Cleaning device

Abstract

A cleaning device (100), comprising: a machine body (110), wherein the machine body (110) is provided with an arm compartment (111), and the arm compartment (111) is provided with a compartment opening (112); a mechanical arm (130), wherein the mechanical arm (130) is connected to the machine body (110) and is capable of extending out of or being accommodated in the arm compartment (111) from the compartment opening (112); and a trigger assembly (120), wherein the trigger assembly (120) is provided on the machine body (110) and is located on the periphery of the compartment opening (112), and the trigger assembly (120) is configured to send a signal upon being subjected to mechanical stress.

Description

Cleaning device

[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. 202422193293.1, filed on September 6, 2024, and entitled "Cleaning device", 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, in particular to a cleaning device. BACKGROUND

[0004] With the iteration and development of technology, cleaning devices, especially self-moving cleaning devices, have entered ordinary family life and gradually realized domestic and foreign popularization. In order to better realize the cleaning function, the current cleaning device will add a mechanical arm to realize the grabbing or moving of obstacles or garbage. Specifically, when the target object needs to be moved, the mechanical arm is unfolded to perform the grabbing action, and when the target object does not need to be moved, the mechanical arm is folded and stored in the arm compartment of the machine body. However, during the process of the mechanical arm out of the compartment and back to the compartment, the user's hand or foreign matter is clamped in the compartment opening, which affects the user's experience. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment 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 solution, nor does it mean to try to determine the protection scope of the claimed technical solution.

[0006] Embodiments of the present application provide a cleaning device, comprising: a machine body, the machine body is provided with an arm compartment, the arm compartment is provided with a compartment opening; a mechanical arm, the mechanical arm is connected with the machine body and can be extended out of the compartment opening or stored in the arm compartment; a touch component, the touch component is arranged on the machine body and located at the side of the compartment opening, and the touch component is configured to send a signal under mechanical stress.

[0007] Illustratively, the touch component comprises: a touch piece and a touch switch, the touch piece is distributed on the side of the compartment opening and provided with a first avoiding opening in the middle part to avoid the mechanical arm, the touch piece is floating up and down relative to the machine body, the touch switch is located between the touch piece and the machine body, and the touch piece is configured to trigger the touch switch to send a signal by floating downward relative to the machine body.

[0008] The touch assembly further comprises an elastic member, a first end of the elastic member is connected with the touch member, and a second end of the elastic member is connected with the machine body.

[0009] The touch assembly further comprises a limiting member, a first end of the limiting member is connected with the touch member, the machine body is provided with a limiting hole, and a second end of the limiting member is arranged in the limiting hole and can move up and down along the limiting hole.

[0010] The touch member is provided with or connected with a buffer portion on a side facing the touch switch.

[0011] The limiting member does not protrude from a surface of the touch member away from the touch switch.

[0012] The touch member is provided with a first limiting portion on a side facing the touch switch, and the first limiting portion is connected with the first end of the elastic member; and / or

[0013] The touch member is provided with a second limiting portion on a side facing the touch switch, and the second limiting portion is connected with the first end of the limiting member.

[0014] The plurality of touch switches are distributed at intervals along the circumference of the touch member; and / or the plurality of elastic members are arranged at intervals along the circumference of the touch member; and / or the plurality of limiting members are arranged at intervals along the circumference of the touch member.

[0015] The touch member moves 0.2mm to 0.5mm in a direction close to the touch switch, so that the touch switch sends a signal.

[0016] The touch assembly further comprises a piezoelectric film, and the piezoelectric film is located on a circumferential side of the cartridge opening.

[0017] The arm cartridge is internally provided with a boss structure on an inner circumferential side of the cartridge opening, and the touch assembly is mounted on the boss structure.

[0018] The touch assembly protrudes from the cartridge opening towards a plane where the arm cartridge is located.

[0019] The end surface of the touch assembly facing the arm cartridge exterior and the plane where the cartridge opening faces the arm cartridge exterior are 1mm to 2mm apart.

[0020] The cleaning device further comprises a control device, the control device is electrically connected with the mechanical arm and the touch assembly, and the control device is configured to control the mechanical arm to stop working according to the signal sent by the touch assembly.

[0021] The mechanical arm comprises a fixed seat, a first mechanical joint, and a connecting arm, the fixed seat is connected to the inside of the arm cartridge, the first mechanical joint connects the fixed seat and the connecting arm and enables the connecting arm to be foldable or unfoldable relative to the fixed seat, and the first mechanical joint is provided in a non-self-locking structure.

[0022] For example, the cleaning equipment also includes a compartment door, which is movably connected to the main body of the machine and can be opened or closed.

[0023] The cleaning equipment provided in this application includes a machine body, a robotic arm, and a triggering component. The machine body has an arm compartment for accommodating the robotic arm, which is connected to the machine body and can extend or retract into the arm compartment through the compartment opening. This allows the robotic arm to move along with the machine body to reach a target location. The extension movement of the robotic arm beyond the compartment opening enables it to grasp or move obstacles, objects, and debris near the cleaning equipment, thus better achieving autonomous cleaning. By providing a triggering component on the machine body, located around the compartment opening, when the robotic arm is folded into or extended from the compartment, a hand or foreign object near the compartment opening may come into contact with or collide with the triggering component, causing mechanical stress and sending a signal. This allows the robotic arm or the cleaning equipment to take corresponding actions based on the signal. For example, the control device of the cleaning equipment can control the robotic arm to stop moving based on the signal, avoiding the possibility of the robotic arm continuing to move and pinching a hand or foreign object, reducing personal injury or financial loss caused during the robotic arm's extension and retraction from the compartment, improving the safety of the robotic arm's use, and enhancing user satisfaction.

[0024] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0025] The following figures are included as part of the embodiments of this application to help understand the application. The figures illustrate embodiments of the application and their descriptions, serving to explain the principles of the application.

[0026] In the attached image:

[0027] Figure 1 shows a schematic diagram of the cleaning equipment of this application connected to a robotic arm from one perspective.

[0028] Figure 2 shows a structural schematic diagram of the cleaning equipment of this application without the robotic arm connected from one perspective.

[0029] Figure 3 shows a structural schematic diagram of the cleaning device of this application without the connection of the robotic arm and the touch component from one perspective.

[0030] Figure 4 shows a structural schematic diagram of the cleaning device of this application without the connection of the robotic arm and the connecting part touch component from one perspective.

[0031] Figure 5 shows a partially enlarged schematic diagram of point A in the embodiment shown in Figure 4;

[0032] FIG. 6 shows a structural schematic diagram of one perspective view of the touch assembly of the present application;

[0033] FIG. 7 shows a structural schematic diagram of another perspective view of the touch assembly of the present application;

[0034] FIG. 8 shows a partial enlarged schematic diagram at B of the embodiment shown in FIG. 7;

[0035] FIG. 9 shows a structural schematic diagram of one perspective view of the touch piece of the present application;

[0036] FIG. 10 shows a structural schematic diagram of another perspective view of the touch piece of the present application.

[0037] Explanation of Reference Signs

[0038] 100 cleaning apparatus, 110 machine body, 111 arm bin, 112 bin opening, 113 boss structure, 120 touch assembly, 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, 130 mechanical arm. DETAILED DESCRIPTION

[0039] In the following description, numerous specific details are given to provide a thorough understanding of the technology provided herein. However, it will be apparent that the technology provided herein can be practiced without one or more of these specific details. In some

[0040] 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 according to 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.

[0041] In accordance with the present application, example embodiments will now be described in detail with reference to the accompanying drawings. However, these example embodiments can be implemented in various different forms, and should not be construed as being limited to the embodiments set forth herein. It should be understood that the embodiments are provided in order to make the present disclosure complete and comprehensive, and to fully convey the ideas of the example embodiments to those of ordinary skill in the art.

[0042] As shown in FIGS. 1-10, embodiments of the present application provide a cleaning device 100, which can be a robot vacuum cleaner, a robot mop, a robot mop-vacuum cleaner, or other cleaning device 100 that meets the requirements.

[0043] 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 cooperate with each other to enable the cleaning device 100 to move autonomously to achieve cleaning functions. The functional elements, etc. that constitute the above-mentioned 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 operations in a certain area to be cleaned without user operation.

[0044] As shown in FIGS. 1, 2, and 3, the cleaning device 100 provided by embodiments of the present application includes 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 touch assembly 120, the touch assembly 120 is arranged on the machine body 110 and located at the side of the compartment opening 112, the touch assembly 120 is configured to send a signal under mechanical stress.

[0045] The cleaning device 100 provided by embodiments of the present application includes a machine body 110, a mechanical arm 130, and a touch assembly 120, wherein the machine body 110 is provided with an arm compartment 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 stored into the arm compartment 111 through the compartment opening 112. Thus, the mechanical arm 130 can move with the machine body 110 to reach a target position, and the mechanical arm 130 can be extended out of the compartment opening 112 to achieve the grabbing or moving of obstacles, objects, and garbage near the cleaning device 100, so as to better achieve 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 are not listed one by one here. The provision of the arm compartment 111 provides a storage space for the mechanical arm 130, so that the mechanical arm 130 can be stored in the arm compartment 111 after being folded, reduces the space occupied by the mechanical arm 130, makes the overall volume of the cleaning device 100 smaller, facilitates storage and movement, and is conducive to improving the aesthetics of the appearance of the cleaning device 100.

[0046] The cleaning device 100 in the embodiment is provided with the touch assembly 120 on the machine body 110, the touch assembly 120 is located on the periphery of the opening 112, and the touch assembly 120 is configured to send a signal under mechanical stress. Thus, 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, so that the touch assembly 120 sends 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, the mechanical 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 mechanical arm 130 to stop moving according to the signal, avoiding the possibility that the mechanical arm 130 continues to move and clamps the hand or foreign matter in the opening, reducing the personal injury or financial loss caused by the process of the mechanical arm 130 stretching out of the arm compartment 111 and retracting into the arm compartment 111, and improving the safety of the use of the mechanical arm 130 and the satisfaction of the user.

[0047] The touch assembly 120 is located on the periphery of the opening 112, which can be located on the outer periphery of the opening 112, or on the inner periphery of the opening 112, or on the inner and outer peripheries of the opening 112.

[0048] The cleaning device 100 can further include a connecting structure, and the mechanical arm 130 is connected to the machine body 110 through the connecting structure. 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. The connecting structure can realize the detachable connection between the mechanical arm 130 and the machine body 110, so as to facilitate the maintenance of the mechanical arm 130 after being detached from the machine body 110 through the connecting structure, and the operation is simple and convenient for maintenance.

[0049] In some possible implementation embodiments provided in the present application, the cleaning device 100 further includes a control device, the control device is electrically connected with the mechanical arm 130 and the touch assembly 120, and the control device is used to control the mechanical arm 130 to stop working according to the signal sent by the touch assembly 120.

[0050] The control device can control the movement state of the mechanical arm 130, for example, the control device can control the mechanical arm 130 to unfold to extend 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 component 120, so that when the mechanical arm 130 is extending out of the arm compartment 111 or folding to be stored in the arm compartment 111, a hand or a foreign object near the compartment opening 112 touches the touch component 120 to make the touch component 120 send a signal, it indicates that the hand or the foreign object is at risk of being clamped at the compartment opening 112. Therefore, the control device can control the mechanical arm 130 to stop moving according to the signal sent by the touch component 120, so as to avoid the possibility that the mechanical arm 130 continues to move to clamp the hand or the foreign object between the arm compartment 111 and the mechanical arm 130, or avoid the possibility that the mechanical arm 130 continues to move to cause the hand to be injured or the foreign object to be damaged, avoid personal injury or financial loss caused by the mechanical arm 130 during the process of folding to be stored in the arm compartment 111 or extending out of the arm compartment 111, and facilitate to improve the safety of the mechanical arm 130 and improve the user's satisfaction.

[0051] In some possible implementation embodiments provided in the present application, the touch component 120 includes a touch piece 121 and a touch switch 122. The touch piece 121 is distributed on the periphery of the compartment opening 112 and is provided with a first avoiding opening 1211 in the middle to avoid the mechanical arm 130. The touch piece 121 can float up and down relative to the machine body 110. The touch switch 122 is located between the touch piece 121 and the machine body 110. The touch piece 121 is configured to float downward relative to the machine body 110 to trigger the touch switch 122 to send a signal.

[0052] In the embodiment, since the touch piece 121 is distributed on the periphery of the compartment opening 112 and can float up and down relative to the machine body 110, and the touch switch 122 is located between the touch piece 121 and the machine body 110, for example, the touch switch 122 is located below the touch piece 121. When a hand or a foreign object touches or touches the touch piece 121, the touch piece 121 will float downward relative to the machine body 110 and trigger the touch switch 122 to send a signal, so that the mechanical arm 130 can stop moving according to the signal, avoid the possibility that the mechanical arm 130 continues to move to clamp the hand or the foreign object at the compartment opening 112, reduce personal injury or financial loss caused by the mechanical arm 130 during the process of folding to be stored in the arm compartment 111 or extending out of the arm compartment 111, and facilitate to improve the safety of the mechanical arm 130 and improve the user's satisfaction.

[0053] The first avoiding opening 1211 is arranged to enable the mechanical arm 130 to extend out of the arm compartment 111 through the first avoiding opening 1211 or to be folded and stored in the arm compartment 111 from outside the arm compartment 111 through the first avoiding opening 1211, and the mechanical arm 130 does not contact the triggering piece 121 during movement, thereby avoiding the possibility that the mechanical arm 130 accidentally contacts the triggering piece 121 to cause the triggering switch 122 to send a false signal, and improving the accuracy of the anti-pinch detection of the opening 112 by the triggering assembly 120.

[0054] The triggering piece 121 is floating up and down relative to the machine body 110, so that the triggering piece 121 can move downward to act on the triggering switch 122 and trigger the triggering switch 122 to send a signal after contacting a human hand or a foreign object, and the triggering piece 121 can move upward to reset to an initial position after the human hand or the foreign object leaves the triggering piece 121.

[0055] In the above embodiment, the number of the triggering switch 122 is one or more, and the plurality of triggering switches 122 are distributed between the triggering piece 121 and the machine body 110 in a circumferential direction of the triggering piece 121, so that different positions of the triggering piece 121 can trigger the triggering switch 122 to send a signal when moving downward relative to the machine body 110, which is beneficial to improve the comprehensiveness and accuracy of the anti-pinch detection of the entire triggering assembly 120.

[0056] Specifically, the triggering 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 the triggering switch 122 is a plurality, the plurality of triggering switches 122 can be of the same type or different types.

[0057] Specifically, the triggering 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.

[0058] In some possible implementation embodiments provided in the present application, the triggering assembly 120 further includes an elastic member 123, a first end of the elastic member 123 being connected to the triggering piece 121, and a second end of the elastic member 123 being connected to the machine body 110. The elastic member 123 is used to connect the triggering piece 121 and the machine body 110, so as to achieve floating connection of the triggering piece 121 and the machine body 110, so that the triggering piece 121 can move downward to act on the triggering switch 122 and trigger the triggering switch 122 to send a signal after contacting a human hand or a foreign object, and the triggering piece 121 can reset to an initial position under the action of the elastic member 123 after the human hand or the foreign object leaves the triggering piece 121.

[0059] 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.

[0060] Specifically, the number of elastic members 123 can be one or more, and the plurality of elastic members 123 are spaced apart along the circumference of the touch piece 121 and arranged between the touch piece 121 and the machine body 110, so that each part of the touch piece 121 has good floating with the machine body 110 at the corresponding position, and is beneficial to improve the uniformity of the entire touch piece 121 floating up and down relative to the machine body 110, and is beneficial to improve the comprehensiveness and accuracy of the anti-pinch detection of the entire touch assembly 120.

[0061] Specifically, the first end of the elastic member 123 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. The second end of the elastic member 123 can be connected with 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.

[0062] Further, 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 member 123, wherein the first limiting part 1212 can be a connecting column, a hook, a socket, etc. Specifically, as shown in FIG. 9, the first limiting part 1212 is a connecting column.

[0063] In some possible implemented embodiments provided in the present application, the touch assembly 120 further comprises a limiting member 124, a first end of the limiting member 124 is connected with the touch piece 121, and the machine body 110 is provided with a limiting hole, and a second end of the limiting member 124 is arranged in the limiting hole and can move up and down along the limiting hole.

[0064] Since the touch switch 122 is located between the touch piece 121 and the machine body 110, that is, the touch switch 122 can be understood as being located below the touch piece 121 in the vertical direction, if the touch piece 121 shakes in the horizontal direction relative to the machine body 110 under the condition of mechanical stress, there can be a case that the touch piece 121 cannot make the touch switch 122 send a signal, so that the touch assembly 120 has a problem of anti-pinch detection missing. Therefore, in the present embodiment, by additionally arranging the limiting member 124, the limiting member 124 cooperates with the limiting hole on the machine body 110 to limit the movement of the limiting member 124 relative to the limiting hole. Since the touch piece 121 is connected with the limiting member 124, the movement of the touch piece 121 relative to the machine body 110 can be limited and guided, so that the touch piece 121 can move up and down relative to the machine body 110 in the vertical direction more accurately, the possibility of the touch piece 121 shaking in the horizontal direction relative to the machine body 110 is reduced, and the detection accuracy of the touch assembly 120 is greatly improved.

[0065] Specifically, the number of the limiting pieces 124 can be one or more, and the plurality of 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 be better moved 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.

[0066] 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.

[0067] Further, the side of the touch piece 121 facing the touch switch 122 is provided with a second limiting part 1213, which is matched 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, which 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.

[0068] Further, the hollow structure of the second limiting part 1213 is provided with a threaded structure, and the limiting piece 124 can be screwed, 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 threaded through the through hole on the wall.

[0069] Further, the second end of the limiting piece 124 is provided with a head, which 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.

[0070] In some examples, the limiting piece 124 does not protrude from the surface of the touch piece 121 away from the touch switch 122, such as the first end of the limiting piece 124 being connected with the side of the touch piece 121 facing the touch switch 122, or the first end of the limiting piece 124 being threaded through the touch piece 121 and not protruding from the surface of the touch piece 121 away from the touch switch 122, so that it can be ensured that the limiting piece 124 does not protrude from the surface of the touch piece 121 away from the touch switch 122, so that the surface of the touch piece 121 facing the outside is neat and beautiful, and the beauty of the product appearance is improved.

[0071] In some possible implementation embodiments provided by the present application, the cleaning device 100 further comprises a door, which is movably connected with the machine body 110 and can open or close the opening 112, so that the mechanical arm 130 is folded and stored in the arm compartment 111, and the opening 112 can be closed by the door to reduce or prevent dust and liquid from entering the arm compartment 111 to cause the mechanical arm 130 to malfunction, thereby improving the service life of the mechanical arm 130 and the overall reliability of the cleaning device 100. It can be understood that when the mechanical arm 130 needs to be extended out of the arm compartment 111 for object grabbing, the door can be moved relative to the machine body 110 to open the opening 112.

[0072] Further, since the touch assembly 120 is located around the opening 112, when the door closes the opening 112, the door is located above the touch assembly 120, that is, the door is opposite to the surface of the touch piece 121 away from the touch switch 122, and the limiting piece 124 does not protrude from the surface of the touch piece 121 away from the touch switch 122, so that the arrangement of the limiting piece 124 does not interfere with the closing of the opening 112 by the door, thereby improving the smoothness of the closing of the opening 112 by the door.

[0073] Further, the door is connected with the machine body 110 through a transmission assembly, and the transmission assembly can drive the door to move relative to the machine body 110 to open or close the opening 112. The second avoiding opening 1214 is further formed on the touch piece 121, and the second avoiding opening 1214 is used for avoiding the transmission assembly, so as to reduce the possibility that the transmission assembly, the door and the touch piece 121 are in contact during the driving of the door by the transmission assembly, so that the action of the transmission assembly and the action of the door do not contact the touch piece 121 to cause the touch piece to be subjected to mechanical stress, thereby improving the accuracy and reliability of the anti-pinch detection of the touch assembly 120.

[0074] In some possible implementation embodiments provided by the present application, the elastic piece 123 is sleeved outside the limiting piece 124, or the elastic piece 123 and the limiting piece 124 are distributed along the periphery of the touch piece 121, thereby meeting the demand for different arrangement modes of the elastic piece 123 and the limiting piece 124.

[0075] The elastic piece 123 and the limiting piece 124 are distributed along the periphery of the touch piece 121, so that the elastic piece 123 and the limiting piece 124 can support the touch piece 121 from different positions, thereby improving the stability and uniformity of the up-and-down floating of the touch piece 121 relative to the machine body 110, and further improving the anti-pinch detection precision of the touch assembly 120.

[0076] In some possible implementation embodiments provided by the present application, the side of the touch piece 121 facing the touch switch 122 is formed with or connected with a buffer portion 1215, and the buffer portion 1215 corresponds to the touch switch 122.

[0077] Since the touch piece 121 has the possibility of contacting the touch switch 122 during the process of moving downward under mechanical stress, such as when the touch switch 122 is a mechanical switch, a touch switch, or a piezoelectric switch, the touch piece 121 will contact the mechanical switch, the touch switch, or the piezoelectric switch during the process of moving downward under mechanical stress, so that the mechanical switch, the touch switch, or the piezoelectric switch sends a signal. In the case of frequent contact between the touch piece 121 and the touch switch 122 or large mechanical stress, the touch piece 121 and the touch switch 122 can be damaged.

[0078] Therefore, in the embodiment, a buffer part 1215 is formed on or connected to the side of the touch piece 121 facing the touch switch 122. The buffer part 1215 corresponds to the touch switch 122, so that the buffer part 1215 has a good buffering effect on the contact between the touch piece 121 and the touch switch 122, thereby reducing the damage to the touch piece 121 and the touch switch 122 caused by frequent contact between the touch piece 121 and the touch switch 122 or large mechanical stress, greatly improving the service life of the touch piece 121 and the touch switch 122, and improving the overall reliability of the touch assembly 120.

[0079] Specifically, the buffer part 1215 can be formed on the touch piece 121, such as an integral structure of the buffer part 1215 and the touch piece 121, or the buffer part 1215 can be connected to the touch piece 121, such as a split structure of the buffer part 1215 and the touch piece 121. The buffer part 1215 can be connected to the touch piece 121 by bolt structure, plug-in structure, clamping structure, mortise and tenon structure, adhesive, etc. Specifically, the buffer part 1215 can be a silica gel pad, a rubber pad, etc.

[0080] In some possible implemented embodiments provided in the application, the touch piece 121 moves 0.2mm to 0.5mm in the direction close to the touch switch 122, so that the touch switch 122 sends a signal.

[0081] That is, the touch piece 121 moves 0.2mm to 0.5mm in the direction close to the touch switch 122 under mechanical stress, which can trigger the touch switch 122 to act so that the touch switch 122 sends a signal. Therefore, the sensitivity of the touch switch 122 triggering is improved, which is beneficial to improve the sensitivity of the anti-pinch detection of the touch assembly 120.

[0082] Specifically, the touch piece 121 moves 0.2mm, 0.3mm, 0.4mm, 0.5mm, or other distances in the direction close to the touch switch 122, which can trigger the touch switch 122 to act so that the touch switch 122 sends a signal.

[0083] Specifically, when the touch 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 touch piece 121 can be 0.2mm to 0.5mm. As shown in FIG. 9, taking the mechanical switch as an example, the distance between the mechanical switch and the touch piece 121 is D1, and the size of D1 is 0.2mm to 0.5mm.

[0084] It can be understood that when the touch switch 122 is a photoelectric switch, the touch piece 121 moves 0.2mm to 0.5mm in the direction close to the photoelectric switch under the action of mechanical stress, so as to trigger the action of the photoelectric switch and make the photoelectric switch send a signal.

[0085] In some possible implementation embodiments provided in the present application, the touch assembly 120 further comprises a piezoelectric film, and the piezoelectric film is located on the inner circumferential side of the warehouse opening 112.

[0086] The piezoelectric film is a special piezoelectric material, and the piezoelectric effect thereof 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, so as to generate 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.

[0087] In the embodiment, by arranging the piezoelectric film on the side of the warehouse opening 112, when a hand or a foreign object near the warehouse opening 112 touches or touches the piezoelectric film, the piezoelectric film will be subjected to mechanical stress to send a signal, so that the mechanical arm 130 can stop moving according to the signal, avoiding the possibility that the mechanical arm 130 continues to move to clamp the hand or the foreign object, reducing the possibility that the hand or the foreign object is clamped at the warehouse opening 112 during the process that the mechanical arm 130 is folded and stored in the arm warehouse 111 or stretched out of the arm warehouse 111, reducing the personal injury or financial loss caused during the process that the mechanical arm 130 is stored in the warehouse and taken out of the warehouse, and being beneficial to improve the safety of the use of the mechanical arm 130 and improve the satisfaction of the user.

[0088] Specifically, the piezoelectric film can be connected with the warehouse wall by at least one of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure and an adhesive.

[0089] Further, the piezoelectric film can be arranged along the side of the warehouse opening 112 to surround the entire warehouse opening 112, thereby improving the comprehensiveness of the anti-clamping detection of the piezoelectric film.

[0090] In some possible implementation embodiments provided in the present application, a boss structure 113 is arranged on the inner circumferential side of the warehouse opening 112 in the arm warehouse 111, and the touch assembly 120 is mounted on the boss structure 113.

[0091] The convex structure 113 provides a mounting space for the touch assembly 120. For example, the touch assembly 120 includes a touch piece 121, a touch switch 122, an elastic piece 123, etc. The touch switch 122 and the elastic piece 123 can be mounted on the convex structure 113. The touch piece 121 is floatingly arranged on the convex structure 113 through the elastic piece 123. When the touch assembly 120 includes a piezoelectric film, the piezoelectric film can be directly connected to the convex structure 113.

[0092] Further, the convex structure 113 is arranged around the periphery of the opening 112, that is, the convex structure 113 is arranged on the entire periphery of the opening 112. In this way, the touch piece 121 or the piezoelectric film of the touch assembly 120 is distributed on the entire periphery of the opening 112, thereby improving the comprehensiveness of the anti-pinch detection of the touch assembly 120.

[0093] In some possible implementation examples provided in the present application, the touch assembly 120 protrudes from the opening 112 towards the plane where the arm compartment 111 is located outside. That is, the outer surface of the touch assembly 120 protrudes from the opening 112 towards the plane where the arm compartment 111 is located outside on the appearance surface of the machine body 110. For example, the outer surface of the touch piece 121 protrudes from the opening 112 towards the plane where the arm compartment 111 is located outside, or the outer surface of the piezoelectric film protrudes from the opening 112 towards the plane where the arm compartment 111 is located outside. In this way, a hand or a foreign object near the opening 112 can be more easily in contact with the touch assembly 120, so that the touch piece 121 is lowered under mechanical stress to make the touch switch 122 send a signal, or the piezoelectric film is under mechanical stress to send a signal, thereby realizing the anti-pinch detection of the touch 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 mechanical arm 130 into the arm compartment 111 or the stretching of the mechanical arm 130 out of the arm compartment 111, reducing the personal injury or financial loss caused during the storage and withdrawal of the mechanical arm 130, and being beneficial to improving the safety of the use of the mechanical arm 130 and improving the user's satisfaction.

[0094] In some possible implementation examples provided in the present application, the distance between the end surface of the touch assembly 120 towards the outside of the arm compartment 111 and the plane where the opening 112 is located towards the outside of the arm compartment 111 is 1 mm to 2 mm. Specifically, the distance between the end surface of the touch assembly 120 towards the outside of the arm compartment 111 and the plane where the opening 112 is located towards the outside of the arm compartment 111 can be 1 mm, 1.5 mm, 1.8 mm, 2 mm, or other distances. In this way, the distance between the end surface of the touch assembly 120 towards the outside of the arm compartment 111 and the plane where the opening 112 is located towards the outside of the arm compartment 111 is reasonable, and a hand or a foreign object near the opening 112 can be more easily in contact with the touch assembly 120, thereby playing a good anti-pinch protection role, while having a small impact on the neatness and aesthetics of the appearance surface of the product.

[0095] Specifically, the distance between the outer surface of the touch element 121 protruding out of the opening 112 towards the plane where the arm compartment 111 is located is 1mm to 2mm, or the distance between the outer surface of the piezoelectric film protruding out of the opening 112 towards the plane where the arm compartment 111 is located is 1mm to 2mm.

[0096] In some possible implementation embodiments provided in the present application, the mechanical arm 130 includes a fixed seat, a first mechanical joint, a connecting arm, the fixed seat is connected to the inside of the arm compartment 111, the first mechanical joint connects the fixed seat and the connecting arm, and makes the connecting arm foldable or unfoldable relative to the fixed seat, and the first mechanical joint is arranged as a non-self-locking structure.

[0097] That is, the mechanical arm 130 is installed in the arm compartment 111 through the fixed seat, the first mechanical joint connects the fixed seat and the connecting arm, so that the connecting arm is foldable or unfoldable relative to the fixed seat, so as to realize the extension or retraction of the mechanical arm 130 out of the arm compartment 111. By arranging the first mechanical joint as a non-self-locking structure, when the mechanical arm 130 stops moving according to the signal sent by the touch assembly 120, if a hand or a foreign object is clamped at the opening 112, since the first mechanical joint is a non-self-locking structure, the connecting arm connected with the first mechanical joint can be pushed in the opposite direction by external force, so that the connecting arm unfolds relative to the fixed seat to release the clamped hand or foreign object, thereby improving the safety of the mechanical arm 130 and improving the user's satisfaction.

[0098] It can be understood that the mechanical arm 130 can further include a support arm and a mechanical hand, the number of the support arm can be one, and the two ends of the support arm are connected with the connecting arm and the mechanical hand through other mechanical joints respectively; or the number of the mechanical arm 130 can be at least two, and the at least two support arms are connected in sequence through other mechanical joints, so that the at least two support arms are connected as a whole, and the two ends of the at least two support arms are connected with the connecting arm and the mechanical hand through other mechanical joints respectively. Thus, through the cooperation of the fixed seat, the connecting arm and the support arm, the unfolding or folding movement of the mechanical arm 130 can be realized, and through the mechanical hand, the target object can be picked up or placed. It can be understood that the other mechanical joints can be the same as or different from the first mechanical joint, and the other mechanical joints can be the same mechanical joint or different mechanical joints.

[0099] In the description of the application, the term "a plurality of" refers to two or more, unless otherwise expressly specified. The terms "upper", "lower", and the like, indicate the orientation or positional relationship based on the drawings described in the application, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. The terms "connected", "mounted", "fixed" and the like should be understood broadly, for example, "connected" can be fixed connection, can also be detachable connection, or integral connection; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0100] The application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A cleaning device (100), wherein, The application relates to a cleaning device (100) comprising: a machine body (110) provided with an arm compartment (111) and a compartment opening (112); a mechanical arm (130) connected to the machine body (110) and capable of being extended out of or stored in the arm compartment (111) through the compartment opening (112); a touch assembly (120) arranged on the machine body (110) and located on the periphery of the compartment opening (112), the touch assembly (120) being configured to send a signal under mechanical stress.

2. The cleaning device (100) according to claim 1, wherein The touch assembly (120) comprises: a touch piece (121) distributed on the periphery of the compartment opening (112) and provided with a first avoiding opening (1211) in the middle for avoiding the mechanical arm (130), the touch piece (121) being capable of floating up and down relative to the machine body (110), and a touch switch (122) located between the touch piece (121) and the machine body (110), the touch piece (121) being configured to send a signal by triggering the touch switch (122) when floating down relative to the machine body (110).

3. The cleaning device (100) according to claim 2, wherein The touch assembly (120) further comprises: a resilient piece (123) having a first end connected to the touch piece (121) and a second end connected to the machine body (110).

4. The cleaning device (100) according to claim 3, wherein The touch assembly (120) further comprises: a limiting piece (124) having a first end connected to the touch piece (121) and a second end capable of moving up and down in a limiting hole of the machine body (110).

5. The cleaning device (100) according to claim 2, wherein a buffer portion (1215) is formed on or connected to one side of the touch piece (121) facing the touch switch (122), and the buffer portion (1215) corresponds to the touch switch (122).

6. The cleaning device (100) according to claim 4, wherein the limiting piece (124) does not protrude from the surface of the touch piece (121) away from the touch switch (122).

7. The cleaning device (100) according to claim 4, wherein a first limiting portion (1212) is arranged on one side of the touch piece (121) facing the touch switch (122), and the first limiting portion (1212) is connected to the first end of the resilient piece (123); and / or a second limiting portion (1213) is arranged on one side of the touch piece (121) facing the touch switch (122), and the second limiting portion (1213) is connected to the first end of the limiting piece (124).

8. The cleaning device (100) according to claim 4, wherein a plurality of touch switches (122) are distributed on the periphery of the touch piece (121) at intervals; and / or A plurality of the elastic members (123) are arranged along the circumference of the touch member (121); and / or A plurality of the limiting members (124) are arranged along the circumference of the touch member (121).

9. The cleaning device (100) according to claim 2, wherein The touch member (121) moves 0.2mm to 0.5mm towards the direction of the touch switch (122), so that the touch switch (122) sends a signal.

10. The cleaning device (100) according to claim 1, wherein, The touch assembly (120) further comprises a piezoelectric film, which is located on the circumferential side of the opening (112).

11. The cleaning device (100) according to claim 1, wherein The inside of the arm compartment (111) is provided with a boss structure (113) on the inner circumferential side of the opening (112), and the touch assembly (120) is installed on the boss structure (113).

12. The cleaning device (100) according to claim 1, wherein, The touch assembly (120) protrudes from the opening (112) towards the plane where the outside of the arm compartment (111) is located.

13. The cleaning device (100) according to claim 12, wherein, The distance between the end surface of the touch assembly (120) towards the outside of the arm compartment (111) and the plane where the opening (112) towards the outside of the arm compartment (111) is located is 1mm to 2mm.

14. The cleaning device (100) according to claim 1, wherein Further comprising: A control device, which is electrically connected with the mechanical arm (130) and the touch assembly (120), and is configured to control the mechanical arm (130) to stop working according to the signal sent by the touch assembly (120).

15. The cleaning device (100) according to claim 1, wherein The mechanical arm (130) comprises a fixed seat, a first mechanical joint, and a connecting arm, the fixed seat is connected to the inside of the arm compartment (111), the first mechanical joint connects the fixed seat and the connecting arm, and makes the connecting arm foldable or unfoldable relative to the fixed seat, and the first mechanical joint is set as a non-self-locking structure.

16. The cleaning device (100) according to claim 1, wherein Further comprising: A compartment door, which is movably connected with the machine body (110), and can open or close the opening (112).

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