A cleaning apparatus and cleaning system

Abstract

The present disclosure provides a cleaning device and a cleaning system. The cleaning device comprises a body, a mechanical arm and a side brush assembly. The body is configured to be able to self-walk on a surface to be cleaned. The mechanical arm is arranged on the body and comprises a mechanical claw. The side brush assembly is arranged on the mechanical arm. Under the driving of the mechanical arm, the side brush assembly has a first working position in which the side brush assembly is accommodated in the body and a second working position in which the side brush assembly extends out of the body. In the second working position, the mechanical claw extends out of the body to perform work. By integrating the side brush assembly on the mechanical arm, the cleaning range of the side brush assembly is expanded, and the cleaning coverage of the cleaning device on complex corner areas is significantly improved. At the same time, the single mechanical arm can realize the dual functions of the side brush assembly for cleaning extension and the mechanical claw for environmental arrangement, thereby improving the overall integration of the cleaning device.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, and more particularly to a cleaning device and cleaning system. Background Technology

[0002] In cleaning equipment, side brushes, as a core component, are typically located on the side of the machine to assist in cleaning areas that the main brush or suction port cannot directly reach, thereby improving the cleaning efficiency of the equipment. Currently, although side brushes can improve the cleaning coverage of cleaning equipment to some extent, their actual cleaning range is relatively small, the cleaning area is limited, and their function is singular. Utility Model Content

[0003] This disclosure provides a cleaning device and cleaning system to solve the technical problems of existing side brushes having a small cleaning range and limited cleaning area.

[0004] This disclosure provides a cleaning device including a body, a robotic arm, and a side brush assembly. The body is configured to move autonomously on the surface to be cleaned. The robotic arm is disposed on the body and includes a robotic gripper. The side brush assembly is disposed on the robotic arm. Driven by the robotic arm, the side brush assembly has a first working position retracted within the body and a second working position extending from the body. In the second working position, the robotic gripper extends outside the body to perform the cleaning operation.

[0005] In the above technical solution, by integrating the side brush assembly onto the robotic arm, the robotic arm drives the side brush assembly to extend from inside the machine body to a second working position, expanding the cleaning range of the side brush assembly and significantly improving the cleaning coverage of complex corner areas. The robotic arm simultaneously carries both the side brush assembly and the robotic gripper, enabling a single robotic arm to perform the dual functions of cleaning extension by the side brush assembly and environmental preparation by the robotic gripper, thereby improving the cleaning efficiency of the cleaning equipment.

[0006] In one embodiment of this disclosure, the robotic arm includes a first driving device and a first arm. The first driving device is disposed on the body, and the first arm is connected to the power output end of the first driving device to rotate about a first axis under the drive of the first driving device. The first axis is the height direction of the body, and the side brush assembly and the robotic gripper are connected to the first arm.

[0007] In the above technical solution, the first driving device drives the first arm to rotate around the first axis, breaking through the dead angle limitation of the fixed side brush. The robotic arm can extend the side brush assembly to the gap area that the machine body cannot directly reach by rotating, expanding the cleaning range of the side brush assembly and improving the cleaning coverage of the cleaning equipment. At the same time, driven by the first driving device, the side brush assembly can also be reset to the first working position inside the machine body and perform routine cleaning operations along with the machine body's self-movement on the surface to be cleaned, improving the operational flexibility of the cleaning equipment.

[0008] In one embodiment of this disclosure, the robotic arm further includes an extension arm assembly, which includes a second drive device, a second arm, a third drive device, a third arm, a fourth drive device, and a fourth arm. The second drive device is disposed on the first arm, and the second arm is connected to the power output end of the second drive device to rotate about a second axis under the drive of the second drive device. The third drive device is disposed on the second arm, and the third arm is connected to the power output end of the third drive device to rotate about a third axis under the drive of the third drive device. The fourth drive device is disposed on the third arm, and the fourth arm is connected to the power output end of the fourth drive device to rotate about a fourth axis under the drive of the fourth drive device. The fourth arm is equipped with a robotic gripper and a side brush assembly.

[0009] In the aforementioned technical solution, by incorporating an extension arm assembly, the robotic arm is upgraded to a multi-degree-of-freedom articulated arm structure. This significantly increases the movement space and working radius of the side brush assembly, enabling it to perform cleaning tasks from a greater distance outside the main body. The extension arm assembly not only substantially increases the cleaning range of the side brush assembly, allowing it to cover a wider area, but also enhances its flexibility in adapting to complex environments, achieving a more thorough cleaning effect. Simultaneously, the multi-degree-of-freedom articulated arm allows the robotic gripper to perform more complex posture adjustments and more precise grasping actions in three-dimensional space, improving the efficiency and applicability of the robotic gripper's operations.

[0010] In one embodiment of this disclosure, the fourth arm further includes a receiving cavity, the mechanical gripper includes a gripping drive device and a gripping part, and the side brush assembly includes a side brush drive device and a side brush. The gripping drive device and the side brush drive device are installed in the receiving cavity. The gripping drive device is connected to the gripping part to drive the gripping part to perform operations. The side brush drive device is connected to the side brush to drive the side brush to perform cleaning operations.

[0011] In the above technical solution, the gripping drive device of the robotic arm and the side brush drive device of the side brush are integrated into the accommodating cavity of the fourth arm, which optimizes the space utilization of the robotic arm structure, improves the compactness of the robotic arm design, and reduces the overall space occupation of the robotic arm. At the same time, the side brush and the gripping part are controlled by independent drive devices, so the cleaning power requirements of the side brush and the working power requirements of the gripping part do not interfere with each other, ensuring the working efficiency of the cleaning equipment.

[0012] In one embodiment of this disclosure, the robotic arm is housed within the body when the side brush assembly is in the first working position.

[0013] In the above technical solution, the robotic arm can be completely retracted into the machine body without affecting the external dimensions of the machine body, resulting in a higher overall integration of the cleaning equipment. At the same time, during regular cleaning operations, the side brush assembly lowers the overall center of gravity of the cleaning equipment, providing sufficient downforce to improve the overall stability of the cleaning equipment when moving on the ground and enhance the cleaning effect of the side brush assembly.

[0014] In one embodiment of this disclosure, the mechanical gripper includes a first clamping plate, which is rotatably mounted on a first arm. Furthermore, in the first working position, the first clamping plate replaces the anti-collision plate of the cleaning device, covering the side wall area on the front side of the machine body.

[0015] In the above technical solution, the first clamping plate, through its contour-following design, can serve both as a mechanical gripper for performing operations and as a direct replacement for the independently installed anti-collision plate in the cleaning equipment. This effectively eliminates the need for dedicated anti-collision plate components and their installation structure, significantly simplifying the overall mechanical design complexity of the cleaning equipment. The reduction in anti-collision plate structural components not only eliminates the space occupied by the anti-collision plate on the machine body and optimizes the compactness of the cleaning equipment layout, but also lowers the overall manufacturing cost of the cleaning equipment.

[0016] In one embodiment of this disclosure, a first clamping plate is rotatably mounted on one end of the first arm away from the first driving device, and a side brush assembly is disposed on one end of the first arm away from the first driving device. In the second working position, the first clamping plate has a foldable storage state on the side of the first arm.

[0017] In the above technical solution, when the side brush assembly is performing cleaning operations, the first clamp can be folded to the side of the first arm to eliminate the risk of collision between the extended part of the first clamp and environmental obstacles such as furniture and corners, ensuring the flexibility of the side brush assembly when performing cleaning operations in the working range outside the machine body, and improving the cleaning coverage of the cleaning equipment in complex corner areas.

[0018] In one embodiment of this disclosure, the mechanical gripper further includes a second clamping plate and a sixth driving device. The fixed end of the second clamping plate is rotatably mounted on the first clamping plate, and the free end of the second clamping plate and the free end of the first clamping plate form a gripping portion. The power output end of the sixth driving device is connected to the fixed end of the second clamping plate to drive the gripping portion to perform operations.

[0019] In the above technical solution, based on the first clamping plate conforming to the anti-collision plate, a second clamping plate is added to cooperate with the first clamping plate to form a gripping part, forming an enveloping gripping method, which not only increases the gripping area during operation, but also improves the mechanical claw's ability to operate on large items and the flexibility of application scenarios, ensuring the working efficiency of the mechanical claw.

[0020] In one embodiment of this disclosure, the mechanical gripper includes a second clamping plate rotatably mounted on a first clamping plate, and a friction portion is provided on the first clamping plate facing the second clamping plate.

[0021] In the above technical solution, the friction part increases the friction between the robotic gripper and large objects during operation, thereby improving the stability of the robotic gripper operation and avoiding the risk of accidental fall during the transfer of large objects.

[0022] A second aspect of this disclosure also provides a cleaning system that includes the cleaning equipment described in any of the above claims.

[0023] In the above technical solution, the cleaning system includes the aforementioned cleaning equipment, which expands the cleaning range of the cleaning equipment and significantly improves the cleaning coverage of complex corner areas. The cleaning equipment has the dual functions of environmental cleanup and extended cleaning operations, and does not affect the compatibility with the base station of the original cleaning system.

[0024] The beneficial effects of this disclosure are as follows: This disclosure proposes a cleaning device and a cleaning system. In this cleaning device, a side brush assembly is integrated onto a robotic arm and, driven by the robotic arm, has a first working position located inside the machine body and a second working position extending outside the machine body. When the side brush assembly is in the first working position, it can move autonomously with the machine body on the surface to be cleaned, performing routine cleaning operations. When the side brush assembly extends from inside the machine body to the second working position, the cleaning range of the side brush assembly expands outside the machine body, thereby switching the working position of the side brush assembly and significantly improving the working flexibility and cleaning coverage of the side brush assembly, thus improving the overall cleaning effect of the cleaning device. The robotic arm simultaneously carries the side brush assembly and the robotic gripper, enabling a single robotic arm to achieve the dual functions of cleaning extension by the side brush assembly and environmental preparation by the robotic gripper, enhancing the functional integration and collaborative operation capability of the cleaning device. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0026] In the attached diagram:

[0027] Figure 1 This is a schematic diagram of the side brush assembly in a second working position according to an embodiment of the present disclosure;

[0028] Figure 2 This is a schematic diagram of the side brush component in a first working position according to an embodiment of the present disclosure;

[0029] Figure 3 This is a schematic diagram of the side brush assembly in a second working position according to another embodiment of this disclosure;

[0030] Figure 4 This is a schematic diagram of the side brush assembly in a first working position according to another embodiment of this disclosure;

[0031] Figure 5This is a schematic diagram of a robotic arm and its connection structure in one embodiment of the present disclosure;

[0032] Figure 6 This is a schematic diagram of the robotic arm and its connection structure in another embodiment of this disclosure;

[0033] Figure 7 This is a schematic diagram of the first clamping plate in a folded state in one embodiment of the present disclosure;

[0034] Figure 8 This is a schematic diagram of the connection structure between the first clamping plate and the second clamping plate in one embodiment of this disclosure;

[0035] Figure 9 This is a schematic diagram of the robotic arm in a retracted state according to an embodiment of the present disclosure;

[0036] Figure 10 This is a schematic diagram of the robotic arm in a retracted state in another embodiment of this disclosure.

[0037] The attached figures are labeled as follows:

[0038] 10. First axis; 20. Second axis; 30. Third axis; 40. Fourth axis; 100. Body; 200. Robotic arm; 210. First drive unit; 220. First arm; 230. Extension arm assembly; 231. Second drive unit; 232. Second arm; 233. Third drive unit; 234. Third arm; 235. Fourth drive unit; 236. Fourth arm; 237. Receptacle; 240. Mechanical gripper; 241. First clamping plate; 242. Second clamping plate; 243. Sixth drive unit; 244. Friction part; 245. Gripping drive unit; 246. Gripping part; 247. Fifth drive unit; 300. Side brush assembly; 310. Side brush drive unit; 320. Side brush. Detailed Implementation

[0039] 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. 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. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0040] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this disclosure. The drawings only show components related to this disclosure and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] Numerous details are explored in the following description to provide a more thorough explanation of embodiments of the present disclosure. However, it will be apparent to those skilled in the art that embodiments of the present disclosure may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present disclosure.

[0042] Please see Figures 1 to 10 This disclosure provides a cleaning device and a cleaning system. The cleaning device is equipped with a robotic arm 200, and the robotic arm 200 integrates a side brush assembly 300. Through the drive of the robotic arm 200, the side brush assembly 300 can be switched between a first working position and a second working position, thereby increasing the cleaning range of the side brush assembly 300 and improving the cleaning coverage of the cleaning device in complex corner areas. Therefore, it can improve the technical problems of existing side brushes having a small cleaning range, limited cleaning area, and single function.

[0043] The cleaning equipment disclosed herein includes at least a body 100, a robotic arm 200, and a side brush assembly 300. The cleaning equipment disclosed herein can integrate various functions according to actual needs, including but not limited to: autonomous travel planning based on sensors such as accelerometers, gyroscopes, and odometers; obstacle recognition and collision avoidance based on distance sensors and image recognition devices; autonomous walking based on mechanical mechanisms such as drive wheel sets, driven wheel sets, and drivers; human-computer interaction based on physical buttons, virtual buttons, displays, and indicator lights; energy supply based on rechargeable batteries; and intelligent control based on control circuits or control chips, etc., which will not be elaborated upon further.

[0044] In practical applications, cleaning equipment can specifically manifest as products such as vacuum cleaners, floor scrubbers, mopping robots, or robotic vacuum cleaners. To perform its essential cleaning functions, cleaning equipment must at least include cleaning components, which are detachably connected to the main body. These detachable connections can be snap-fit, bolted, or other methods. Cleaning components can be categorized into dry cleaning and / or wet cleaning components. Dry cleaning components include cleaning parts such as roller brushes and a vacuuming system, while wet cleaning components include cleaning heads, liquid tanks, pumps, and piping assemblies.

[0045] Optionally, in one embodiment, the cleaning device may further include a roller brush, which is located at the bottom of the machine body. Along the traveling direction of the machine body, the roller brush is positioned in front of the cleaning components. The roller brush is rotatably disposed within a roller brush cavity at the bottom of the machine body. During its rolling motion, the roller brush can sweep away debris on the ground. The number of roller brushes can be set according to specific requirements, and is not limited in this embodiment.

[0046] In addition to the above, the cleaning equipment may also include a sensing system and a control system. The sensing system and control system are electrically connected. The sensing system includes an LDS located on top of the unit, a buffer and vision sensor located at the front of the unit, and an edge sensor located on the front side wall of the unit. Among them, the LDS, buffer, and edge sensor can measure or sense distance to obtain the distance between the edge of the unit and obstacles. The control system uses this distance to control the cleaning equipment to perform corresponding actions. For example, controlling the cleaning equipment to perform obstacle avoidance, edge cleaning, and return to the base station.

[0047] Taking a robotic vacuum cleaner as an example, some of its components are described. However, those skilled in the art will understand that other types of cleaning devices that include components such as the body 100, robotic arm 200, and side brush assembly 300 described in this disclosure can also have the beneficial effects of the cleaning device described in this disclosure.

[0048] Please see Figure 1 The cleaning equipment includes a body 100, a robotic arm 200, and a side brush assembly 300. The body 100 is the main structure of the cleaning equipment and its core framework. The interior of the body 100 houses the main working components and functional modules, including the walking module, control module, roller brush, sensing and guiding module, and power supply. The body 100 is made of high-strength, lightweight materials, such as aluminum alloy or engineering plastics. The body 100 can have any shape, such as cylindrical, elliptical, or D-shaped. Internally, the body 100 uses honeycomb reinforcing ribs and metal inserts to form an integrated skeleton, ensuring structural integrity during drop impacts and providing standardized installation interfaces for each functional module. The walking module is typically integrated into the bottom of the body 100 and includes at least a driver and drive wheels. The driver rotates the drive wheels. There are generally two drive wheels, symmetrically positioned at the bottom of the body. Driven by the walking module, the machine body 100 can move autonomously in all directions on various surfaces to be cleaned, such as tiles, floors, and carpets, following a bow-shaped, wall-following, or fixed-point cleaning path. It can also perform forward, backward, turning, and rotating movements on the surface. The specific structural components of the walking module and the connection structure between the walking module and the machine body 100 can be referenced from existing cleaning equipment structures, and will not be elaborated here.

[0049] Please see Figure 1The robotic arm 200 is mounted on the machine body 100, serving as the carrier of the end effector and integrated onto the machine body 100. The robotic arm 200 overcomes the limitations of existing cleaning equipment, which can only clean the surface corresponding to the machine body 100. It extends the cleaning range of the equipment from two-dimensional operations at the corresponding location on the machine body 100 to two-dimensional operations outside the machine body 100 or three-dimensional operations in space. The installation position of the robotic arm 200 on the machine body 100 is not limited; its installation position and angle can be flexibly adjusted according to industrial needs. For example, the robotic arm 200 can be located on the upper part or side of the machine body 100, or it can be integrated into the machine body 100, but this is not a limitation. The robotic arm 200's degrees of freedom can be single-axis, three-axis, four-axis, or six-axis; there are no restrictions here, as long as it can be integrated with the side brush assembly 300, enabling the side brush assembly 300 to switch between the first working position and the second working position. The joints of the robotic arm 200 are driven by brushless servo motors or harmonic geared motors to control the multi-degree-of-freedom movement between the joints, ensuring that the end effector of the robotic arm 200 has both high responsiveness and high repeatability in position and attitude control in two-dimensional or three-dimensional space. The robotic arm 200 includes a robotic gripper 240, which is the end effector of the robotic arm 200 used to perform the cleaning equipment's functions. For example, the robotic arm 200 can control the robotic gripper 240 to pick up and transfer small obstacles such as slippers, data cables, and socks from the surface to be cleaned to a designated storage area. Alternatively, the robotic gripper 240 can hold external cleaning tools such as rags and mops to clean vertical surfaces such as baseboards, steps, low coffee tables, or tabletops. It can also externally hold devices such as UV lamps or small camera modules to expand the cleaning or detection functions of the cleaning equipment. The structure of the robotic gripper 240 is not limited and can be any gripper structure capable of realizing the cleaning equipment's functions. For example, the mechanical gripper 240 can be a common mechanical gripper structure type in existing cleaning equipment, such as a two-finger parallel gripping type, a three-finger concentric type, or a flexible airbag type, but it is not limited to this.

[0050] Please see Figures 1 to 4The side brush assembly 300 is integrated and mounted on the robotic arm 200, and its displacement movement is adjusted according to the movement posture of the robotic arm 200. The side brush assembly 300 includes at least a side brush 320 and a side brush drive device 310 for driving the rotational movement of the side brush 320. The side brush drive device 310 can be a combination of a motor, a servo motor, or a motor and a reducer. Driven by the robotic arm 200, the side brush assembly 300 has a first working position retracted within the body 100 and a second working position extending from the body 100. In the first working position, the side brush assembly 300 is retracted into the side of the body 100, and performs routine cleaning operations as the body 100 moves along the surface to be cleaned. Specifically, along the travel direction of the body 100, in the first working position, the side brush assembly 300 is located in the front area within the body 100, for example, it can be located in the left or right front area within the body 100, and can be flexibly designed according to industrial needs. Please refer to [link / reference]. Figure 2 In the first working position, the side brush assembly 300 is housed in the right front area of ​​the body 100 in the direction of travel. In the first working position, the side brush assembly 300 does not significantly increase the overall width of the cleaning device or only adds a very small dynamic envelope formed by the rotating bristles of the side brush in the lateral direction. This significantly improves the mobility of the cleaning device in narrow passages (such as furniture gaps and doorways), effectively reducing the risk of the cleaning device getting stuck. At the same time, in the first working position, the side brush assembly 300 ensures the cleaning device's ability to perform routine cleaning operations in most common cleaning scenarios. That is, in the first working position, the side brush assembly 300 auxiliaryly expands the effective coverage boundary of the main cleaning system (such as the main brush and vacuuming system of the cleaning device), enabling effective preliminary cleaning of corner areas close to the side walls of the body 100, creating conditions for the main cleaning system of the cleaning device to collect debris.

[0051] Please see Figure 1When the robotic arm 200 drives the side brush assembly 300 to extend from inside the body 100 to the second working position, the side brush assembly 300 is located outside the body 100, and its cleaning range extends beyond the body 100. The way the robotic arm 200 drives the side brush assembly 300 to extend beyond the body 100 is not limited; it can involve the active extension and retraction of the robotic arm 200, as well as possible rolling, deflecting, and lifting movements. Driven by the robotic arm 200, the side brush assembly 300 can reach complex corner areas that are difficult for traditional cleaning equipment to access in regular cleaning modes, such as deep under furniture, narrow crevices, the base of walls, and the edges of irregular obstacles. Meanwhile, the high controllability of the robotic arm 200 ensures that the side brush assembly 300 can adhere to these complex surfaces to be cleaned at a better angle and with better pressure. This overcomes the technical problems of limited coverage and poor adaptability to irregular areas in traditional cleaning equipment, significantly improving the working flexibility and cleaning coverage of the side brush assembly 300. As a result, the cleaning equipment can achieve a more thorough and comprehensive cleaning effect by increasing the cleaning coverage of complex corner areas.

[0052] Please see Figure 1 and Figure 3In the second working position, the side brush assembly 300 has its mechanical gripper 240 extending outside the body 100 to perform operations. The robotic arm 200 simultaneously carries both the side brush assembly 300 and the mechanical gripper 240. The previously single-function robotic arm 200 can seamlessly switch between and perform two distinct cleaning functions based on the actual needs of the cleaning task. Specifically, it utilizes the side brush assembly 300 for extended and refined cleaning, and the mechanical gripper 240 for environmental preparation (such as grabbing, removing obstacles, or picking up specific debris). This multi-functional design of the robotic arm 200 not only greatly simplifies the overall mechanical design of the cleaning equipment but also significantly improves its operational efficiency. For example, when performing cleaning tasks in complex areas, the robotic arm 200 can first use the mechanical gripper 240 to remove obstacles, and then immediately drive the side brush assembly 300 to penetrate the area for cleaning, enhancing the collaborative operation capability of the cleaning equipment and enabling it to more efficiently cope with changing and complex cleaning environments. It should be noted that the integrated design of the side brush assembly 300 and the mechanical gripper 240 mounted on the robotic arm 200 not only extends the cleaning range of the side brush assembly 300 and performs environmental cleanup with the mechanical gripper 240, improving the overall integration and cleaning efficiency of the cleaning equipment, but also optimizes the overall spatial layout and structural compactness of the cleaning equipment. It should also be noted that in this embodiment, the specific structure of the robotic arm 200 can be varied, as long as it can enable the side brush assembly 300 to switch between a first working position and a second working position, thereby expanding the cleaning range of the side brush assembly 300. For example, the robotic arm 200 can be a single-degree-of-freedom robotic arm structure, or it can be a multi-degree-of-freedom robotic arm structure capable of driving the side brush assembly 300 and the mechanical gripper 240 to perform functions such as yaw, rolling, and lifting, but it is not limited to these limitations.

[0053] Please see Figure 1 and Figure 5In one embodiment of this disclosure, the robotic arm 200 includes a first drive device 210 and a first arm 220. The first drive device 210, as the core power source of the robotic arm 200, is installed inside the body 100 and drives the entire robotic arm 200 to rotate around a first axis 10. The power output end of the first drive device 210 is connected to the first arm 220. Under the drive of the first drive device 210, the first arm 220 rotates around the first axis 10. The axial direction of the first axis 10 is consistent with the height direction of the body 100. The rotation of the first arm 220 around the first axis 10 causes the side brush assembly 300 and the robotic gripper 240 mounted on the first arm 220 to oscillate around the first axis 10. The structure of the first drive device 210 is not limited and can be any suitable type of structure capable of driving the first arm 220 to oscillate around the first axis 10. For example, the first drive device 210 can be a commonly used power supply device such as a motor, servo motor, or servo motor. The output end of the power supply device is fixedly connected to the first arm 220, transmitting the source power to the first arm 220 to drive the first arm 220 to rotate. The first drive device 210 can also be a combined drive device formed by a commonly used power supply device such as a motor, servo motor, or servo motor and a commonly used transmission structure such as a chain drive mechanism, worm gear drive mechanism, or gear drive mechanism. The power supply device transmits the source power to the first arm 220 through the transmission structure to drive the first arm 220 to rotate around the first axis 10, but it is not limited to this.

[0054] The side brush assembly 300 and the mechanical gripper 240 are integrated and mounted on the first arm 220. The connection method between the side brush assembly 300 and the mechanical gripper 240 and the first arm 220 is not limited. For example, in one embodiment, please refer to... Figure 1 The side brush assembly 300 and the robotic gripper 240 can be indirectly connected to the first arm 220 via an extension arm assembly 230. The extension arm assembly 230 can be a single articulated arm or a multi-articulated arm structure with multiple free joints. One end of the extension arm assembly 230 is rotatably connected to the first arm 220, and the end of the extension arm assembly 230 facing away from the first arm 220 integrates and mounts the side brush assembly 300 and the robotic gripper 240. The extension arm assembly 230 further enhances the working radius extension capability of the side brush assembly 300, thereby expanding its cleaning coverage. Simultaneously, the extension arm assembly 230 adds at least one rotational or swinging degree of freedom to the robotic arm 200, improving the side brush assembly 300's spatial adaptability when working in irregular areas and enhancing cleaning performance.

[0055] In another embodiment, please refer to Figure 3The side brush assembly 300 and the mechanical gripper 240 are directly mounted on the first arm 220 and oscillate as the first arm 220 rotates. The design length of the first arm 220 determines the working radius of the side brush assembly 300 and the mechanical gripper 240. The fixed end of the first arm 220 is connected to the machine body 100, and the free end of the first arm 220 is equipped with the side brush assembly 300 and the mechanical gripper 240. The first drive device 210 drives the fixed end of the first arm 220 to rotate around the first axis 10, so that the free end of the first arm 220 extends out of the machine body 100, thereby causing the side brush assembly 300 to extend out of the machine body 100. In this embodiment, the direct or indirect installation of the side brush assembly 300 on the first arm 220 overcomes the dead-angle limitation of fixed side brushes. The robotic arm 200 can extend the side brush assembly 300 to areas such as the bottom of furniture, narrow gaps, corners of walls, or edges of irregular obstacles that the main body 100 cannot directly reach, thereby expanding the cleaning range of the side brush assembly 300 and improving the cleaning coverage of the cleaning equipment. At the same time, the first driving device 210 drives the first arm 220 to rotate around the first axis 10, thereby indirectly causing the side brush assembly 300 to sway around the first axis 10. The dust, debris, hair, and other lightweight or particulate waste gathered by the side brush 320 of the side brush assembly 300 during high-speed rotation are continuously and evenly pushed or guided to the effective negative pressure suction area at the inlet of the suction pipe of the cleaning equipment. The dynamic sweeping surface formed by the side brush assembly 300 during the swaying process effectively prevents secondary diffusion or retention of debris on the ground, significantly increasing the amount of debris entering the suction pipe per unit time and increasing the working area of ​​the cleaning equipment within a single travel path, thus significantly improving the dust collection efficiency of the cleaning equipment. Driven by the first drive device 210, the side brush assembly 300 can also be reset from the second working position outside the body 100 to the first working position inside the body 100, restoring the cleaning equipment to its standard external dimensions. This allows the side brush assembly 300 to work in conjunction with the main brush and suction pipe (not shown) on the bottom surface of the body 100 to perform conventional self-propelled cleaning operations. Through integrated control of the unfolding and retraction of the side brush assembly 300, the cleaning equipment can be switched instantly according to scene requirements, significantly improving the operational flexibility and environmental adaptability of the side brush assembly 300.

[0056] Please see Figure 5In one embodiment of this disclosure, the robotic arm 200 further includes an extension arm assembly 230. The extension arm assembly 230 upgrades the robotic arm 200 from a single-degree-of-freedom rotational structure to a multi-degree-of-freedom articulated arm structure, significantly increasing the movement space and working radius of the side brush assembly 300 on the robotic arm 200. This allows the side brush assembly 300 to perform cleaning tasks at a greater distance beyond the machine body 100, enhancing its flexibility in adapting to complex environments, thereby improving the overall working range of the cleaning equipment and achieving a more thorough cleaning effect. Specifically, the extension arm assembly 230 includes a second drive device 231, a second arm 232, a third drive device 233, a third arm 234, a fourth drive device 235, and a fourth arm 236. The second drive device 231 provides power for the second arm 232 to rotate around the second axis 20. The second drive device 231 is fixedly mounted on the first arm 220, and its power output end is connected to the second arm 232. Driven by the second drive device 231, the second arm 232 rotates around the second axis 20, thereby enabling the side brush assembly 300 and the mechanical claw 240, which are indirectly connected to the second arm 232, to roll around the second axis 20. The structure of the second drive device 231 is not limited; it can be any suitable type of structure capable of providing power for the rotation of the second arm 232 around the second axis 20. For example, it can be a direct-drive motor, a motor-reducer drive, or a motor-mechanical transmission structure. The mechanical transmission structure includes, but is not limited to, chain drives, belt drives, and gear drives. The third drive device 233 provides power for the rotation of the third arm 234 around the third axis 30. The third drive device 233 is fixedly mounted on the second arm 232, and its power output end is connected to the third arm 234. Driven by the third drive unit 233, the third arm 234 rotates around the third axis 30. When the robotic arm 200 rolls around the second axis 20 until the third axis 30 is parallel to the surface to be cleaned, the third drive unit 233 drives the third arm 234 to rotate, causing the side brush assembly 300 and the robotic claw 240 to lift in the height direction of the body 100. The structure of the third drive unit 233 is not limited and can be any suitable type of structure that can provide power for the rotation of the third arm 234 around the third axis 30. For example, it can be a direct-drive motor, a motor and reducer drive unit, or a motor and mechanical transmission structure. The mechanical transmission structure includes, but is not limited to, chain drive mechanisms, belt drive mechanisms, gear drive mechanisms, etc. The fourth drive unit 235 is fixedly installed on the third arm 234 and provides power for the rotation of the fourth arm 236 around the fourth axis 40.The power output end of the fourth drive device 235 is connected to the fourth arm 236. A mechanical gripper 240 and a side brush assembly 300 are mounted on the fourth arm 236. Driven by the fourth drive device 235, the fourth arm 236 rotates around the fourth axis 40, thereby driving the mechanical gripper 240 and the side brush assembly 300 to roll around the fourth axis 40. By extending the multi-degree-of-freedom articulated arm structure of the arm assembly 230, the mechanical gripper 240 can achieve more complex posture adjustments and more precise grasping actions in three-dimensional space, improving the efficiency and applicability of the mechanical gripper 240. The structure of the fourth drive device 235 is not limited; it can be any suitable type of structure that can provide the power source for the rotation of the fourth arm 236 around the fourth axis 40. For example, it can be a direct-drive motor, a motor-reducer drive, or a motor-mechanical transmission structure. The mechanical transmission structure includes, but is not limited to, chain drives, belt drives, and gear drives.

[0057] Specifically, in this embodiment, please refer to Figure 5 and Figure 9 When the side brush assembly 300 is in the first working position, i.e., when the side brush assembly 300 is performing routine cleaning operations, the first drive unit 210, the first arm 220, the second drive unit 231, the second arm 232, the third drive unit 233, the third arm 234, the fourth drive unit 235, the fourth arm 236, and the mechanical gripper 240 are all housed within the body 100, with the side brush assembly 300 located in the front area within the body 100. When the side brush assembly 300 is performing cleaning operations in the first working position, it does not significantly increase the overall width of the cleaning equipment. The entire mechanical arm 200, including the extension arm assembly 230, is housed within the body 100, improving the mobility of the cleaning equipment in narrow passages. Please refer to [link / reference]. Figure 1 and Figure 5When the side brush assembly 300 extends beyond the body 100 from its first working position, the first drive device 210 drives the first arm 220 to rotate horizontally outward around the first axis 10, and the third drive device 233 drives the third arm 234 to rotate horizontally outward away from the body 100 around the third axis 30. The first arm 220, the second arm 232, the third arm 234, and the fourth arm 236 extend sequentially along the horizontal axis away from the body 100, thereby gradually increasing the working radius of the side brush assembly 300 mounted on the fourth arm 236, and also gradually increasing the working radius and movement space of the second working position of the side brush assembly 300, i.e., outside the body 100. Conversely, when there is no extension arm assembly 230, the side brush assembly 300 is directly fixedly mounted on the first arm 220. The working radius and movement space of the side brush assembly 300 outside the body 100 are limited by the design length of the first arm 220 that can extend outside the body 100. The working radius that it can reach outside the body 100 is limited by the overhang length of the first arm 220 itself, and it cannot be extended a second or multiple times. At the same time, due to the lack of multiple joint degrees of freedom of the extension arm assembly 230, the posture of the side brush assembly 300 can only be controlled and adjusted within a single plane of rotation of the first arm 220 around the first axis 10. It cannot extend further in the horizontal direction away from the body 100, nor can it pitch or sway to avoid obstacles in time, which significantly limits the working flexibility in the space outside the body 100.

[0058] Please see Figure 5In one embodiment of this disclosure, the fourth arm 236 further includes a receiving cavity 237, and the mechanical gripper 240 includes a gripping drive device 245 and a gripping part 246. In this embodiment, the gripping drive device 245 is fixedly mounted on the fourth arm 236. The gripping drive device 245 provides power to the gripping part 246 for operation. The gripping part 246 is a gripper structure, and the power output end of the gripping drive device 245 is connected to the gripping part 246 to drive the gripping part 246 to perform operation. The structure of the gripping drive device 245 is not limited and can be any suitable type of structure capable of driving the gripping part 246 to perform gripping operations. For example, the gripping drive device 245 can be a direct-drive motor, a motor and reducer drive device, or a motor and mechanical transmission structure drive device. The mechanical transmission structure includes, but is not limited to, chain drive mechanisms, belt drive mechanisms, gear drive mechanisms, etc. The side brush assembly 300 includes a side brush drive device 310 and a side brush 320. In this embodiment, the side brush drive device 310 is fixedly mounted on the fourth arm 236. The side brush drive device 310 provides the power source for the rotational movement of the side brush 320. The power output end of the side brush drive device 310 is connected to the side brush 320, driving the side brush 320 to rotate and perform cleaning operations. The structure of the side brush drive device 310 is not limited and can be any suitable type of structure capable of driving the side brush 320 to rotate and thus perform cleaning operations. For example, the side brush drive device 310 can be a direct-drive motor, a motor and reducer drive device, or a motor and mechanical transmission structure drive device. The mechanical transmission structure includes, but is not limited to, chain drive mechanisms, belt drive mechanisms, gear drive mechanisms, etc. Specifically, in this embodiment, the side brush drive device 310 includes a motor and a gear transmission mechanism. The motor transmits power to the side brush 320 through the gear transmission mechanism to drive the side brush 320 to rotate. The gripping drive device 245 and the side brush drive device 310 are integrated and installed in the accommodating cavity 237 of the fourth arm 236, optimizing the overall layout and space utilization of the robotic arm 200 structure, improving the compactness of the robotic arm 200 design, and reducing the overall space occupied by the robotic arm 200. At the same time, the side brush 320 and the gripping part 246 are controlled by independent drive devices, and the cleaning power requirements of the side brush 320 and the gripping part 246 do not interfere with each other, ensuring the operating efficiency of the cleaning equipment.

[0059] Please see Figure 2In one embodiment of this disclosure, with the side brush assembly 300 in the first working position, the robotic arm 200 is housed within the body 100. The robotic arm 200 can be completely housed in the storage cavity 110 by folding, rotating, or extending, or a combination thereof, reducing the volume occupied by the robotic arm 200 outside the body 100, ensuring the portability of the cleaning equipment during storage and carrying, and increasing the overall integration of the cleaning equipment. Simultaneously, during routine cleaning operations, the side brush assembly 300 lowers the overall center of gravity of the cleaning equipment, providing sufficient downforce and improving the overall stability of the cleaning equipment as it moves across the surface to be cleaned, thereby enhancing the cleaning effect of the side brush assembly 300.

[0060] Please see Figure 6In one embodiment of this disclosure, the mechanical gripper 240 includes a first clamping plate 241 and a fifth drive device 247. The first clamping plate 241 is rotatably mounted on the end of the first arm 220 opposite to the first drive device 210 via a rotating connection mechanism (e.g., including a rotating shaft, bearing seat, or hinge assembly, or other conventional rotational support elements in the art). The fifth drive device 247 is fixedly mounted on the first arm 220 and provides the power source for the rotation of the first clamping plate 241 on the first arm 220. The structure of the fifth drive device 247 is not limited and can be any suitable type of structure capable of driving the first clamping plate 241 to rotate relative to the first arm 220 about its mounting axis. For example, the fifth drive device 247 can be a direct-drive motor, a motor-reducer drive device, or a motor-mechanical transmission structure. The mechanical transmission structure includes, but is not limited to, chain drive mechanisms, belt drive mechanisms, gear drive mechanisms, etc. In this embodiment, the fifth drive device 247 uses a motor-reducer drive mechanism. The first clamping plate 241 is specially designed to mimic the shape of the original independent anti-collision plate of the cleaning equipment. Specifically, the outline, dimensions, and working surface features of the first clamping plate 241 are optimized to precisely match or cover the space occupied by the original anti-collision plate in a specific area on the front side of the machine body 100 (typically referring to areas prone to collision, such as forward or side-forward protrusions) and to provide the protective interface. In the first working position, the fifth drive device 247 of the side brush assembly 300 can be controlled by the cleaning equipment's control system to drive the first clamping plate 241 to rotate, allowing it to move to a preset rotation position. At this preset rotation position, the first clamping plate 241 effectively replaces the structure and function of the original independent anti-collision plate, its contoured surface closely fitting or covering the side wall area on the front side of the machine body 100, forming a physical barrier equivalent to the original anti-collision plate. This side wall area typically corresponds to the main collision risk zone in the direction of the cleaning equipment's movement. The design of the first clamping plate 241, replacing the anti-collision plate, effectively eliminates the need for dedicated anti-collision plate components and their installation structure, significantly simplifying the mechanical design complexity of the robotic arm 200 link design. The reduction in anti-collision plate structural components not only eliminates the space occupied by the anti-collision plate on the body 100 and optimizes the compactness of the cleaning equipment layout, but also reduces the overall manufacturing cost of the cleaning equipment. Furthermore, due to the design requirements of the contour-following anti-collision plate, the first clamping plate 241 typically has relatively large structural dimensions and surface area. When performing environmental cleanup tasks (such as gripping, removing obstacles, or picking up large pieces of waste), the larger structure of the first clamping plate 241 can cooperate with the front area of ​​the body 100 (e.g., when the robotic arm 200 pushes an object against the front of the body 100) or with the first arm 220 itself (when using a gripping or lifting method). This cooperation significantly improves the robotic gripper 240's ability and efficiency in stably gripping and moving large, irregularly shaped objects, expanding the application scenarios of the robotic gripper 240.

[0061] Please see Figure 7 In one embodiment of this disclosure, the first clamping plate 241 is rotatably mounted on the end of the first arm 220 facing away from the first driving device 210. When the first arm 220 extends from the side wall area of ​​the body 100 to outside the body 100, the side brush assembly 300 is mounted on the end of the first arm 220 facing away from the first driving device 210, which can maximize the cleaning range of the side brush assembly 300. Furthermore, in the second working position, driven by the fifth driving device 247, the first clamping plate 241 has a foldable storage state beside the first arm 220. That is, when the side brush 320 performs cleaning operations, the first clamping plate 241 can be folded beside the first arm 220, eliminating the risk of interference between the extended portion of the first clamping plate 241 and environmental obstacles such as furniture and corners, ensuring the flexibility of the side brush assembly 300 when performing cleaning operations in the working range extending outside the body 100, and improving the cleaning coverage and cleaning flexibility of the cleaning equipment in complex corner areas.

[0062] In this embodiment, please refer to Figure 4 and Figure 10 When the side brush assembly 300 is in the first working position, the first clamping plate 241 covers the space occupied by the original anti-collision plate in a specific area on the front side of the body 100 and provides a protective interface, forming a physical barrier equivalent to the original anti-collision plate to address the collision risk in this area during the movement of the cleaning equipment. Simultaneously, the side brush drive device 310 and the side brush 320 are hidden inside the body 100, ensuring the normal operation of the side brush 320 in the first working position. When the side brush assembly 300 needs to extend from the first working position inside the body 100 to the outside of the body, please refer to... Figure 3 and Figure 6 Driven by the first drive device 210, the free end of the first arm 220 rotates horizontally outward. Simultaneously, the side brush assembly 300 mounted on the free end of the first arm 220 is carried away from the body 100. Driven by the first drive device 210, the first arm 220 rotates around the first axis 10, thereby causing the side brush assembly 300 outside the body 100 to swing. This continuously and evenly pushes or guides the dust, debris, hair, and other lightweight or particulate waste gathered by the side brush 320 during high-speed rotation to the effective negative pressure suction area at the inlet of the cleaning equipment's suction pipe. Further details can be found in the following sections. Figure 6 and Figure 7 When the first clamping plate 241 needs to perform a task, under the drive of the fifth drive device 247, the first clamping plate 241 separates from the state of being relatively flush with the first arm 220 and extends horizontally further away from the machine body 100, thereby entering the clamping operation state.

[0063] Please see Figure 8In one embodiment of this disclosure, the mechanical gripper 240 further includes a second clamping plate 242 and a sixth driving device 243. The fixed end of the second clamping plate 242 is rotatably mounted on the first clamping plate 241, and the free end of the second clamping plate 242 and the free end of the first clamping plate 241 form a gripping portion 246. The fifth driving device 247 and the sixth driving device 243 together form a gripping driving device 245 that provides power to the gripping portion 246. The sixth driving device 243 is fixedly mounted on the first clamping plate 241, and the power output end of the sixth driving device 243 is connected to the fixed end of the second clamping plate 242 to drive the gripping portion 246 to perform operations. The structure of the sixth driving device 243 is not limited and can be any suitable type of structure that can provide power to the second clamping plate 242 relative to the first clamping plate 241. For example, it can be a direct-drive motor, a motor and reducer drive device, or a motor and mechanical transmission structure drive device. The mechanical transmission structure includes, but is not limited to, chain drive mechanisms, belt drive mechanisms, gear drive mechanisms, etc. Specifically, in this embodiment, the second clamping plate 242 is rotatably mounted on the inner arc side of the first clamping plate 241. The inner arc side of the first clamping plate 241 refers to the surface of the first clamping plate 241 facing the interior of the body 100 or the main structure when the first clamping plate 241 is in its functional position replacing the anti-collision plate (i.e., it is attached to and covers the side wall area on the front side of the body 100). That is, when the first clamping plate 241 is attached to the side wall area on the front side of the body 100 instead of the anti-collision plate, the second clamping plate 242 and the sixth driving device 243 are hidden inside the body 100. The mechanical claw 240 with the design structure of the first clamping plate 241 and the second clamping plate 242, compared with the mechanical claw 240 structure with only one first clamping plate 241, hardly increases the space cost of the cleaning equipment. And through the sixth driving device 243, the second clamping plate 242 is driven to rotate (open and close) relative to the first clamping plate 241. The gripping part 246 can dynamically adjust its gripping contour to achieve an enveloping gripping of the target item. The enveloping gripping method significantly increases the actual effective contact area between the gripping part 246 and the target object. The dual clamping plates work together to cover a wider surface area of ​​the object. The increased contact area of ​​the gripping part 246 directly translates into greater stability and load-bearing capacity. This allows the robotic gripper 240 to safely and reliably grasp larger, heavier, or more irregularly shaped large objects (such as toys, slippers, and miscellaneous items). Simultaneously, the enveloping gripping method is more adaptable to the shape of the object, significantly expanding the range of applications where the robotic gripper 240 can operate effectively (e.g., grasping cylinders, spheres, flat objects), thereby improving the overall efficiency of the robotic gripper 240 in performing grasping, obstacle removal, or pickup tasks.

[0064] Please see Figure 8In one embodiment of this disclosure, the mechanical gripper 240 includes a second clamping plate 242 rotatably mounted on a first clamping plate 241. A friction portion 244 is provided on the first clamping plate 241 facing the second clamping plate 242. The type of friction portion 244 is not limited; it can be any suitable type of structure that effectively increases the coefficient of friction between the gripping portion 246 and the contact surface of the target item, thereby improving gripping stability. The friction portion 244 can be provided only on the inner arc side of the first clamping plate 241, or it can be provided simultaneously on the inner arc side of the second clamping plate 242. For example, the friction portion 244 can be a surface coating layer, such as a rubber layer, which can be firmly attached to the inner arc side of the first clamping plate 241 and optionally the second clamping plate 242 by means of adhesive bonding or overmolding. The friction portion 244 can also be formed by machining any irregularly shaped structural surface on the inner arc side of the first clamping plate 241 and optionally the second clamping plate 242 to increase gripping friction. Textures can include regular or irregular patterns such as bumps, pits, raised granules, stripes, grids, and serrations, but are not limited to these. When the gripping part 246 of the robotic claw 240 is in operation, the friction part 244 increases the friction between the gripping part 246 and large items, improving the stability of the robotic claw 240 during operation and avoiding the risk of accidental detachment during the transfer of large items.

[0065] The second aspect of this disclosure also provides a cleaning system, which includes the cleaning equipment described above and a base station (not shown) adapted to the cleaning equipment. The base station is generally used in conjunction with the cleaning equipment, providing functions such as the required housing space, sufficient power supply, adequate water replenishment, and the required self-cleaning operation. Different functions integrated into the base station result in different specific components; therefore, in the following embodiments, structures and functions of the base station not explicitly described can refer to existing base station structures and functions, and will not be elaborated upon in detail here. However, it is understood that the base station generally includes a connected base and a side seat, and the connection between the base and the side seat can define a housing space for accommodating the cleaning equipment, specifically manifested as a housing groove with at least one open end. The base and the side seat can be integrally formed or separately configured and detachably connected. When the base and the side seat are detachably connected, the detachable connection method can be one or more of the following: screw fixing, snap-fit ​​fixing, adhesive fixing, magnetic fixing, and adsorption fixing.

[0066] In this embodiment, the cleaning system expands the cleaning range of the aforementioned cleaning equipment, significantly improving its coverage of complex corner areas. The cleaning equipment possesses dual functions of environmental cleanup and extended cleaning operations, without affecting its compatibility with existing cleaning systems' base stations. It should be noted that this cleaning system may also include conventional components of existing cleaning systems, such as energy systems, negative pressure suction systems, wastewater and clean water tanks, and base stations; these will not be described in detail here.

[0067] The cleaning equipment and system disclosed herein integrates a side brush assembly onto a robotic arm. Driven by the robotic arm, the side brush assembly has a first working position inside the machine body and a second working position extending outside the machine body. When in the first working position, the side brush assembly can move autonomously with the machine body across the surface to be cleaned, performing routine cleaning operations. When the side brush assembly extends from inside the machine body to the second working position, its cleaning range expands outside the machine body. The working position of the side brush assembly can be switched, significantly improving its working flexibility and cleaning coverage, thereby enhancing the overall cleaning effect of the cleaning equipment. The robotic arm simultaneously carries the side brush assembly and a robotic gripper, enabling a single robotic arm to perform both cleaning extension by the side brush assembly and environmental preparation by the robotic gripper, enhancing the functional integration and collaborative operation capabilities of the cleaning equipment. This addresses the technical problems of existing side brushes having a small cleaning range, limited cleaning area, and single function.

[0068] 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: The body (100) is configured to move on its own on the surface to be cleaned; A robotic arm (200) is disposed on the body (100), the robotic arm (200) including a robotic gripper (240); A side brush assembly (300) is disposed on the robotic arm (200); Driven by the robotic arm (200), the side brush assembly (300) has a first working position housed within the body (100) and a second working position extending out of the body (100); and in the second working position, the robotic claw (240) extends out of the body (100) to perform operations.

2. The cleaning equipment according to claim 1, characterized in that, The robotic arm (200) includes: A first driving device (210) is disposed on the fuselage (100); The first arm (220) is connected to the power output end of the first drive device (210) so as to rotate around the first axis (10) under the drive of the first drive device (210); Wherein, the first axis (10) is in the height direction of the body (100), and the side brush assembly (300) and the mechanical claw (240) are connected to the first arm (220).

3. The cleaning equipment according to claim 2, characterized in that, The robotic arm (200) further includes an extension arm assembly (230), which includes: The second drive unit (231) is mounted on the first arm (220); The second arm (232) is connected to the power output end of the second drive device (231) to rotate around the second axis (20) under the drive of the second drive device (231); The third drive unit (233) is mounted on the second arm (232); The third arm (234) is connected to the power output end of the third drive device (233) to rotate around the third axis (30) under the drive of the third drive device (233); A fourth drive unit (235) is mounted on the third arm (234); The fourth arm (236) is connected to the power output end of the fourth drive device (235) to rotate around the fourth axis (40) under the drive of the fourth drive device (235). The mechanical claw (240) and the side brush assembly (300) are provided on the fourth arm (236).

4. The cleaning equipment according to claim 3, characterized in that, The fourth arm (236) further includes a receiving cavity (237). The mechanical gripper (240) includes a gripping drive device (245) and a gripping part (246). The side brush assembly (300) includes a side brush drive device (310) and a side brush (320). The gripping drive device (245) and the side brush drive device (310) are installed in the receiving cavity (237). The gripping drive device (245) is connected to the gripping part (246) to drive the gripping part (246) to perform operations. The side brush drive device (310) is connected to the side brush (320) to drive the side brush (320) to perform cleaning operations.

5. The cleaning equipment according to claim 3, characterized in that, In the first working position, the side brush assembly (300) is housed within the body (100).

6. The cleaning equipment according to claim 2, characterized in that, The mechanical claw (240) includes a first clamping plate (241) rotatably mounted on the first arm (220); and when the side brush assembly (300) is in the first working position, the first clamping plate (241) replaces the anti-collision plate of the cleaning equipment and covers the side wall area on the front side of the body (100).

7. The cleaning equipment according to claim 6, characterized in that, The first clamping plate (241) is rotatably mounted on the end of the first arm (220) away from the first driving device (210), and the side brush assembly (300) is disposed on the end of the first arm (220) away from the first driving device (210). When the side brush assembly (300) is in the second working position, the first clamping plate (241) has a foldable storage state on the side of the first arm (220).

8. The cleaning equipment according to claim 6, characterized in that, The mechanical gripper (240) further includes a second clamping plate (242) and a sixth driving device (243). The fixed end of the second clamping plate (242) is rotatably mounted on the first clamping plate (241), and the free end of the second clamping plate (242) and the free end of the first clamping plate (241) form a gripping part. The power output end of the sixth driving device (243) is connected to the fixed end of the second clamping plate (242) to drive the gripping part to perform operations.

9. The cleaning equipment according to claim 6, characterized in that, The mechanical gripper (240) includes a second gripper (242) rotatably mounted on the first gripper (241), and a friction part (244) is provided on the first gripper (241) facing the second gripper (242).

10. A cleaning system, characterized in that, The cleaning equipment included in any one of claims 1 to 9.

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