush assembly 30 may include a roller brush housing 31, which forms a roller brush cavity 311. The roller brush is rotatably disposed within the roller brush cavity 311. The side of the roller brush housing 31 facing the surface to be cleaned includes a cleaning port 312, which communicates with the roller brush cavity 311. The roller brush can protrude outside the roller brush cavity 311 at the cleaning port 312, thus allowing it to contact the surface to be cleaned during use.
[0098] For example, the second portion 153 of the mounting cavity 15 may include a transition region 1531 located on the side of the second portion 153 closer to the first portion 152 in the height direction of the device body 10. The mounting cavity 15 includes a transition sidewall 1532 located on the side of the mounting cavity 15 away from the driven wheel 60 in a first direction (x direction). The transition sidewall 1532 matches the shape of the brush housing 31.
[0099] In one possible implementation, the transition sidewall 1532 may be inclined toward the roller brush assembly 30 in the direction from the bottom 11 to the top of the device body, so that the mounting cavity 15 gradually expands. The transition sidewall 1532 may be a planar structure or an arc-shaped structure that matches the shape of the roller brush housing 31, specifically determined according to the shape of the roller brush housing 31. In this embodiment, the shape of the transition sidewall 1532 is not further limited.
[0100] It is understood that the transition sidewall 1532 is provided to make full use of the space between the mounting cavity 15 and the brush housing 31. Therefore, the position and shape of the transition sidewall 1532 can be set according to the shape and position of the brush housing 31. In this embodiment, the position and shape of the transition sidewall 1532 are not further limited.
[0101] By matching the shape of the transition sidewall 1532 to the roller brush housing 31 to achieve a tight fit between the mounting cavity 15 and the roller brush assembly 30, the utilization of the internal space of the device body 10 can be optimized.
[0102] like Figure 6 As shown, the cleaning device 100 may further include a dustbin 70. In the first direction (x-direction), the dustbin 70 is located between the cleaning assembly 40 and the roller brush assembly 30 (see [reference]). Figure 3 (As shown). The orthographic projection of the dustbin 70 onto the surface to be cleaned at least partially coincides with the orthographic projection of the roller brush assembly 30 onto the surface to be cleaned, and / or, the orthographic projection of the dustbin 70 onto the surface to be cleaned at least partially coincides with the orthographic projection of the cleaning assembly 40 onto the surface to be cleaned.
[0103] In some embodiments, in a first direction, the dust box 70 is located between the roller brush assembly 30 and the cleaning assembly 40, a portion of the structure of the dust box 70 extends toward the direction close to the cleaning assembly 40 and is located in the upper space of the cleaning assembly 40, and another portion of the structure of the dust box 70 extends toward the direction close to the roller brush assembly 30 and is located in the upper space of the roller brush assembly 30.
[0104] In some other embodiments, in the first direction, the dustbin 70 is located between the roller brush assembly 30 and the cleaning assembly 40, with only one portion of its structure extending towards the cleaning assembly 40, and the remaining portion located between the roller brush assembly 30 and the cleaning assembly 40. That is, the orthographic projection of the dustbin 70 onto the surface to be cleaned only overlaps with the orthographic projection of the cleaning assembly 40 onto the surface to be cleaned, but does not overlap with the orthographic projection of the roller brush assembly 30 onto the surface to be cleaned.
[0105] In some other embodiments, in the first direction (x direction), the dust box 70 is located between the roller brush assembly 30 and the cleaning assembly 40, and only one part of the structure extends toward the direction close to the roller brush assembly 30, while the rest is located between the roller brush assembly 30 and the cleaning assembly 40. That is, the orthographic projection of the dust box 70 on the surface to be cleaned does not overlap with the orthographic projection of the cleaning assembly 40 on the surface to be cleaned.
[0106] By positioning the dustbin 70 between the cleaning assembly 40 and the roller brush assembly 30, dust and debris can directly enter the dustbin 70 after being cleaned or processed by the roller brush assembly 30. This direct path reduces secondary contamination and leakage of dust, improving cleaning efficiency. By aligning the projection of the dustbin 70 with the projection of the roller brush assembly 30 and / or the cleaning assembly 40, the internal space of the device can be utilized more effectively. This design reduces unnecessary space waste, making the device more compact. The alignment of the dustbin 70's position and projection optimizes the airflow path, allowing dust and debris to be sucked into the dustbin 70 more smoothly, reducing airflow resistance and improving suction efficiency.
[0107] See also Figure 6 As shown, the orthographic projection of the drive wheel 50 onto the vertical plane passing through the first direction (x direction) at least partially coincides with the orthographic projection of the dust box 70 onto the vertical plane passing through the first direction (x direction).
[0108] By partially overlapping the projections of the drive wheel 50 with those of the roller brush assembly 30 and dustbin 70, efficient use of the internal space of the cleaning device 100 can be achieved. This compact design helps reduce the overall size of the device, making it more suitable for operation in confined spaces. Furthermore, the partially overlapping design helps to better distribute the weight and center of gravity of the cleaning device 100, ensuring its stability during operation. This optimized center of gravity helps reduce the risk of tipping over during movement or operation.
[0109] By partially overlapping the projections of the drive wheel 50 with those of the roller brush assembly 30 and dustbin 70, efficient use of the internal space of the cleaning device 100 can be achieved. This compact design helps reduce the overall size of the device, making it more suitable for operation in confined spaces. Furthermore, the partially overlapping design helps to better distribute the weight and center of gravity of the cleaning device 100, ensuring its stability during operation. This optimized center of gravity helps reduce the risk of tipping over during movement or operation.
[0110] In one possible implementation, the cleaning component 40 can be a rolling cleaning roller or a tracked cleaning component 40.
[0111] By setting the cleaning component 40 to a rolling cleaning roller, dust, debris, and dirt on the floor can be effectively swept and collected. The roller's rotation can penetrate deep into carpet fibers or floor crevices, improving cleaning results and quickly covering large areas, thus increasing cleaning efficiency.
[0112] By configuring the cleaning component 40 as a tracked cleaning component 40, a continuous contact surface can be provided, which can maintain a stable cleaning effect on uneven ground (e.g., carpet, tile and other irregular surfaces), is suitable for handling various terrains, and can also provide a larger ground contact area, enhancing the stability of the cleaning equipment 100, especially on sloping or uneven ground.
[0113] Of course, in some other embodiments, the cleaning component 40 may also be a disc-shaped cloth component. In the embodiments of this application, the specific type of the cleaning component 40 is not further limited.
[0114] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
[0115] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0116] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.
[0117] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.
[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A cleaning apparatus, characterized by, include: The main body of the equipment includes a front end and a rear end that are arranged opposite to each other along a first direction. The bottom of the cleaning equipment is provided with a drive wheel and a driven wheel, and the driven wheel is arranged closer to the front end of the main body of the equipment than the drive wheel. A robotic arm base is disposed at the bottom of the main body of the device. In the first direction, the robotic arm base is disposed closer to the driven wheel than the drive wheel. A roller brush assembly is located on the side of the robotic arm base away from the driven wheel in the first direction. The roller brush assembly is used to perform cleaning operations on the surface to be cleaned. The orthographic projection of the robotic arm base on the surface to be cleaned does not overlap with the orthographic projection of the roller brush assembly on the surface to be cleaned. A cleaning component is located on the side of the roller brush assembly closer to the rear end of the device body in the first direction.
2. The cleaning apparatus of claim 1, wherein, The orthographic projection of the roller brush assembly onto the vertical plane passing through the first direction at least partially coincides with the orthographic projection of the drive wheel onto the vertical plane passing through the first direction.
3. The cleaning apparatus of claim 2, wherein, The orthographic projection of the roller brush assembly onto the vertical plane passing through the first direction is within the orthographic projection of the drive wheel onto the vertical plane passing through the first direction.
4. The cleaning apparatus of any one of claims 1-3, wherein, The main body of the device includes an installation cavity; wherein... In the height direction of the main body of the device, the mounting cavity extends from the top of the main body of the device to the base of the robotic arm, and the mounting cavity has an opening at one end of the top of the main body of the device; The mounting cavity is used to house the robotic arm module.
5. The cleaning apparatus of claim 4, wherein, The size of the opening of the mounting cavity in the first direction is greater than the size of the end of the mounting cavity near the base of the robotic arm in the first direction; The orthographic projection of the mounting cavity onto the surface to be cleaned at least partially overlaps with the orthographic projection of the roller brush assembly onto the surface to be cleaned.
6. The cleaning apparatus of claim 5, wherein, Along the height of the device body, the mounting cavity includes a first part, a second part, and a third part arranged sequentially, with the first part located near the robotic arm base; wherein... The dimension of the third part in the first direction is greater than the dimension of the second part in the first direction; The second part has a larger dimension in the first direction than the first part has a larger dimension in the first direction.
7. The cleaning apparatus of claim 6, wherein, The roller brush assembly includes a roller brush housing, the roller brush housing forming a roller brush cavity; The second portion of the mounting cavity includes a transition region located on the side of the second portion closer to the first portion in the height direction of the device body; The mounting cavity includes a transition sidewall located on the side of the mounting cavity away from the driven wheel in the first direction; The transition sidewall matches the shape of the brush housing.
8. The cleaning apparatus of any one of claims 1-3, wherein, The orthographic projection of the drive wheel onto the vertical plane passing through the first direction does not overlap with the orthographic projection of the robotic arm base onto the vertical plane passing through the first direction.
9. The cleaning apparatus of any one of claims 1-3, wherein, It also includes a dust box; among which, In the first direction, the dust box is located between the cleaning component and the roller brush component; The orthographic projection of the dust box onto the surface to be cleaned is at least partially coincident with the orthographic projection of the roller brush assembly onto the surface to be cleaned, and / or the orthographic projection of the dust box onto the surface to be cleaned is at least partially coincident with the orthographic projection of the cleaning assembly onto the surface to be cleaned.
10. The cleaning apparatus of claim 9, wherein, The orthographic projection of the drive wheel onto the vertical plane passing through the first direction at least partially coincides with the orthographic projection of the dust box onto the vertical plane passing through the first direction.
11. The cleaning apparatus of any one of claims 1-3, wherein, The two drive wheels are arranged at a distance from each other along a second direction, wherein the first direction is perpendicular to the second direction; The orthographic projection of the roller brush assembly onto the vertical plane passing through the second direction does not overlap with the orthographic projections of the two drive wheels onto the vertical plane passing through the second direction. The orthographic projection of the robotic arm base onto the vertical plane passing through the second direction does not overlap with the orthographic projections of the two drive wheels onto the vertical plane passing through the second direction.
12. The cleaning apparatus of any one of claims 1-3, wherein, The cleaning component is a rolling cleaning roller or a tracked cleaning component.