Cleaning device and cleaning system

Abstract

A cleaning device and a cleaning system. The cleaning device (100) comprises a device body (110), a robotic arm (130) and a control apparatus (170). During working of the cleaning device (100), the device body (110) is used for executing a cleaning operation, and during the cleaning, the robotic arm (130) can grasp an object, especially an object hindering normal operation of the device body (110), and transfer the obstacle to another area, thus improving cleaning efficiency. The control apparatus (170) is electrically connected to the robotic arm (130); when the cleaning device (100) is in an abnormal working state, the movement state of the robotic arm (130) can be controlled by means of the control apparatus (170).

Description

Cleaning device and cleaning system

[0001] The present application claims priority to the Chinese patent application No. 202411252438.9, filed on September 6, 2024, and entitled "Cleaning device", the content of which is incorporated herein by reference in its entirety.

[0002] The present application claims priority to the Chinese patent application No. 202411252342.2, filed on September 6, 2024, and entitled "Cleaning device and cleaning system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of smart home, and in particular to a cleaning device and a cleaning system. BACKGROUND

[0004] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning devices such as intelligent sweeping robots have continuously entered our daily life. The current cleaning device may cause damage to external facilities or danger to personnel in some emergency situations, and it is necessary to more conveniently and safely operate and control the machine.

[0005] SUMMARY

[0006] In the summary section, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description section. This part of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solutions, and even less to try to determine the protection scope of the claimed technical solutions.

[0007] The present application aims to at least solve one of the technical problems existing in the prior art or related art.

[0008] To this end, a first aspect of the present application provides a cleaning device.

[0009] A second aspect of the present application provides a cleaning system.

[0010] Therefore, according to the first aspect of the embodiments of the present application, a cleaning device is provided, which comprises:

[0011] A machine body, the machine body is provided with an arm compartment, and the arm compartment is provided with a compartment opening;

[0012] A mechanical arm, the mechanical arm is connected with the machine body and can be extended out of or stored into the arm compartment through the compartment opening;

[0013] A control device is electrically connected with the mechanical arm and used to control the motion state of the mechanical arm.

[0014] In an embodiment, the cleaning device further comprises:

[0015] A triggering assembly is configured to be triggered to send a signal, and the control device is used to control the motion state of the mechanical arm according to the signal sent by the triggering assembly.

[0016] In an embodiment, the triggering assembly is arranged on the machine body and located at the periphery of the hopper opening, and the triggering assembly is configured to send a signal under mechanical stress.

[0017] The control device is electrically connected with the mechanical arm and the triggering assembly, and the control device is used to control the mechanical arm to stop working according to the signal sent by the triggering assembly.

[0018] In an embodiment, the triggering assembly comprises:

[0019] The triggering members are distributed at the periphery of the hopper opening and can float relative to the machine body, and the triggering switch is located between the triggering members and the machine body, and the triggering members are configured to float relative to the machine body to trigger the triggering switch to send a signal.

[0020] In an embodiment, the triggering assembly further comprises:

[0021] The elastic member is arranged between the triggering members and the machine body.

[0022] In an embodiment, the triggering assembly further comprises:

[0023] The limiting member is connected with the triggering member, and the limiting member can limit and guide the movement of the triggering member relative to the machine body.

[0024] In an embodiment, a first limiting portion is arranged on one side of the triggering member facing the triggering switch, and the first limiting portion is connected with a first end of the elastic member; and / or

[0025] A second limiting portion is arranged on one side of the triggering member facing the triggering switch, and the second limiting portion is connected with a first end of the limiting member.

[0026] In an embodiment, the triggering assembly further comprises:

[0027] A buffer portion is formed or connected to the side of the actuating element facing the actuating switch, and the buffer portion corresponds to the actuating switch.

[0028] In one feasible implementation, when the actuating element is subjected to stress, it moves 0.2 mm to 0.5 mm toward the touch switch, which can trigger the touch switch to send a signal.

[0029] In one feasible implementation, the trigger component further includes:

[0030] A piezoelectric membrane is disposed on the periphery of the compartment opening. When the piezoelectric membrane is touched, it will be subjected to mechanical stress and send a signal.

[0031] In one feasible implementation, the machine body further includes:

[0032] A boss structure is provided around the periphery of the compartment opening, such that the actuating element or the piezoelectric film of the actuating assembly can be distributed around the entire periphery of the compartment opening.

[0033] In one feasible implementation, on the outer surface of the machine body, the outer surface of the actuation component protrudes beyond the plane where the opening faces the outside of the arm compartment.

[0034] In one feasible implementation, the distance between the end face of the trigger component facing the outside of the arm compartment and the plane where the compartment opening faces the outside of the arm compartment is 1 mm to 2 mm.

[0035] In one feasible implementation, the arm bay is arranged with its length direction perpendicular to the travel direction of the machine body.

[0036] In one feasible implementation, the ratio of the length of the arm compartment to the length of the machine body is greater than or equal to 0.5.

[0037] In one feasible implementation, the cleaning equipment further includes:

[0038] The compartment door is movably connected to the main body of the machine and can be opened or closed.

[0039] In one feasible implementation, when the compartment door is closed at the compartment opening, the compartment door covers at least a portion of the area of ​​the trigger component.

[0040] In one feasible implementation, the cleaning equipment further includes:

[0041] A position switch is used to connect to the compartment door to detect whether the compartment door is closed or open.

[0042] In an embodiment, the cleaning device further comprises:

[0043] a function adjustment module arranged on the machine body and configured to control the operation mode of the machine body;

[0044] an emergency stop module arranged on the machine body and configured to control at least the robot arm to perform a safety operation mode;

[0045] wherein the emergency stop module is arranged apart from the function adjustment module.

[0046] In an embodiment, the distance between the emergency stop module and the function adjustment module is greater than or equal to 20 mm.

[0047] In an embodiment, the projection of the operation space of the robot arm on the machine body forms an operation coverage area, and the area of the machine body excluding the operation coverage area is a non-operation area, and the emergency stop module is arranged in the non-operation area.

[0048] In an embodiment, the touch assembly surrounds at least part of the operation coverage area; and / or

[0049] the operation coverage area covers at least the area where the hopper is located.

[0050] In an embodiment, the distance between the emergency stop module and the operation coverage area is less than or equal to 20 mm.

[0051] In an embodiment, the machine body comprises:

[0052] a housing, the function adjustment module and the emergency stop module being arranged on the housing;

[0053] a function module arranged in the housing;

[0054] wherein an arm compartment is formed in the housing, and the robot arm can be extended out of or accommodated in the arm compartment.

[0055] In an embodiment, the housing further comprises:

[0056] a frame arranged on the top of the arm compartment, and the emergency stop module is arranged on the frame.

[0057] In an embodiment, the machine body further comprises:

[0058] A cover plate is connected to the shell, and the function adjustment module is arranged on the cover plate.

[0059] According to a second aspect of the embodiments of the present application, a cleaning system is provided, comprising:

[0060] The cleaning device according to any one of the technical solutions above;

[0061] A base station is used to accommodate the cleaning device.

[0062] Compared with the prior art, the present application has at least the following beneficial effects:

[0063] The cleaning device provided by the embodiments of the present application comprises a machine body, a mechanical arm and a control device. Based on this, during the working process of the cleaning device, the machine body is used to perform cleaning work, and during the cleaning process, the mechanical arm can grasp objects, especially objects that hinder the normal work of the machine body, and move the obstacles to other areas, thereby improving the cleaning efficiency. The control device is electrically connected with the mechanical arm. When the cleaning device is in an abnormal working state, the control device can be used to control the motion state of the mechanical arm, such as controlling the mechanical arm to retract into the arm compartment or controlling the mechanical arm to maintain the current state, so as to prevent the machine body from carrying the mechanical arm and causing danger, thereby making the use of the cleaning device safer and reducing the risk of damage to external equipment or personnel caused by the cleaning device.

[0064] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the embodiments can be implemented in accordance with the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0065] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be limiting on the present application. Moreover, the same reference numerals are used to represent the same components throughout the drawings. In the drawings:

[0066] FIG. 1 shows a structural schematic diagram of the cleaning device of the present application from one perspective with a mechanical arm connected thereto;

[0067] FIG. 2 shows a structural schematic diagram of the cleaning device of the present application from one perspective without a mechanical arm connected thereto;

[0068] FIG. 3 shows a structural schematic diagram of the cleaning device of the present application from one perspective without a mechanical arm and a touch component connected thereto;

[0069] Figure 4 shows a structural schematic diagram of one perspective of the cleaning device of the present application without the mechanical arm and the connecting part touching assembly;

[0070] Figure 5 shows a partial enlarged schematic diagram of A in the embodiment shown in Figure 4;

[0071] Figure 6 shows a structural schematic diagram of one perspective of the touching assembly of the present application;

[0072] Figure 7 shows a structural schematic diagram of another perspective of the touching assembly of the present application;

[0073] Figure 8 shows a partial enlarged schematic diagram of B in the embodiment shown in Figure 7;

[0074] Figure 9 shows a structural schematic diagram of one perspective of the touching member of the present application;

[0075] Figure 10 shows a structural schematic diagram of another perspective of the touching member of the present application;

[0076] Figure 11 is a schematic structural diagram of one angle of the cleaning device of one embodiment provided by the present application;

[0077] Figure 12 is a schematic structural diagram of one angle of the cleaning device of another embodiment provided by the present application;

[0078] Figure 13 is a schematic structural diagram of another angle of the cleaning device of one embodiment provided by the present application;

[0079] Figure 14 is a schematic structural diagram of one angle of the cleaning device of one embodiment provided by the present application with part of the shell hidden;

[0080] Figure 15 is a schematic structural diagram of another angle of the cleaning device of one embodiment provided by the present application with part of the shell hidden;

[0081] Figure 16 is a schematic structural diagram of another angle of the cleaning device of one embodiment provided by the present application with part of the shell hidden;

[0082] Figure 17 is a schematic structural diagram of another angle of the cleaning device of one embodiment provided by the present application with part of the shell hidden;

[0083] Figure 18 is a schematic structural diagram of the working state of the mechanical arm of the cleaning device of another embodiment provided by the present application;

[0084] Figure 19 is a schematic structural diagram of the working state of the mechanical arm of the cleaning device of another embodiment provided by the present application;

[0085] Figure 20 is a schematic structural diagram of the storage state of the mechanical arm of the cleaning device of another embodiment provided by the present application;

[0086] Fig. 21 is a schematic structural view of a machine door opening state of a cleaning apparatus according to another embodiment provided by the present application;

[0087] Fig. 22 is a schematic structural view of a second angle of a cleaning apparatus according to another embodiment provided by the present application;

[0088] Fig. 23 is a schematic structural view of a second angle of a cleaning apparatus according to another embodiment provided by the present application;

[0089] Fig. 24 is a schematic structural view of a hidden housing of a cleaning apparatus according to another embodiment provided by the present application;

[0090] Fig. 25 is a schematic structural view of a first state of a mechanical arm of a cleaning apparatus according to another embodiment provided by the present application;

[0091] Fig. 26 is a schematic structural view of a second state of a mechanical arm of a cleaning apparatus according to another embodiment provided by the present application.

[0092] Reference Signs 100 cleaning apparatus; 110 machine body, 120 touch component, 130 mechanical arm, 150 function adjustment module, 160 emergency stop module, 170 control device, 180 power supply, 190 door; 111 arm chamber, 112 chamber opening, 113 boss structure, 114 housing, 115 function module, 116 cover plate, 1141 frame, 1151 travel component, 1152 cleaning piece, 1153 dust collection component; 121 touch piece, 1211 first avoiding opening, 1212 first limiting part, 1213 second limiting part, 1214 second avoiding opening, 1215 buffer part, 122 touch switch, 123 elastic piece, 124 limiting piece; 131 fixed seat, 132 first mechanical joint, 133 connecting arm. DETAILED DESCRIPTION

[0093] In the following description, numerous specific details are given to provide a thorough understanding of the techniques provided by the present application. However, it will be apparent that one of ordinary skill in the art will realize that the techniques provided by the present application can be practiced without one or more of the specific details.

[0094] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments consistent with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0095] Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be implemented in many different ways and should not be construed as limited to the embodiments set forth herein. It should be understood that these embodiments have been provided merely for the purposes of clarity and that the concepts of these exemplary embodiments are sufficiently broad to encompass all technical equivalents of the disclosed embodiments.

[0096] As shown in FIGS. 1-26, where the arrow direction in the drawings is the traveling direction of the cleaning device 100, the front end of the arrow is the front end of the traveling direction, according to a first aspect of the embodiments of the present application, a cleaning device 100 is provided, comprising: a machine body 110, the machine body 110 is provided with an arm compartment 111, the arm compartment 111 is provided with a compartment opening 112; a mechanical arm 130, the mechanical arm 130 is connected with the machine body 110, and can be extended out of or stored into the arm compartment 111 through the compartment opening 112; a control device 170, the control device 170 is electrically connected with the mechanical arm 130, and is used for controlling the motion state of the mechanical arm 130.

[0097] The cleaning device 100 provided by the embodiments of the present application comprises the machine body 110, the mechanical arm 130 and the control device 170, based on which, during the working process of the cleaning device 100, the machine body 110 is used for performing cleaning operation, and during the cleaning process, the mechanical arm 130 can grasp objects, especially objects that hinder the normal operation of the machine body 110, and transfer the obstacles to other areas, which can improve the cleaning efficiency.

[0098] It can be understood that the cleaning device 100 can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, or other cleaning device 100 that meets the requirements. Specifically, the cleaning device 100 includes but is not limited to: a machine body 110, a cleaning system, a driving system, etc. The above-mentioned various systems are coordinated with each other, so that the cleaning device 100 can move autonomously to realize the cleaning function. The functional elements constituting the above-mentioned various systems in the cleaning device 100 are integrally arranged in the machine body 110. It can be understood that the cleaning device 100 can be a self-moving cleaning device 100, wherein the self-moving cleaning device 100 is a device that automatically performs cleaning operation in a certain area to be cleaned without user operation.

[0099] It can be understood that the cleaning device 100 provided by the embodiment of the present application comprises a machine body 110, a mechanical arm 130 and a touch assembly 120, wherein the machine body 110 is provided with an arm bin 111 for accommodating the mechanical arm 130, the mechanical arm 130 is connected with the machine body 110 and can be extended out of or accommodated into the arm bin 111 through a bin opening 112. Thus, the mechanical arm 130 can move with the machine body 110 to reach a target position, and the obstacles, objects and garbage near the cleaning device 100 can be grabbed or moved through the unfolding movement of the mechanical arm 130 extending out of the bin opening 112, so as to better realize the autonomous cleaning function. It can be understood that the above-mentioned objects can also be objects required by the user, such as a remote controller, an apple, etc., which will not be listed one by one here. The provision of the arm bin 111 provides a storage space for the mechanical arm 130, so that the mechanical arm 130 can be accommodated in the arm bin 111 after being folded, the space occupied by the mechanical arm 130 is reduced, the overall volume of the cleaning device 100 is small, the cleaning device 100 is convenient to store and move, and the appearance of the cleaning device 100 is also improved.

[0100] The cleaning device provided by the embodiment of the present application comprises a machine body 110, a mechanical arm 130 and a control device 170, and the control device 170 is electrically connected with the mechanical arm 130. When the cleaning device is in an abnormal working state, the control device 170 can be used to control the movement state of the mechanical arm 130, such as controlling the mechanical arm 130 to be retracted into the arm bin or controlling the mechanical arm 130 to be maintained in the current state, so as to prevent the machine body 110 from causing danger due to the carrying of the mechanical arm 130, and the use of the cleaning device is safer, and the risk of damage to external equipment or personnel caused by the cleaning device is reduced.

[0101] As shown in FIGS. 1 to 10, in a possible implementation, the cleaning device 100 further comprises a touch assembly 120, the touch assembly 120 is configured to be triggered to send a signal, and the control device 170 is used to control the movement state of the mechanical arm 130 according to the signal sent by the touch assembly 120.

[0102] In the technical solution, the structural composition of the cleaning device 100 is further provided, and the cleaning device 100 can further include a triggering assembly 120, which can be arranged on the machine body 110. The triggering assembly 120 can be triggered to send a signal, and the control device 170 can receive the signal sent by the triggering assembly 120 to control the movement state of the mechanical arm 130. When the mechanical arm 130 is folded and stored in the arm compartment 111 or stretched out of the arm compartment 111, the human hand or foreign matter near the compartment opening 112 contacts or collides with the triggering assembly 120, so that the triggering assembly 120 is subjected to mechanical stress to send a signal. It indicates that the triggering assembly 120 contacts or collides with the human hand or foreign matter, and there is a risk that the human hand or foreign matter is clamped in the compartment opening. The triggering assembly 120 will be triggered or sensed, indicating that the human hand or foreign matter is at risk of being clamped in the compartment opening 112. Therefore, the control device can control the mechanical arm 130 to stop moving according to the signal sent by the triggering assembly 120, which can avoid the possibility that the mechanical arm 130 continues to move and clamps the human hand or foreign matter between the arm compartment 111 and the mechanical arm 130, or can avoid the possibility that the mechanical arm 130 continues to move and causes the human hand to be injured or the foreign matter to be damaged. It can avoid personal injury or financial loss caused by the mechanical arm 130 during the process of folding and storing in the arm compartment 111 or stretching out of the arm compartment 111, which is beneficial to improve the safety of the mechanical arm 130 and improve the user's satisfaction.

[0103] As shown in FIGS. 1-10, in a possible implementation, the triggering assembly 120 is arranged on the machine body 110 and located on the side of the compartment opening 112. The triggering assembly 120 is configured to send a signal under mechanical stress. The control device 170 is electrically connected with the mechanical arm 130 and the triggering assembly 120, and the control device 170 is configured to control the mechanical arm 130 to stop working according to the signal sent by the triggering assembly 120.

[0104] In the technical solution, the setting position of the touch assembly 120 is further provided, the touch assembly 120 can be arranged on the periphery of the opening 112, by setting the touch assembly 120 on the machine body 110, the touch assembly 120 is located on the periphery of the opening 112, the touch assembly 120 is configured to send a signal under mechanical stress, so that when the mechanical arm 130 is folded and stored in the arm compartment 111 or stretched out of the arm compartment 111, the hand or foreign matter near the opening 112 contacts or collides with the touch assembly 120, causing the touch assembly 120 to send a signal under mechanical stress, indicating that the touch assembly 120 contacts or collides with the hand or foreign matter, and there is a risk of the hand or foreign matter being clamped in the opening. Therefore, it is convenient for the mechanical arm 130 or the cleaning device 100 to make corresponding actions according to the signal, such as the control device of the cleaning device 100 controlling the mechanical arm 130 to stop moving according to the signal, avoiding the possibility that the mechanical arm 130 continues to move and causes the hand or foreign matter to be clamped in the opening. Reducing personal injury or financial loss caused during the process of the mechanical arm 130 stretching out of the arm compartment 111 and retracting into the arm compartment 111, which is beneficial to improve the safety of the mechanical arm 130 and improve the user's satisfaction.

[0105] Among them, the touch assembly 120 is located on the periphery of the opening 112, which can be that the touch assembly 120 is located on the outer periphery of the opening 112, or the touch assembly 120 is located on the inner periphery of the opening 112, or the touch assembly 120 is located on the inner periphery and the outer periphery of the opening 112.

[0106] Among them, the cleaning device 100 can further include a connecting structure, the mechanical arm 130 is connected with the machine body 110 through the connecting structure, and the connecting structure can be at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic attraction structure. Through the connecting structure, the mechanical arm 130 and the machine body 110 can be detachably connected, so that the mechanical arm 130 can be easily detached from the machine body 110 through the connecting structure for maintenance, which is simple to operate and convenient to maintain.

[0107] It can be understood that the control device is used to control the mechanical arm 130 to stop working according to the signal sent by the touch assembly 120. Among them, the control device can control the movement state of the mechanical arm 130, such as the control device can control the mechanical arm 130 to unfold to stretch out of the arm compartment 111, and control the mechanical arm 130 to fold to be stored in the arm compartment 111. The control device is electrically connected with the touch assembly 120, so that when the mechanical arm 130 is stretched out of the arm compartment 111 or folded and stored in the arm compartment 111, the hand or foreign matter near the opening 112 contacts the touch assembly 120 to make the touch assembly 120 send a signal, and the control device can control the movement state of the mechanical arm 130.

[0108] As shown in FIGS. 1-10, in one possible implementation, the touch assembly 120 includes: a touch member 121 distributed on the periphery of the hopper opening 112, the touch member 121 being capable of floating relative to the machine body 110, and a touch switch 122 located between the touch member 121 and the machine body 110, the touch member 121 being configured to trigger the touch switch 122 to send a signal by floating relative to the machine body 110.

[0109] In this technical solution, the structure of the touch assembly 120 is further provided, the touch assembly 120 includes: a touch member 121 distributed on the periphery of the hopper opening 112 and provided with a first avoiding opening 1211 in the middle part to avoid the mechanical arm 130, the touch member 121 being capable of floating up and down relative to the machine body 110, and a touch switch 122 located between the touch member 121 and the machine body 110, the touch member 121 being configured to trigger the touch switch 122 to send a signal by floating downward relative to the machine body 110.

[0110] In this embodiment, since the touch member 121 is distributed on the periphery of the hopper opening 112 and is capable of floating up and down relative to the machine body 110, and the touch switch 122 is located between the touch member 121 and the machine body 110, such as being located below the touch member 121, when a human hand or a foreign object touches or contacts the touch member 121, the touch member 121 will float downward relative to the machine body 110 and trigger the touch switch 122 to send a signal, thereby enabling the mechanical arm 130 to stop moving according to the signal, avoiding the possibility that the mechanical arm 130 continues to move to clamp the human hand or the foreign object at the hopper opening 112, reducing the personal injury or financial loss caused in the process of folding and storing the mechanical arm 130 into the arm storage 111 or extending the mechanical arm 130 out of the arm storage 111, and being beneficial to improving the safety of using the mechanical arm 130 and enhancing the user's satisfaction.

[0111] Among them, the first avoiding opening 1211 is provided, so that the mechanical arm 130 can extend out of the arm storage 111 through the first avoiding opening 1211 or be folded and stored into the arm storage 111 from outside the arm storage 111 through the first avoiding opening 1211, and the mechanical arm 130 will not contact the touch member 121 during movement, avoiding the possibility that the mechanical arm 130 accidentally contacts the touch member 121 to make the touch switch 122 send a false signal, and improving the accuracy of the touch assembly 120 in detecting the anti-pinch at the hopper opening 112.

[0112] Among them, the touch member 121 is capable of floating up and down relative to the machine body 110, so that the touch member 121 can move downward to act on the touch switch 122 and trigger the touch switch 122 to send a signal after contacting a human hand or a foreign object, and the touch member 121 can move upward to reset to the initial position after the human hand or the foreign object leaves the touch member 121.

[0113] In the above embodiment, the number of touch switches 122 is one or more, and the plurality of touch switches 122 are arranged between the touch member 121 and the machine body 110 along the circumference of the touch member 121, so that different positions of the touch member 121 can trigger the touch switch 122 to trigger a signal relative to the downward movement of the machine body 110, which is beneficial to improve the comprehensiveness and accuracy of the entire touch assembly 120.

[0114] Specifically, the touch switch 122 can be at least one of a mechanical switch, a photoelectric switch, a piezoelectric switch, and a touch switch. It can be understood that when the number of touch switches 122 is more than one, the plurality of touch switches 122 can be of the same type or of different types.

[0115] Specifically, the touch switch 122 can be connected to the machine body 110 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and an adhesive.

[0116] As shown in FIGS. 1-10, in a possible implementation, the touch assembly 120 further comprises an elastic member 123 arranged between the touch member 121 and the machine body 110 along the circumference of the touch member 121.

[0117] In this technical solution, the touch assembly can further comprise an elastic member 123, a first end of the elastic member 123 being connected to the touch member 121, and a second end of the elastic member 123 being connected to the machine body 110. By connecting the touch member 121 and the machine body 110 through the elastic member 123, the floating connection of the touch member 121 and the machine body 110 can be achieved, so that the touch member 121 can move downward after contacting with a human hand or a foreign object and act on the touch switch 122 to trigger a signal of the touch switch 122, and when the human hand or the foreign object leaves the touch member 121, the touch member 121 can be reset to the initial position under the action of the elastic member 123.

[0118] Specifically, the elastic member 123 can be a spring, a tension spring, a torsion spring, a spring piece, a springy glue, or other elastic members 123 that meet the requirements.

[0119] Specifically, the number of elastic members 123 can be one or more, and the plurality of elastic members 123 are arranged between the touch member 121 and the machine body 110 along the circumference of the touch member 121, so that each part of the touch member 121 has good floating property with the machine body 110 at the corresponding position, and is beneficial to improve the uniformity of the entire touch member 121 floating up and down relative to the machine body 110, and is beneficial to improve the comprehensiveness and accuracy of the entire touch assembly 120.

[0120] Specifically, the first end of the elastic piece 123 can be connected to the triggering piece 121 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, a hooking structure, and an adhesive. The second end of the elastic piece 123 can be connected to the machine body 110 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, a hooking structure, and an adhesive.

[0121] Further, the triggering piece 121 is provided with a first limiting part 1212 on the side facing the triggering switch 122, and the first limiting part 1212 is connected to the first end of the elastic piece 123. The first limiting part 1212 can be a connecting column, a hook, a socket, or the like. Specifically, as shown in FIG. 9, the first limiting part 1212 is a connecting column.

[0122] As shown in FIGS. 1-10, in a possible implementation, the triggering assembly 120 further includes a limiting piece 124, the triggering piece 121 is connected to the limiting piece 124, and the limiting piece 124 can limit and guide the movement of the triggering piece 121 relative to the machine body 110.

[0123] In this technical solution, the triggering assembly 120 can further include the limiting piece 124, the first end of the limiting piece 124 is connected to the triggering piece 121, the machine body 110 is provided with a limiting hole, and the second end of the limiting piece 124 is arranged in the limiting hole and can move up and down along the limiting hole.

[0124] Since the triggering switch 122 is located between the triggering piece 121 and the machine body 110, that is, the triggering switch 122 can be understood as being located below the triggering piece 121 in the vertical direction, if the triggering piece 121 shakes in the horizontal direction relative to the machine body 110 under the action of mechanical stress, the triggering piece 121 can not be able to make the triggering switch 122 send a signal, and thus the triggering assembly 120 has a problem of missed detection of anti-pinch. Therefore, in this embodiment, by additionally providing the limiting piece 124, the limiting piece 124 and the limiting hole on the machine body 110 cooperate to limit the movement of the limiting piece 124 relative to the limiting hole. Since the triggering piece 121 is connected to the limiting piece 124, the movement of the triggering piece 121 relative to the machine body 110 can be limited and guided, so that the triggering piece 121 can move up and down relative to the machine body 110 in the vertical direction more accurately, the possibility of the triggering piece 121 shaking in the horizontal direction relative to the machine body 110 is reduced, and the detection accuracy of the triggering assembly 120 is greatly improved.

[0125] Specifically, the number of the limiting pieces 124 can be one or more, and the multiple limiting pieces 124 are distributed along the circumference of the touch piece 121 between the touch piece 121 and the machine body 110, so that each part of the touch piece 121 can move up and down relative to the machine body 110 in the vertical direction, improve the accuracy of the entire touch piece 121 moving up and down in the vertical direction, reduce the possibility of the touch piece 121 shaking relative to the machine body 110, and improve the good anti-pinch detection accuracy of the touch assembly 120.

[0126] Specifically, the first end of the limiting piece 124 can be connected with the touch piece 121 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, a hooking structure, and an adhesive.

[0127] As shown in FIGS. 1-10, in a possible implementation, the side of the touch piece 121 facing the touch switch 122 is provided with a first limiting part 1212, and the first limiting part 1212 is connected with the first end of the elastic piece 123.

[0128] As shown in FIGS. 1-10, in a possible implementation, the side of the touch piece 121 facing the touch switch 122 is provided with a second limiting part 1213, and the second limiting part 1213 is connected with the first end of the limiting piece 124.

[0129] In this technical solution, the side of the touch piece 121 facing the touch switch 122 is provided with a second limiting part 1213, and the second limiting part 1213 cooperates with the first end of the limiting piece 124 to realize the connection with the limiting piece 124, wherein the second limiting part 1213 can be a connecting column, a hook, a socket, etc. Specifically, as shown in FIG. 9, the second limiting part 1213 is a connecting column, and the connecting column is a hollow structure, and the first end of the limiting piece 124 can be inserted into the hollow structure of the second limiting part 1213.

[0130] Further, the hollow structure of the second limiting part 1213 is provided with a threaded structure, and the limiting piece 124 can be a screw, the first end of the screw is connected with the second limiting part 1213 through the threaded structure, and the second end of the screw is inserted into the through hole in the wall.

[0131] Further, the second end of the limiting piece 124 is provided with a head, and the head can be clamped in the through hole, so that by cooperating the head and the through hole, the movement range of the touch piece 121 relative to the machine body 110 can be limited, so that under the action of the elastic piece 123, after the mechanical stress on the touch piece 121 disappears, the touch piece 121 can be accurately reset to the initial position.

[0132] In some examples, the limiting piece 124 does not protrude from the surface of the actuating piece 121 away from the actuating switch 122, for example, the first end of the limiting piece 124 is connected to the side of the actuating piece 121 facing the actuating switch 122, or the first end of the limiting piece 124 is threaded through the actuating piece 121 without protruding from the surface of the actuating piece 121 away from the actuating switch 122. In this way, it can be ensured that the limiting piece 124 does not protrude from the surface of the actuating piece 121 away from the actuating switch 122, so that the surface of the actuating piece 121 facing the outside is neat and beautiful, and the appearance of the product is improved.

[0133] In some examples, the elastic piece 123 is sleeved on the outside of the limiting piece 124, or the elastic piece 123 and the limiting piece 124 are spaced apart along the circumferential side of the actuating piece 121. In this way, the demand for different arrangements of the elastic piece 123 and the limiting piece 124 can be met.

[0134] In some examples, the elastic piece 123 and the limiting piece 124 are spaced apart along the circumferential side of the actuating piece 121, so that the elastic piece 123 and the limiting piece 124 can support the actuating piece 121 from different positions, which is beneficial to improve the stability and uniformity of the actuating piece 121 floating up and down relative to the machine body 110, and further improve the anti-pinch detection precision of the actuating assembly 120.

[0135] As shown in FIGS. 1-10, in a possible implementation, the actuating assembly 120 further comprises a buffer portion 1215 formed on or connected to the side of the actuating piece 121 facing the actuating switch 122, and the buffer portion 1215 corresponds to the actuating switch 122.

[0136] In this technical solution, the side of the actuating piece 121 facing the actuating switch 122 is formed with or connected to the buffer portion 1215, and the buffer portion 1215 corresponds to the actuating switch 122.

[0137] Since there is a possibility that the actuating piece 121 will contact the actuating switch 122 during the downward movement under mechanical stress, for example, when the actuating switch 122 is a mechanical switch, a touch switch, or a piezoelectric switch, the actuating piece 121 will contact the mechanical switch, the touch switch, or the piezoelectric switch during the downward movement under mechanical stress, causing the mechanical switch, the touch switch, or the piezoelectric switch to send a signal. In the case of frequent contact between the actuating piece 121 and the actuating switch 122, or in the case of large mechanical stress, there is a possibility that the actuating piece 121 and the actuating switch 122 will be damaged.

[0138] To this end, in this embodiment, the buffering portion 1215 is formed on or connected to the side of the actuating member 121 facing the actuating switch 122, and the buffering portion 1215 corresponds to the actuating switch 122, so that the buffering portion 1215 can effectively buffer the contact between the actuating member 121 and the actuating switch 122, thereby reducing the damage to the actuating member 121 and the actuating switch 122 caused by the frequent contact or large mechanical stress between the actuating member 121 and the actuating switch 122, and greatly improving the service life of the actuating member 121 and the actuating switch 122, and improving the overall reliability of the actuating assembly 120.

[0139] Specifically, the buffering portion 1215 can be formed on the actuating member 121, for example, the buffering portion 1215 and the actuating member 121 are in an integrated structure, or the buffering portion 1215 can be connected to the actuating member 121, for example, the buffering portion 1215 and the actuating member 121 are in a split structure, and the buffering portion 1215 can be connected to the actuating member 121 by means of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure, an adhesive, etc. Specifically, the buffering portion 1215 can be a silica gel pad, a rubber pad, etc.

[0140] As shown in FIGS. 1-10, in a possible implementation, when the actuating member 121 moves 0.2-0.5 mm in the direction of the actuating switch 122 under stress, the actuating switch 122 can be triggered to actuate and send a signal.

[0141] In this technical solution, the actuating member 121 moves 0.2-0.5 mm in the direction of the actuating switch 122, so that the actuating switch 122 sends a signal. That is, when the actuating member 121 moves 0.2-0.5 mm in the direction of the actuating switch 122 under mechanical stress, the actuating switch 122 can be triggered to actuate and send a signal, thereby improving the sensitivity of the actuating switch 122 and facilitating the improvement of the sensitivity of the anti-pinch detection of the actuating assembly 120.

[0142] Specifically, the actuating member 121 moves 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm, or other distances in the direction of the actuating switch 122, so that the actuating switch 122 can be triggered to actuate and send a signal.

[0143] Specifically, when the actuating switch 122 is a mechanical switch, a touch switch, or a piezoelectric switch, the distance between the mechanical switch, the touch switch, or the piezoelectric switch and the actuating member 121 can be 0.2-0.5 mm. As shown in FIG. 9, taking the mechanical switch as an example, the distance between the mechanical switch and the actuating member 121 is D1, and the size of D1 is 0.2-0.5 mm.

[0144] It can be understood that when the touch switch 122 is a photoelectric switch, the touch member 121 moves 0.2mm to 0.5mm in the direction close to the photoelectric switch under the mechanical stress, so as to trigger the photoelectric switch to send a signal.

[0145] In an embodiment, the touch assembly 120 further comprises:

[0146] The piezoelectric film is arranged on the periphery of the opening 112, and the piezoelectric film sends a signal when being touched.

[0147] In this technical solution, the touch assembly 120 further comprises a piezoelectric film arranged on the inner periphery of the opening 112. The piezoelectric film is a special piezoelectric material, and the piezoelectric effect refers to that when an external mechanical stress acts on the piezoelectric material, the charge distribution in the piezoelectric material changes in proportion to the stress, thereby generating a voltage difference to transmit a signal. Specifically, when a hand or a foreign object contacts or collides with the piezoelectric film, the piezoelectric film will be subjected to mechanical stress to send a signal.

[0148] In this embodiment, the piezoelectric film is arranged on the periphery of the opening 112, and the piezoelectric film sends a signal when being touched by a hand or a foreign object near the opening 112, so that the robot arm 130 can stop moving according to the signal, thereby reducing the possibility of the robot arm 130 continuing to move and clamping the hand or the foreign object, reducing the possibility of the hand or the foreign object being clamped at the opening 112 during the folding and storage of the robot arm 130 into the arm compartment 111 or the extension of the robot arm 130 out of the arm compartment 111, reducing the personal injury or financial loss caused during the process of the robot arm 130 returning to the compartment and the process of the robot arm 130 extending out of the compartment, and improving the safety of the robot arm 130 and the user's satisfaction.

[0149] Specifically, the piezoelectric film can be connected to the compartment wall by at least one of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure, and an adhesive.

[0150] Further, the piezoelectric film can be arranged along the periphery of the opening 112 to surround the entire opening 112, thereby improving the comprehensiveness of the piezoelectric film anti-pinch detection.

[0151] As shown in FIGS. 1-10, in an embodiment, the machine body 110 further comprises a boss structure 113 arranged around the periphery of the opening 112, so that the touch member 121 or the piezoelectric film of the touch assembly 120 can be distributed on the entire periphery of the opening 112.

[0152] In this technical solution, the boss structure 113 is arranged on the inner periphery of the opening 112 in the arm compartment 111, and the touch assembly 120 is mounted on the boss structure 113.

[0153] The convex structure 113 provides a mounting space for the triggering assembly 120. For example, the triggering assembly 120 includes a triggering member 121, a triggering switch 122, an elastic member 123, etc. The triggering switch 122 and the elastic member 123 can be mounted on the convex structure 113. The triggering member 121 is floatingly arranged on the convex structure 113 through the elastic member 123. When the triggering assembly 120 includes a piezoelectric film, the piezoelectric film can be directly connected to the convex structure 113.

[0154] Further, the convex structure 113 is arranged around the periphery of the opening 112, that is, the convex structure 113 is arranged around the entire periphery of the opening 112. In this way, the triggering member 121 or the piezoelectric film of the triggering assembly 120 is distributed around the entire periphery of the opening 112, thereby improving the comprehensiveness of the anti-pinch detection of the triggering assembly 120.

[0155] In an embodiment, the outer surface of the triggering assembly protrudes from the plane where the opening 112 faces the outside of the arm storage 111. The outer surface of the triggering assembly 120 protrudes from the plane where the opening 112 faces the outside of the arm storage 111. For example, the outer surface of the triggering member 121 protrudes from the plane where the opening 112 faces the outside of the arm storage 111, or the outer surface of the piezoelectric film protrudes from the plane where the opening 112 faces the outside of the arm storage 111. In this way, a hand or a foreign object near the opening 112 can more easily contact the triggering assembly 120, so that the triggering member 121 is lowered under mechanical stress to make the triggering switch 122 send a signal, or the piezoelectric film is subjected to mechanical stress to send a signal, thereby realizing the anti-pinch detection of the triggering assembly 120, reducing the possibility of a hand or a foreign object being pinched at the opening 112 during the folding and storage of the robot arm 130 into the arm storage 111 or the extension of the robot arm 130 out of the arm storage 111, reducing the personal injury or financial loss caused during the storage and extension of the robot arm 130, improving the safety of the robot arm 130, and improving the user's satisfaction.

[0156] In an embodiment, the distance between the end surface of the triggering assembly facing the outside of the arm compartment and the plane where the opening of the arm compartment faces the outside of the arm compartment is 1mm to 2mm. The distance between the end surface of the triggering assembly 120 facing the outside of the arm compartment 111 and the plane where the opening of the arm compartment 112 faces the outside of the arm compartment 111 is 1mm to 2mm, specifically, the distance between the end surface of the triggering assembly 120 facing the outside of the arm compartment 111 and the plane where the opening of the arm compartment 112 faces the outside of the arm compartment 111 can be 1mm, 1.5mm, 1.8mm, 2mm, or other distances. In this way, the distance between the end surface of the triggering assembly 120 facing the outside of the arm compartment 111 and the plane where the opening of the arm compartment 112 faces the outside of the arm compartment 111 is reasonable, which can be more easily contacted by a human hand or foreign matter near the opening, thereby playing a good anti-pinch protection role, while having less impact on the cleanliness and aesthetics of the product appearance.

[0157] Specifically, the distance between the outer surface of the triggering member 121 and the plane where the opening of the arm compartment 112 faces the outside of the arm compartment 111 is 1mm to 2mm, or the distance between the outer surface of the piezoelectric film and the plane where the opening of the arm compartment 112 faces the outside of the arm compartment 111 is 1mm to 2mm.

[0158] In an embodiment, the length direction of the arm compartment is arranged perpendicular to the running direction of the machine body.

[0159] In an embodiment, the ratio of the length of the arm compartment to the length of the machine body is greater than or equal to 0.5. In this way, for example, the overall size of the robot arm can be reasonably ensured to meet the working requirements of the robot arm, and the overall robot arm can be accommodated in the arm compartment without increasing the overall size and volume of the cleaning device, thereby meeting the design requirements of compactness and thinness, so that the cleaning device can adapt to more low-height scenes.

[0160] In an embodiment, the cleaning device 100 further comprises a compartment door 190, which is movably connected to the machine body 110 and can open or close the opening 112.

[0161] In this technical solution, the cleaning device 100 further comprises a compartment door 190, which is movably connected to the machine body 110 and can open or close the opening 112. In this way, after the robot arm 130 is folded and accommodated in the arm compartment 111, the opening 112 can be closed by the compartment door 190 to reduce or prevent dust and liquid from entering the arm compartment 111 and causing the robot arm 130 to malfunction, thereby improving the service life of the robot arm 130 and improving the overall reliability of the cleaning device 100. It can be understood that when the robot arm 130 needs to be extended out of the arm compartment 111 for object grabbing, the compartment door 190 can be moved relative to the machine body 110 to open the opening 112.

[0162] Further, since the triggering assembly 120 is located around the opening 112, when the door 190 closes the opening 112, the door 190 is located above the triggering assembly 120, that is, the door 190 is opposite to the surface of the triggering member 121 away from the triggering switch 122, and the limiting member 124 does not protrude from the surface of the triggering member 121 away from the triggering switch 122, so that the arrangement of the limiting member 124 does not interfere with the closing of the opening 112 by the door 190, improving the smoothness of the closing of the opening 112 by the door 190.

[0163] Further, the door 190 is connected to the machine body 110 through a transmission assembly, and the transmission assembly can drive the door 190 to move relative to the machine body 110 to open or close the opening 112. In addition, the triggering member 121 further has a second avoiding opening 1214 for avoiding the transmission assembly, so as to reduce the possibility of contact between the transmission assembly, the door 190 and the triggering member 121 during the driving of the door 190 by the transmission assembly, so that the driving of the transmission assembly and the movement of the door 190 do not contact the triggering member 121 to cause mechanical stress on the triggering member, thereby improving the accuracy and reliability of the anti-pinch detection of the triggering assembly 120.

[0164] As shown in FIGS. 25 and 26, in some examples, the mechanical arm 130 includes a fixed seat 131, a first mechanical joint 132 and a connecting arm 133, the fixed seat 131 is connected inside the arm compartment 111, the first mechanical joint 132 connects the fixed seat 131 and the connecting arm 133, and makes the connecting arm 133 foldable or unfoldable relative to the fixed seat 131, and the first mechanical joint 132 is arranged as a non-self-locking structure.

[0165] That is, the mechanical arm 130 is installed in the arm compartment 111 through the fixed seat 131, the first mechanical joint 132 connects the fixed seat 131 and the connecting arm 133, so that the connecting arm 133 is foldable or unfoldable relative to the fixed seat 131 to realize the extension or retraction of the mechanical arm 130 out of the arm compartment 111. By arranging the first mechanical joint 132 as a non-self-locking structure, when the mechanical arm 130 stops moving according to the signal sent by the triggering assembly 120, if a hand or a foreign object is clamped at the opening 112, the connecting arm 133 connected to the first mechanical joint 132 can be pushed in the opposite direction by an external force, so that the connecting arm 133 is unfolded relative to the fixed seat 131 to release the clamped hand or foreign object, improving the safety of the use of the mechanical arm 130 and the satisfaction of the user.

[0166] In a feasible implementation, in the case that the door 190 closes the opening 112, the door 190 covers at least part of the area of the triggering assembly 120.

[0167] In the technical solution, the relationship between the bin door 190 and the touch assembly 120 is further provided, and the bin door 190 can cover at least part of the touch assembly 120 when the bin door 190 is closed. Based on this, the touch assembly 120 can not only avoid the mechanical arm 130 from being clamped by a person or an object, but also serve as a position opening of the bin door 190. When the bin door 190 is closed, the touch assembly 120 can be triggered, and the closing state of the bin door 190 can be known through the touch assembly 120. This can make the bin door 190 better closed on the bin opening 112 and make the control of the cleaning device 100 more convenient.

[0168] As shown in FIGS. 18-21, in an available embodiment, the cleaning device 100 further comprises a position switch connected to the bin door 190 to know the closing or opening state of the bin door 190.

[0169] In the technical solution, the bin door 190 can also avoid contact with the touch piece 121 during opening and closing to avoid false triggering. Therefore, a separate position switch can be provided for the bin door 190, and the closing state of the bin door 190 can be known through the position switch.

[0170] It can be understood that when the position switch is independently provided for the bin door 190, the position switch can be staggered with the touch assembly 120, that is, the door body does not contact the touch assembly 120.

[0171] As shown in FIGS. 11-21, in an available embodiment, the cleaning device 100 further comprises a function adjustment module 150 provided on the machine body 110 to control the operation mode of the machine body 110, and an emergency stop module 160 provided on the machine body 110 and used to at least control the mechanical arm 130 to execute a safety operation mode. The emergency stop module 160 is arranged separately from the function adjustment module 150.

[0172] In the technical solution, the cleaning device comprises the machine body 110, the mechanical arm 130, the function adjustment module 150, and the emergency stop module 160. Based on this, during use, the machine body 110 is used to execute cleaning operation, and during cleaning, the mechanical arm 130 can grasp an object, especially an object that hinders the normal operation of the machine body 110, and move the obstacle to another area to improve cleaning efficiency. Through the provision of the function adjustment module 150 and the emergency stop module 160, the operation mode of the machine body 110 can be adjusted through the function adjustment module 150 to make the control of the machine body 110 more convenient. When the cleaning device is in an abnormal working state, the mechanical arm 130 can be directly controlled through the emergency stop module 160 to execute a safety operation mode to prevent the machine body 110 from causing danger due to the mechanical arm 130.

[0173] It can be understood that controlling the robot arm 130 to perform the safety operation mode can include various manners, such as controlling the robot arm 130 to maintain in the current state, controlling the robot arm 130 to be powered off, or controlling the robot arm 130 to be stored into the machine body 110.

[0174] It can be understood that the machine body 110 can have various operation modes, and the function adjustment module 150 can be used to select and control the operation mode of the machine body 110, which includes but is not limited to a mopping mode, a sweeping mode, a dust collecting mode, a high-efficiency obstacle avoidance cleaning mode, a scheduled cleaning mode, and the like. In addition to adjusting the operation mode, the function adjustment module 150 can also control the specific cleaning mode of the machine body 110, such as controlling the travel speed of the machine body 110, controlling the cleaning frequency of the cleaning element 1152 of the machine body 110, such as controlling the rotation speed of the main brush of the machine body 110, controlling the on-off of the power supply, and the like. By mounting the function adjustment module 150 on the machine body 110, the user can participate more directly in the control of the machine body 110, so that the operation mode of the machine body 110 can better meet the user's expectations, and the user experience can be improved.

[0175] As shown in FIGS. 11-21, in some examples, the control device 170 is connected to the machine body 110 and the robot arm 130, the function adjustment module 150 is connected to the control device 170, and the emergency stop module 160 is connected to the control device 170 and used to control the machine body 110 and the robot arm 130 to perform the safety operation mode.

[0176] In this technical solution, further provided is a style of cleaning equipment, which can include a control device 170, the control device 170 can be in communication connection with the machine body 110 and the robot arm 130, and the function adjustment module 150 and the emergency stop module 160 can be connected to the control device 170. Based on this, the function adjustment module 150 can adjust the operation mode of the machine body 110 through the control device 170, and the emergency stop module 160 can control the machine body 110 and the robot arm 130 to perform the safety operation mode through the control device 170, so that the use of the machine body 110 is safer.

[0177] It can be understood that the emergency stop module 160 is connected to the control device 170 and used to control the machine body 110 and the robot arm 130 to perform the safety operation mode, wherein the safety operation mode includes various manners, such as controlling the robot arm 130 to maintain in the current state, controlling the robot arm 130 to be powered off, or controlling the robot arm 130 to be stored into the machine body 110, controlling the machine body 110 to maintain in the current state, or controlling the machine body 110 to be powered off, and the like.

[0178] As shown in FIGS. 11-17, in some examples, the control device 170 can include a main board that can be communicatively connected to the machine body 110 and the mechanical arm 130 by wires, and the main board can be connected to the function adjustment module 150 and the emergency stop module 160.

[0179] The machine body 110 provided in the embodiments of the present application is provided with the cleaning member 1152, which can be in contact with the ground during use, and the cleaning member 1152 can clean the ground as the machine body 110 moves. In order to improve the cleaning efficiency, the cleaning member 1152 can be connected to the shell 114 of the machine body 110 by a driving member, so that the cleaning member 1152 can move relative to the shell 114, for example, the cleaning member 1152 can rotate relative to the shell 114.

[0180] The cleaning device provided in the embodiments of the present application takes into account that the cleaning device is provided with the mechanical arm 130, which can cause the cleaning device to have a special situation, and on this basis, the cleaning device provided in the present application is provided with the emergency stop module 160. Further, the present application takes into account that the cleaning device is provided with the function adjustment module 150 and the emergency stop module 160, and when the cleaning device has an emergency situation, the user can mistakenly control the function adjustment module 150. On this basis, the emergency stop module 160 and the function adjustment module 150 are arranged apart from each other, that is, there is a certain distance between the emergency stop module 160 and the function adjustment module 150. Based on this, when the cleaning device has an abnormal working state, the user can identify the emergency stop module 160 at the first time, and can immediately control the mechanical arm 130 to stop working through the emergency stop module 160, which can improve the efficiency of the emergency stop response, especially avoid mistaken control, such as avoiding the function adjustment module 150 being mistaken as the emergency stop module 160, and can make the use of the cleaning device more safe.

[0181] It can be understood that, in addition to controlling the mechanical arm 130 to perform the safe working mode, the emergency stop module 160 can also be used to control the machine body 110 to perform the safe working mode, that is, when the cleaning device has an abnormality, the user can control the mechanical arm 130 and the machine body 110 to directly perform the safe working mode through the emergency stop module 160, which can make the use of the cleaning device more safe.

[0182] As shown in FIGS. 11-17, in one possible implementation, the distance between the emergency stop module 160 and the function adjustment module 150 is greater than or equal to 20 mm.

[0183] In the technical solution, the distance between the emergency stop module 160 and the function adjustment module 150 is greater than or equal to 20 mm. In this way, there is a greater distance between the emergency stop module 160 and the function adjustment module 150. When the user finds that the cleaning device is in an abnormal state, the user can first find the setting position of the emergency stop module 160, and the probability of user error operation can be reduced or eliminated.

[0184] In some examples, in addition to the difference in position, the emergency stop module 160 and the function adjustment module 150 can also have a color difference. For example, the color of the appearance surface of the emergency stop module 160 is different from the color of the appearance surface of the function adjustment module 150, which can also reduce the probability of error operation. For example, the emergency stop module 160 can adopt a more eye-catching red color.

[0185] As shown in FIGS. 11-17, in a possible implementation, the region formed by the orthographic projection of the working space of the mechanical arm 130 on the machine body 110 is a working coverage area, the region of the machine body 110 excluding the working coverage area is a non-working area, and the emergency stop module 160 is arranged in the non-working area.

[0186] As shown in FIG. 12, the region formed by the orthographic projection of the working space of the mechanical arm 130 on the machine body 110 is a working coverage area, the region of the machine body 110 excluding the working coverage area is a non-working area, and the emergency stop module 160 is arranged in the non-working area. As shown in FIG. 2, the region enclosed by the black thick solid line and approximately in the shape of T is the working coverage area.

[0187] In the technical solution, the setting position of the emergency stop module 160 is further provided. The emergency stop module 160 is arranged on the housing 114 of the machine body 110 and located in the non-working area of the mechanical arm 130. This design is made in consideration of the fact that in some special working conditions, the mechanical arm 130 can shield part of the machine body 110. In this case, the abnormal state of the mechanical arm 130 can affect the user's control of the mechanical arm 130. Based on this, no matter what working condition the mechanical arm 130 is in, the mechanical arm 130 will not affect the user's control of the emergency stop module 160. When the cleaning device is abnormal, the user can execute the safe operation mode of the mechanical arm 130 as soon as possible to improve the efficiency of the shutdown brake, and the use of the cleaning device is safer.

[0188] It can be understood that the cleaning device itself can rotate during the working process of the cleaning device, and therefore, in order to improve the reliability of the operation of the mechanical arm 130, the mechanical arm 130 can have several operation angles, and in combination with the rotation of the cleaning device itself, the article located on the side of the cleaning device can be grabbed, and therefore, the projection of the operation area of the mechanical arm 130 on the machine body 110 does not cover the entire machine body 110. Such an arrangement facilitates the layout of the emergency stop module 160.

[0189] As shown in FIGS. 18 and 19, the area formed by the inclined lines is the operation coverage area. It can be understood that, in some examples, during the operation of the mechanical arm 130, such as when the mechanical arm 130 extends to grab an obstacle, the operation of the mechanical arm 130 includes extension, swinging, and grabbing. The operation coverage area formed during the extension process covers the arm compartment 111 and the compartment opening 112, that is, the mechanical arm 130 can use the space above the arm compartment 111 and the compartment opening 112 for extension and elongation. During the swinging process, the elongated mechanical arm 130 swings relative to the machine body 110, and during this process, a fan-shaped coverage area is formed on the machine body 110. After the position adjustment of the swinging of the mechanical arm 130 is completed, the obstacle can be grabbed, and therefore, the operation coverage area formed by the mechanical arm 130 on the machine body 110 can be a combination of a fan-shaped area and the compartment opening 112.

[0190] It can be understood that, referring to FIGS. 18 and 19, the shaded area formed by the inclined lines is the orthographic projection of the operation area of the mechanical arm 130 on the machine body 110, that is, the operation coverage area. In FIGS. 18 and 19, the swinging direction of the mechanical arm 130 is different when the mechanical arm 130 performs the swinging operation, and therefore, different operation coverage areas are formed on the machine body 110. In some examples, preferably, the swinging direction of the mechanical arm 130 can be toward the function adjustment module 150. In this case, while ensuring that the mechanical arm 130 can smoothly grab the obstacle, the area of the operation coverage area is minimized.

[0191] In some examples, during the operation of the mechanical arm 130, the position adjustment of the swinging can not be involved, and therefore, the operation coverage area formed by the mechanical arm 130 on the machine body 110 can be approximately T-shaped.

[0192] In some examples, when the mechanical arm 130 needs to swing, the mechanical arm 130 can perform unilateral swinging or bilateral swinging. Obviously, the operation coverage area formed by unilateral swinging is smaller, and is more conducive to the layout of the emergency stop module 160. Only the emergency stop module 160 is arranged in the non-operation area, and the user can be less likely to contact the mechanical arm 130 when using the emergency stop module 160, so that the use of the mechanical arm 130 is safer.

[0193] As shown in FIGS. 11-17, in an implementable embodiment, the touch assembly 120 surrounds at least part of the work coverage area.

[0194] In this technical solution, the positional relationship between the touch assembly 120 and the work coverage area is further provided, and the touch assembly 120 surrounds at least part of the work coverage area, specifically, the touch member 121 can surround at least part of the work coverage area. Based on this, when a person or a foreign object is in the work coverage area, the hand or the foreign object contacts or collides with the touch assembly 120, so that the touch assembly 120 is subjected to mechanical stress and sends a signal, indicating that the touch assembly 120 contacts or collides with the hand or the foreign object, and there is a risk that the hand or the foreign object is clamped in the hopper opening. Therefore, the robot arm 130 or the cleaning device 100 can make corresponding actions according to the signal, such as the control device of the cleaning device 100 controlling the robot arm 130 to stop moving according to the signal, avoiding the possibility that the robot arm 130 continues to move and causes the hand or the foreign object to be clamped in the hopper opening, reducing the personal injury or financial loss caused in the process of the robot arm 130 extending out of the arm hopper 111 and retracting into the arm hopper 111, and being beneficial to improving the safety of the robot arm 130 and improving the user's satisfaction. The response efficiency of the cleaning device can be higher. When the hand or the foreign object is in the non-working area, the probability of being clamped or damaged is lower, based on which the response efficiency can be ensured, the hand being clamped can be avoided, the size of the touch assembly 120 can be minimized, the misjudgment can be reduced, and the cleaning device can be more beautiful.

[0195] As shown in FIGS. 11-17, in an implementable embodiment, the work coverage area at least covers the area where the hopper opening 112 is located.

[0196] In this technical solution, the relationship between the work coverage area and the hopper opening 112 is further provided. Considering that the robot arm 130 extends out of or retracts into the hopper opening 112, the robot arm 130 must work near the hopper opening 112. Based on this, the work coverage area at least covers the area where the hopper opening 112 is located, which can cover the working area of the robot arm 130, and can make the emergency stop module 160 be arranged on the housing 114 of the machine body 110 and be located in the non-working area of the robot arm 130. This design is considering that in some special working conditions, the robot arm 130 can shield part of the area of the machine body 110. In this case, the robot arm 130 in the abnormal state can affect the user's control of the robot arm 130. Based on this, no matter the robot arm 130 is in any working condition, the robot arm 130 will not affect the user's control of the emergency stop module 160, so that when the cleaning device is abnormal, the user can execute the safety operation mode of the robot arm 130 as soon as possible to improve the efficiency of the shutdown brake, and the use of the cleaning device is safer.

[0197] In an implementable embodiment, the distance between the emergency stop module 160 and the working coverage area is less than or equal to 20 mm.

[0198] In this technical solution, the relationship between the emergency stop module 160 and the working coverage area is further provided, the emergency stop module 160 is arranged outside the working coverage area, and the distance between the emergency stop module 160 and the working coverage area is less than or equal to 20 mm, that is, the emergency stop module 160 is arranged outside the working coverage area, but is arranged as close to the working coverage area as possible. In this way, when the cleaning device is in a special working condition, the first reaction of the user is to observe the machine body 110, the user can first discover the emergency stop module 160 closer to the mechanical arm 130, and the user can operate the emergency stop module 160 as soon as possible to control the mechanical arm 130 to stop as soon as possible, so that the use of the cleaning device is safer.

[0199] As shown in FIGS. 11-17, in an implementable embodiment, the machine body 110 includes a housing 114, the function adjustment module 150 and the emergency stop module 160 are arranged on the housing 114, and a function module 115 is arranged in the housing 114. The housing 114 is formed with an arm compartment 111, and the mechanical arm 130 can extend out of or be accommodated in the arm compartment 111.

[0200] In this technical solution, the structure of the machine body 110 is further provided, the machine body 110 can include the housing 114 and the function module 115 arranged in the housing 114, the housing 114 is used to accommodate the function module 115, and the function module 115 can make the machine body 110 have the functions of cleaning and moving. It can be understood that the function module 115 includes but is not limited to a traveling assembly 1151, a cleaning piece 1152, a dust collecting assembly 1153, an obstacle avoidance assembly, and the like.

[0201] In the technical solution, the arm compartment can be further formed on the shell 114, and the mechanical arm 130 can extend out of or be accommodated in the arm compartment. The mechanical arm 130 can be foldably accommodated in the accommodation cavity. The accommodation cavity provides a storage space for the mechanical arm 130, so that the mechanical arm 130 can be accommodated in the accommodation cavity after being folded, thereby reducing the space occupied by the mechanical arm 130, facilitating storage of the cleaning device, and improving the appearance of the cleaning device. In addition, since the accommodation cavity is arranged on the machine body 110, the structure of the machine body 110 can be fully utilized to achieve the accommodation of the mechanical arm 130, which is simple in structure and can meet the design requirements of compact structure and small size of the cleaning device. It can be understood that when the mechanical arm 130 needs to perform a grabbing operation, the mechanical arm 130 can be moved to extend out of the accommodation cavity to perform the grabbing operation. Meanwhile, the mechanical arm 130 can be accommodated in the accommodation cavity in a non-working state, which can lower the center of gravity of the mechanical arm 130 and reduce the failure rate of the cleaning device.

[0202] As shown in FIG. 11, in an available embodiment, the shell 114 further includes a frame 1141 arranged on the top of the arm compartment 111, and the emergency stop module 160 is arranged on the frame 1141.

[0203] In the technical solution, the shell 114 further includes the frame 1141, which can be arranged around the working coverage area. The frame 1141 is arranged on the top of the arm compartment 111, which can make the top of the machine body 110 more layered and more aesthetically pleasing. Further, the frame 1141 can be arranged around the area where the mechanical arm 130 extends out of or is accommodated in, which can serve as a warning to reduce the probability of the user accidentally touching the working coverage area of the mechanical arm 130, thereby making the cleaning device safer to use.

[0204] In the technical solution, the emergency stop module 160 is arranged on the frame 1141. Therefore, during assembly of the cleaning device, the emergency stop module 160 can be arranged on the frame 1141 first, and then the frame 1141 together with the emergency stop module 160 can be connected to the shell 114, which facilitates rapid assembly of the cleaning device and enables the emergency stop module 160 to be closer to the mechanical arm 130. When the cleaning device encounters a special working condition, the user's first reaction is to observe the machine body 110. The user can first find the emergency stop module 160 that is closer to the mechanical arm 130, and can operate the emergency stop module 160 as soon as possible to control the mechanical arm 130 to perform a safe working mode as soon as possible, thereby making the cleaning device safer to use.

[0205] As shown in FIGS. 11-17, in an embodiment, the cleaning device further comprises a power supply 180 connected to the machine body 110, the mechanical arm 130 and the control device 170; wherein the power supply 180 and the control device 170 are arranged in the machine body 110 and located on the same side of the mechanical arm 130, and the function adjustment module 150 is above the control device 170.

[0206] In the technical scheme, the cleaning device can further comprise a power supply 180 connected to the machine body 110, the mechanical arm 130 and the control device 170, and the power supply 180 serves as a power source of the machine body 110 and the mechanical arm 130. The power supply 180 and the control device 170 are arranged in the machine body 110 and located on the same side of the mechanical arm 130, which further clarifies the layout relationship of the components of the cleaning device, can make the center of gravity of the mechanical arm 130 as much as possible distributed in the middle front area of the machine body 110, can make the cleaning device more stable, and at the same time, facilitates the establishment of the connection relationship between the mechanical arm 130 and the machine body 110 and the control device 170, and facilitates the power-on of the cleaning device.

[0207] It can be understood that the power supply 180 and the control device 170 are arranged in the machine body 110 and located on the same side of the mechanical arm 130, which means that in the forward and backward direction of the cleaning device, that is, in the height direction of the cleaning device, the power supply 180 and the control device 170 are arranged on the same side of the mechanical arm 130. The function adjustment module 150 is above the control device 170, which means that along the height direction of the cleaning device, the function adjustment module 150 is on the top of the control device 170.

[0208] In the technical scheme, the function adjustment module 150 is above the control device 170, which facilitates the direct connection between the function adjustment module 150 and the control device 170, facilitates the assembly and preparation of the cleaning device, can improve the response efficiency of the function adjustment module 150, and reduces the failure rate.

[0209] In an embodiment, the function adjustment module 150 comprises a first touch trigger button, and the emergency stop module 160 comprises a second touch trigger button.

[0210] In the technical scheme, the specific style of the function adjustment module 150 is further provided, and the function adjustment module 150 can comprise a first touch trigger button, that is, the user can start the function adjustment module 150 by touch, so that the triggering of the function adjustment module 150 is more convenient, the use of the cleaning device is more convenient, and the user experience can be improved.

[0211] In the technical solution, a specific type of the emergency stop module 160 is further provided. The emergency stop module 160 can include a second touch trigger button, that is, the user can start the emergency stop module 160 by a touch manner, so that the trigger of the emergency stop module 160 is more convenient, the use of the cleaning device is more convenient, the user experience can be improved, and the response efficiency of the emergency stop module 160 can be improved, so that the mechanical arm 130 can be controlled to perform a safe operation mode in time.

[0212] It can be understood that the touch button can be a press trigger button or a capacitive trigger button, and the specific type of the touch button is not limited in the present application.

[0213] In some examples, in addition to the touch trigger button, the function adjustment module 150 and the emergency stop module 160 can include other remote trigger modes such as infrared control, Bluetooth control, wifi module control, and NFC module control.

[0214] As shown in FIG. 12, in a possible implementation, the machine body 110 further includes a cover plate 116 connected to the shell 114, and the function adjustment module 150 is arranged on the cover plate 116.

[0215] In the technical solution, the setting position of the function adjustment module 150 is further provided. The machine body 110 can further include the cover plate 116, which can be an appearance surface of the machine body 110. Based on this, the function adjustment module 150 is arranged on the cover plate 116, and the emergency stop module 160 is arranged on the frame. In addition to the obvious difference in the setting position, the user can better distinguish the emergency stop module 160 and the function adjustment module 150, and the mis-touch can be better avoided.

[0216] As shown in FIGS. 1 to 26, according to a second aspect of the present application, a cleaning system is provided, which includes the cleaning device according to any one of the above technical solutions, and a base station for accommodating the cleaning device.

[0217] The cleaning system provided in the embodiments of the present application includes the cleaning device according to any one of the above technical solutions, so that the cleaning system has all the beneficial effects of the cleaning device according to the above technical solutions, which will not be repeated here.

[0218] The cleaning system provided in the embodiments of the present application includes the cleaning device and the base station. The base station can accommodate the cleaning device, supply cleaning liquid to the cleaning device, supply water to the cleaning device, and clean the cleaning element 1152 of the cleaning device, so that the use of the cleaning device is more convenient. In addition, the base station can supply water and charge the cleaning device.

[0219] In the present application, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; the term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mount", "connect", "connect", "fix" and the like should be broadly understood, for example, "connect" can be fixed connection, can also be detachable connection, or integral connection; "connected" can be directly connected, or indirectly connected through intermediate media. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0220] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or unit referred to must have a particular direction, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application.

[0221] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0222] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning apparatus, wherein, The machine body is provided with an arm compartment, and the arm compartment is provided with a compartment opening. The mechanical arm is connected with the machine body and can be extended out of or stored in the arm compartment through the compartment opening. The control device is electrically connected with the mechanical arm and is used for controlling the motion state of the mechanical arm. Further comprising:

2. The cleaning apparatus of claim 1, wherein, The touch component is configured to be triggered to send a signal, and the control device is used for controlling the motion state of the mechanical arm according to the signal sent by the touch component.

3. The cleaning device according to claim 2, wherein The touch component is arranged on the machine body and located on the side of the compartment opening, and the touch component is configured to send a signal under mechanical stress; The control device is electrically connected with the mechanical arm and the touch component, and the control device is used for controlling the mechanical arm to stop working according to the signal sent by the touch component. The touch component comprises:

4. The cleaning apparatus of claim 2, wherein, The touch member is distributed on the side of the compartment opening, and the touch member can float relative to the machine body, and the touch switch is located between the touch member and the machine body, and the touch member is configured to float relative to the machine body to trigger the touch switch to send a signal. The touch component further comprises:

5. The cleaning apparatus of claim 4, wherein, The elastic member is arranged between the touch member and the machine body along the circumferential direction of the touch member. The touch component further comprises:

6. The cleaning apparatus of claim 5, wherein, The limiting member is connected with the touch member, and the limiting member can limit and guide the movement of the touch member relative to the machine body.

7. The cleaning device according to claim 6, wherein The side of the touch member facing the touch switch is provided with a first limiting part, and the first limiting part is connected with the first end of the elastic member; and / or The side of the touch member facing the touch switch is provided with a second limiting part, and the second limiting part is connected with the first end of the limiting member. The touch component further comprises:

8. The cleaning apparatus of claim 4, wherein, The buffer part is formed on or connected to the side of the touch member facing the touch switch, and the buffer part corresponds to the touch switch.

9. The cleaning device according to claim 4, wherein When the touch member is stressed, it moves 0.2mm to 0.5mm towards the touch switch to trigger the touch switch to send a signal. The touch component further comprises:

10. The cleaning apparatus of claim 4, wherein, The piezoelectric film is arranged on the side of the compartment opening, and when the piezoelectric film is touched, the piezoelectric film will be stressed to send a signal. The machine body further comprises:

11. The cleaning apparatus of claim 10, wherein, The boss structure is arranged around the side of the compartment opening, so that the touch member or the piezoelectric film of the touch component can be distributed on the entire side of the compartment opening.

12. The cleaning device according to claim 2, wherein On the appearance surface of the machine body, the outer surface of the touch component protrudes from the plane where the compartment opening faces the outside of the arm compartment.

13. The cleaning device according to claim 2, wherein ​ The distance between the end surface of the touch component towards the outside of the arm compartment and the plane where the compartment opening is located towards the outside of the arm compartment is 1mm to 2mm.

14. The cleaning device according to any one of claims 1 to 13, wherein, The length direction of the arm compartment is arranged perpendicular to the travel direction of the machine body.

15. The cleaning device according to any one of claims 1 to 13, wherein, The ratio of the length of the arm compartment to the length of the machine body is greater than or equal to 0.

5.

16. The cleaning apparatus of any one of claims 2 to 13, wherein, Further comprising: A compartment door, which is movably connected to the machine body and can open or close the compartment opening.

17. The cleaning device according to claim 16, wherein, When the compartment door is closed on the compartment opening, the compartment door covers at least part of the area of the touch component.

18. The cleaning apparatus of claim 16, wherein, Further comprising: A position switch, which is connected to the compartment door to know the closing or opening state of the compartment door.

19. The cleaning apparatus of any one of claims 2 to 13, wherein, Further comprising: A function adjustment module, which is arranged on the machine body to control the operation mode of the machine body; An emergency stop module, which is arranged on the machine body and is used to control at least the safety operation mode of the mechanical arm; Wherein, the emergency stop module is arranged separately from the function adjustment module.

20. The cleaning device according to claim 19, wherein, The distance between the emergency stop module and the function adjustment module is greater than or equal to 20mm.

21. The cleaning device according to claim 19, wherein, The area formed by the orthographic projection of the operation space of the mechanical arm on the machine body is an operation coverage area, the area of the machine body excluding the operation coverage area is a non-operation area, and the emergency stop module is arranged in the non-operation area.

22. The cleaning device according to claim 21, wherein, The touch component surrounds at least part of the operation coverage area; and / or The operation coverage area covers at least the area where the compartment opening is located.

23. The cleaning device according to claim 21, wherein, The distance between the emergency stop module and the operation coverage area is less than or equal to 20mm.

24. The cleaning apparatus of claim 20, wherein, The machine body comprises: A housing, the function adjustment module and the emergency stop module are arranged on the housing; A function module, which is arranged in the housing; Wherein, the housing forms an arm compartment, and the mechanical arm can be extended out of or accommodated in the arm compartment.

25. The cleaning apparatus of claim 24, wherein, The housing further comprises: A frame, which is arranged on the top of the arm compartment, and the emergency stop module is arranged on the frame.

26. The cleaning apparatus of claim 24, wherein, The machine body further comprises: A cover plate, which is connected to the housing, and the function adjustment module is arranged on the cover plate.

27. A cleaning system wherein, Comprising: The cleaning device according to any one of claims 1 to 26; A base station, which is used to accommodate the cleaning device.

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