Connecting device, joint module, mechanical arm and cleaning equipment

Abstract

The invention provides a connecting device, a joint module, a mechanical arm and cleaning equipment, and relates to the technical field of cleaning. The connecting device comprises a first structural member; the second structural part is rotationally connected with the first structural part, and the first structural part is arranged on the outer side of the second structural part in a sleeving manner; the sealing assembly is fixed to the inner side of the second structural part and is in sealed connection with the second structural part, and a first connecting port is formed in one end of the sealing assembly and used for being in sealed connection with a to-be-connected pipe; and the rotating piece is located on the inner side of the second structural piece and arranged at the end, provided with the first connecting port, of the sealing assembly, the rotating piece is rotationally connected with the second structural piece, and the rotating piece is detachably connected with the pipe to be connected. According to the connecting device, the pipeline connected with the connecting device can rotate relative to the connecting device, the pipeline can be prevented from being twisted and pulled, the service life of the pipeline is prolonged, and quick disassembly and assembly can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a connecting device, a joint module, a robotic arm and cleaning equipment. Background Art

[0002] With the intelligent development of cleaning equipment, cleaning equipment is deeply loved by people for its rich functions.

[0003] In order to further enrich the functions of cleaning equipment, some cleaning equipment are equipped with robotic arms to assist in dumping dust boxes or cleaning larger garbage, further improving intelligence and freeing people's hands.

[0004] However, some pipelines are usually installed on the robot arm. When the robot arm is folded or rotated, the pipelines installed on the robot arm may be twisted, pulled, etc., causing the pipelines to be easily damaged. Summary of the invention

[0005] The present invention provides a connecting device, a joint module, a robot arm and a cleaning device. The connecting device can make a pipeline connected to the connecting device rotate relative to the connecting device, thereby preventing the pipeline from being twisted and pulled, extending the service life of the pipeline, and allowing quick disassembly and assembly.

[0006] An embodiment of the present invention provides a connection device, including:

[0007] a first structural member;

[0008] A second structural member is rotatably connected to the first structural member, and the first structural member is sleeved on the outer side of the second structural member;

[0009] A sealing component is fixed to the inner side of the second structural member and is sealed to the second structural member, one end of the sealing component forms a first connection port, and the first connection port is used for sealing connection with the pipe to be connected;

[0010] A rotating member, located inside the second structural member and disposed at one end of the sealing assembly where the first connecting port is disposed, the rotating member being rotationally connected to the second structural member;

[0011] The rotating member is detachably connected to the pipe to be connected.

[0012] The connection device in the embodiment of the present application can make the first structure member and the second structure member rotationally connected by setting a first structure member and a second structure member that are rotationally connected, so that the two structures connected to the first structure member and the second connection member can rotate relative to each other. By setting a rotating member and rotationally connecting the rotating member to the second structure member, when the first structure member and the second structure member rotate, the rotating member can rotate relative to the second structure member, so that the pipe to be connected connected to the rotating member can rotate relative to the second structure member, thereby preventing the pipe to be connected from twisting, pulling, scratching, and wearing, etc., thereby improving the service life of the pipe to be connected. In addition, quick disassembly and assembly can be achieved, maintenance time can be reduced, and maintenance efficiency can be improved.

[0013] In a possible implementation, the rotating member includes a second connection port; wherein,

[0014] The pipe to be connected passes through the second connection port and is plugged into the first connection port, and the first connection port and the pipe to be connected are detachably connected.

[0015] Such an arrangement allows the pipe to be connected to be directly plugged into and matched with the sealing assembly, thereby simplifying the structure of the connecting device and further reducing the processing cost of the connecting structure.

[0016] In a possible implementation, the rotating member includes a second connection port; wherein,

[0017] The second connection port is located at an end of the rotating member away from the sealing assembly;

[0018] One end of the rotating member facing the sealing assembly is sealed and connected to the first connection port, and the second connection port is plug-fitted with the pipe to be connected, and the second connection port is sealed and detachably connected to the pipe to be connected.

[0019] Such an arrangement allows the pipe to be connected to be sealed and connected to the sealing assembly through the rotating part. When in use, the second connecting port and the pipe to be connected can prevent the pipe to be connected and the first connecting port of the sealing assembly from being repeatedly disassembled and assembled, thereby affecting the sealing performance of the sealing assembly. The sealing assembly is arranged inside the second structural member and is not easy to replace. Therefore, by sealing and connecting the pipe to be connected to the sealing assembly through the second connecting port, maintenance costs can be reduced.

[0020] In a possible implementation, the second structural member includes a first limiting structure; wherein,

[0021] The first limiting structure is arranged at one end of the sealing component where the first connecting port is arranged, and the first limiting structure abuts against the sealing component;

[0022] One end of the sealing component away from the first limiting structure abuts against the second structural member;

[0023] The first limiting structure is fixedly connected to the second structure member.

[0024] Such arrangement can prevent the sealing assembly from moving axially relative to the second structural member, thereby ensuring the connection stability between the sealing assembly and the second structural member. In addition, it can also prevent the sealing assembly from being brought out of the second structural member by the pipe to be connected when the pipe to be connected is removed from the connecting device, thereby enabling the pipe to be connected to be repeatedly installed and removed from the connecting device.

[0025] In a possible implementation, the second structural member includes a second limiting structure; wherein,

[0026] In the axial direction of the second structural member, the rotating member abuts against the second limiting structure, and the second limiting structure is used to limit the movement of the rotating member in the axial direction of the second structural member.

[0027] Such arrangement can prevent the rotating member from moving in the axial direction of the second structural member, thereby ensuring the connection stability between the rotating member and the second structural member. In addition, it can also prevent the pipe to be connected from bringing the rotating member out of the second structural member when the pipe to be connected is removed from the connecting device, so that the pipe to be connected can be repeatedly installed and removed from the connecting device.

[0028] In a possible implementation, the second structural member includes a limit member; wherein,

[0029] The limiting member is fixedly connected to the second structural member;

[0030] In the axial direction of the second structural member, the limiting member is spaced apart from the first limiting structure, and the second limiting structure is formed between the limiting member and the first limiting structure;

[0031] Part of the structure of the rotating member is located in the second limiting structure.

[0032] By setting the limiting member, a second limiting structure is formed between the first limiting structure and the limiting member, and then the rotating member is set on the second structural member, and the rotating member can rotate relative to the second structural member, and can also be fixed relative to the second structural member in the axial direction of the second structural member. In addition, during assembly, the sealing component, the first limiting structure, the rotating member and the limiting member can be easily assembled on the second structural member, thereby reducing the difficulty of assembly.

[0033] In a possible implementation, the second limiting structure is a groove structure provided on the second structural member; wherein,

[0034] Part of the structure of the rotating member is located in the groove structure, and the groove structure is used to limit the axial movement of the rotating member in the second structure member.

[0035] Such an arrangement can simplify the structure of the second structural member, reduce the difficulty of processing, and further reduce the cost.

[0036] In a possible implementation, the rotating member includes a fixing portion and a connecting portion; wherein,

[0037] The second connection port is formed at the connection portion;

[0038] The fixing portion is rotatably connected to the second structural member.

[0039] By providing the rotating part with a fixing part and a connecting part, the rotating part can be rotatably connected to the second structural part, and fixedly connected to the pipe to be connected through the connecting part, so that the pipe to be connected connected to the rotating part can rotate relative to the second structural part, thereby preventing the connecting pipe from twisting, pulling, scratching, wearing, etc., thereby improving the service life of the pipe to be connected.

[0040] In a possible implementation, the rotating member is an annular structure; wherein,

[0041] The fixing portion is located on the outside of the annular structure, and the connecting portion is located on the inside of the annular structure;

[0042] A side of the connection portion facing away from the sealing assembly is an inclined surface, and a thickness of the inclined surface gradually decreases in the axial direction of the annular structure in a direction from the outside to the inside of the annular structure.

[0043] By setting the rotating part as an annular structure, the structure of the rotating part can be simplified, the difficulty of processing the rotating part can be reduced, and the cost can be reduced. By making the side of the connecting part facing away from the sealing component as an inclined surface, when the pipe to be connected is inserted into the second connecting port, it can be gradually inserted along the inclined surface, which is convenient for assembly. When the second structure rotates and the connection hole to be connected is pulled, the end of the inclined surface can generate resistance to the surface of the pipe to be connected, preventing the pipe to be connected from falling off the rotating part, thereby improving the connection stability between the pipe to be connected and the connecting device.

[0044] In a possible implementation, the connecting portion is provided with a plurality of openings; wherein,

[0045] The plurality of openings are arranged at intervals along the circumference of the connecting portion;

[0046] The opening extends from one end of the connecting portion away from the fixing portion along the radial direction of the rotating member in a direction approaching the fixing portion.

[0047] With such a configuration, the connection portion can be in the form of an open ratchet-shaped structure to prevent the pipe to be connected from falling off the rotating member. In addition, the structural strength of the connection portion can be reduced, which facilitates pushing, so that the second connection port becomes larger, so that the pipe to be connected can be disconnected from the connection portion under the action of the driving force, so that the pipe to be connected can be repeatedly installed and removed from the connection portion.

[0048] In a possible implementation, the rotating member further includes an extension portion; wherein,

[0049] The extension portion extends along the axial direction of the rotating member in a direction close to the sealing assembly;

[0050] The extending portion is sealed and connected to the first connecting port.

[0051] By setting an extension portion, the rotating member is sealedly connected to the first connecting port. Since the second connecting port of the rotating member is sealedly connected to the pipe to be connected, the first connecting port is sealedly connected to the pipe to be connected through the rotating member. In this way, the second connecting port can be set close to the outside of the second structural member to facilitate connection with the pipe to be connected.

[0052] In a possible implementation, a first bearing is provided on the outer side of the extension portion; wherein,

[0053] The first bearing comprises an inner ring and an outer ring which are rotatably connected;

[0054] The inner ring of the first bearing is fixedly connected to the extension portion, and the outer ring of the first bearing is fixedly connected to the second structural member.

[0055] Such an arrangement allows the rotating member and the second structural member to be rotationally connected, and the bearing structure is convenient for assembly. Therefore, arranging the first bearing on the outside of the extension portion can reduce the difficulty of assembling the connecting device.

[0056] In a possible implementation, the second connection port is formed at one end of the connection portion away from the sealing assembly;

[0057] The outer side of the second connection port is provided with a locking protrusion or a thread.

[0058] Such an arrangement can simplify the structure of the connecting portion, reduce the difficulty of processing, and thus reduce the cost.

[0059] In a possible implementation, the connecting device further includes a sliding member; wherein,

[0060] The sliding member is arranged on the inner side of the second structural member, and the sliding member is located at an end of the rotating member away from the sealing assembly;

[0061] In the axial direction of the second structural member, the sliding member is slidably connected to the second structural member;

[0062] One end of the sliding member facing the rotating member is arranged opposite to the connecting portion;

[0063] The sliding member is used to drive the sliding member to push the connecting portion to expand outward toward one end of the rotating member when moving along the axial direction of the second structural member in a direction close to the rotating member, so as to separate the connecting portion from the pipe to be connected.

[0064] With such arrangement, the connecting portion can be pushed to expand outward by the sliding member, so that the connecting portion is separated from the pipe to be connected, thereby facilitating the disassembly of the pipe to be connected.

[0065] In a possible implementation, the connecting device further includes an elastic member; wherein,

[0066] The elastic member is compressed and arranged between the sliding member and the second structural member.

[0067] With such arrangement, when the pipe to be connected and the rotating member are connected, the elastic member can limit the sliding member to a position opposite to but not in contact with the connecting portion, thereby ensuring a stable connection between the pipe to be connected and the rotating member. When the pipe to be connected and the rotating member need to be disassembled, the sliding member can be pressed along the axial direction of the second structural member in a direction close to the rotating member, so that the sliding member can drive the connecting portion of the rotating member to expand outward, so that the connecting portion is separated from the pipe to be connected, thereby facilitating the disassembly of the pipe to be connected. After the pipe to be connected is disassembled from the rotating member, the sliding member is restored to its original position under the action of the restoring force of the elastic member, so that the connecting device can be reconnected to the pipe to be connected.

[0068] In a possible implementation manner, the elastic member is a spring, a compression spring, a spring sheet or a torsion spring.

[0069] Such an arrangement can simplify the structure of the elastic member, reduce the difficulty of assembly, and further reduce the cost.

[0070] In a possible implementation, the sealing assembly includes a sealing body and a support member; wherein,

[0071] The support member is embedded in the sealing body and arranged along the circumference of the sealing body;

[0072] The sealing body is sealedly connected to the second structural member, and the first connecting port is formed on the inner side of the sealing body;

[0073] The rigidity of the support member is greater than the rigidity of the sealing body.

[0074] By arranging a support member inside the sealing body, the supporting force of the sealing assembly can be increased, preventing the sealing assembly from being deformed during repeated installation and removal of the pipe to be connected and the connecting device, thereby improving the sealing performance of the sealing assembly.

[0075] In a possible implementation, the sealing assembly further includes an elastic portion; wherein,

[0076] The elastic portion is disposed around the outer side of the sealing body and is arranged close to the first connecting port. The elastic portion is used to limit the radial expansion of the first connecting port.

[0077] Such an arrangement can keep the first connection port in a relatively tight state at all times, thereby improving the connection stability between the sealing component and the pipe to be connected, thereby ensuring the sealing performance between the sealing component and the pipe to be connected.

[0078] In a possible implementation, the connection device further includes a second bearing, the second bearing is disposed between the first structure member and the second structure member, and the first structure member and the second structure member are rotationally connected via the second bearing.

[0079] Such an arrangement can facilitate the rotational connection between the first structural member and the second structural member. In addition, the bearing structure is easy to assemble, which can reduce the difficulty of assembling the connecting device.

[0080] In a possible implementation, the connection device further includes a transmission assembly; wherein,

[0081] The transmission assembly is connected to the second structural member, and the transmission assembly is used to drive the second structural member to rotate.

[0082] Such an arrangement can conveniently drive the second structural member to rotate, so as to realize automatic rotation between the first structural member and the second structural member.

[0083] In a possible implementation, the transmission assembly includes a driving member and a driven member; wherein,

[0084] The driven member is fixedly connected to the second structural member, the active member is transmission-connected to the driven member, the active member is used to drive the driven member to rotate, and the driven member is used to drive the second structural member to rotate when rotating.

[0085] Such an arrangement can conveniently drive the second structural member to rotate.

[0086] In a possible implementation, the transmission assembly is a gear transmission assembly, a synchronous belt transmission mechanism, or a screw transmission mechanism.

[0087] Such an arrangement can simplify the structure of the transmission assembly, thereby reducing the difficulty of assembly and further reducing costs.

[0088] In a possible implementation, the connection device further includes a drive motor; wherein,

[0089] The driving motor is in transmission connection with the active member, and the driving motor is used to drive the active member to rotate.

[0090] Such an arrangement can conveniently provide power to the active member, so that the rotating member can rotate, thereby driving the driven member to rotate and driving the second structural member to rotate.

[0091] In a possible implementation, the first structural member includes a first assembly portion, and the first assembly portion is used to connect with a first part to be assembled;

[0092] The second structural member includes a second assembly portion, and the second assembly portion is used to connect with a second part to be assembled.

[0093] Such an arrangement allows the first to-be-assembled component and the second to-be-assembled component connected by the connecting device to rotate relative to each other, thereby achieving a folding action, thereby improving the flexibility of the first to-be-assembled component and the second to-be-assembled component.

[0094] In a possible implementation, the inner wall of the first connection port is an inclined structure; wherein,

[0095] In the insertion direction of the pipe to be connected, the diameter of the first connection port gradually decreases.

[0096] Such an arrangement facilitates the sealed connection between the pipe to be connected and the first connecting port, thereby reducing the difficulty of assembly.

[0097] A second aspect of an embodiment of the present application provides a joint module, comprising any connection device described in the first aspect above.

[0098] Such an arrangement can prevent the connected pipe from twisting, pulling, scratching, and wearing when the two components connected to the joint module rotate relative to each other, thereby increasing the service life of the connected pipe.

[0099] A third aspect of the embodiment of the present application provides a robotic arm, comprising any connection device described in the first aspect, or comprising the joint module described in the second aspect.

[0100] Such a configuration can prevent the pipelines on the robotic arm from twisting, pulling, scratching, and wearing when the robotic arm is folded or rotated, thereby increasing the service life of the pipelines.

[0101] A fourth aspect of the embodiment of the present application is a cleaning device, comprising a device body and the robotic arm described in the third aspect above; wherein:

[0102] The mechanical arm is connected to the equipment body.

[0103] Such a configuration can prevent the pipes on the robotic arm from twisting, pulling, scratching, and wearing when the robotic arm rotates or folds, thereby increasing the service life of the pipes, and can increase the service life of the pipes on the robotic arm of the cleaning equipment.

[0104] The construction of the present invention and other objects and advantageous effects thereof will become more apparent through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0106] Figure 1 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0107] Figure 2 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0108] Figure 3 is a schematic structural diagram of a cleaning device provided by an embodiment of the present invention;

[0109] Figure 4 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0110] Figure 5 is a schematic structural diagram of a mechanical arm provided by an embodiment of the present invention;

[0111] Figure 6 is a schematic diagram of the exploded structure of a mechanical arm provided by an embodiment of the present invention;

[0112] Figure 7 is a schematic structural diagram of a folding arm of a mechanical arm provided by an embodiment of the present invention;

[0113] Figure 8 It is a schematic diagram of an exploded structure of a folding arm of a mechanical arm provided by an embodiment of the present invention;

[0114] Fig. 9 is a schematic cross-sectional structural diagram of a connection device provided by an embodiment of the present invention;

[0115] Fig.10 is a schematic cross-sectional structure diagram of an elastic component of a connecting device provided by an embodiment of the present invention;

[0116] Fig.11is a schematic structural diagram of a rotating member of a connecting device provided by an embodiment of the present invention;

[0117] Fig.12 is a schematic cross-sectional structural diagram of a connection device provided by an embodiment of the present invention;

[0118] Fig.13 It is a structural schematic diagram of a joint module provided by an embodiment of the present invention.

[0119] Description of reference numerals:

[0120] 1000-cleaning equipment; 100-robot arm; 110-base;

[0121] 111-rotating part; 112-fixed seat; 120-folding arm;

[0122] 121-first end; 122-second end; 123-rotation joint;

[0123] 124-first connecting arm; 125-second connecting arm; 126-fixing member;

[0124] 130-gripping claw; 140-dust suction pipe; 141-first sub-suction pipe;

[0125] 142-second sub-suction pipe; 150-dust suction nozzle; 200-device body;

[0126] 210-top surface; 220-bottom surface; 230-side wall;

[0127] 240-accommodating chamber; 250-cover plate; 300-connecting device;

[0128] 310-first structural member; 311-first assembly portion; 320-second structural member;

[0129] 321-first limiting structure; 322-second limiting structure; 323-limiting member;

[0130] 324-second assembly portion; 325-first bearing; 330-sealing assembly;

[0131] 331-first connection port; 3311-inclined structure; 332-sealing body;

[0132] 333-supporting member; 334-elastic portion; 340-rotating member;

[0133] 341-fixing part; 342-connecting part; 3421-second connecting port;

[0134] 343-extension portion; 350-second bearing; 360-elastic member;

[0135] 370-sliding member; 391-driven member;

[0136] 400-tube to be connected; 500-joint module. DETAILED DESCRIPTION

[0137] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0138] Cleaning equipment such as sweepers and floor scrubbers are popular among people for their advantages of being able to automatically perform cleaning operations. Taking a sweeper as an example, in order to improve the automation of the sweeper, a robotic arm is usually provided on the sweeper, and the robotic arm can be provided above the body of the sweeper.

[0139] For example, one end of the robot arm is connected to the body, and the other end is connected to the dust box of the cleaning device. The robot arm is used to pick up and dump the dust box, so that the cleaning device can automatically pick up and dump the dust box without the need for the user to manually pick up and dump, thereby improving the automation of the cleaning device and the user experience. However, the function of the robot arm is only to dump the dust box, and the installation of the robot arm will increase the height of the sweeper, making it impossible for the sweeper to enter some relatively low spaces, limiting the mobility of the sweeper.

[0140] In order to solve the above technical problems, the mechanical arm can be set to a folding structure, and when the mechanical arm is not needed, the mechanical arm can be folded into the body of the sweeper, thereby preventing the height of the sweeper from increasing. However, the function of the mechanical arm is single and cannot meet people's daily needs.

[0141] In order to enrich the functions of the robot arm, a vacuum pipe can be set on the robot arm and connected to the fan so that the robot arm can vacuum and can vacuum some narrow spaces. However, the vacuum pipe may be pulled, twisted or scratched during the folding process of the robot arm, which may cause the vacuum pipe to be easily damaged.

[0142] Therefore, the embodiments of the present application provide a connection device, a joint module, a robotic arm, and a cleaning device. The connection device can prevent the robotic arm from pulling, twisting, or scratching the vacuum pipe during the folding process, thereby increasing the service life of the vacuum pipe. In addition, it can also achieve quick disassembly and assembly, reduce maintenance time, and improve maintenance efficiency.

[0143] The connection device, joint module, robotic arm and cleaning equipment provided in the embodiments of the present application are described below in conjunction with the accompanying drawings.

[0144] For the convenience of description, in the embodiment of the present application, the horizontal direction is taken as the x direction, and the vertical direction is taken as the z direction.

[0145] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a cleaning device 1000, which may include a device body 200 and a mechanical arm 100. The mechanical arm 100 is connected to the device body 200. Exemplarily, the mechanical arm 100 can rotate 360° relative to the device body, and the axis of rotation of the mechanical arm 100 relative to the device body 200 can be parallel to the vertical direction (z direction). This can increase the coverage of the mechanical arm 100.

[0146] The cleaning device 1000 in the embodiment of the present application can have a robotic arm 100 by setting the above-mentioned robotic arm 100. The robotic arm 100 has a grabbing function and a vacuuming function. The robotic arm 100 can be used to perform vacuuming operations on some difficult-to-clean locations of the device main body 200, such as skirtings, facades, sliding door tracks, right angles, bosses, etc., to improve the cleaning effect. The robotic arm 100 can also be used to grab some larger garbage or obstacles, such as toys, shoes, etc. These larger garbage or obstacles can be removed by the robotic arm 100, which facilitates the device main body 200 to perform cleaning operations, making the cleaning device 100 more functional and improving the user experience.

[0147] like Figure 3 As shown, the device body 200 may include a housing chamber 240, and the base 110 of the robot arm 100 is disposed in the housing chamber 240. The robot arm 100 includes a folded state and an unfolded state. When the robot arm 100 is in the folded state, the robot arm 100 is stored in the housing chamber 240. When the robot arm 100 is in the unfolded state, part of the structure of the robot arm 100 extends out of the housing chamber 240 (see Figure 4 shown).

[0148] Exemplarily, the device body 200 includes a top surface 210, a bottom surface 220, and a side wall 230. In the thickness direction of the device body 200, the top surface 210 and the bottom surface 220 are relatively arranged at two ends of the side wall 230 and are separated from each other, and the bottom surface 220 is arranged toward the ground. The accommodating cavity 240 can be arranged on the top surface 210 of the device body 200, and is recessed from the top surface 210 of the device body 200 toward the bottom surface 220.

[0149] Illustratively, a mounting position (not shown in the figure) for mounting the robot arm 100 is provided in the accommodating cavity 240 , and the base 110 of the robot arm 100 can be connected to the mounting position.

[0150] By providing the accommodating cavity 240 on the device body 200, the robot arm 100 can be conveniently stored. Thus, when the robot arm 100 is in a folded state, the height of the device body 200 can be reduced, and the device body 200 can be conveniently placed in some relatively low positions, such as the bottom of a bed for cleaning. When the robot arm 100 is in an unfolded state, the robot arm 100 can perform functions such as grabbing or vacuuming. This makes the cleaning device 1000 more functional and improves the user experience.

[0151] Continue to see Figure 3 As shown, a cover plate 250 is provided on the device body 200 , and the cover plate 250 can be opened and closed at the top of the accommodating cavity 240 .

[0152] With such arrangement, when the robot arm 100 is in a folded state, the cover plate 250 can be placed on the top of the accommodating cavity 240, thereby preventing the robot arm 100 from being exposed to the outside, improving the aesthetics of the cleaning device 1000, and preventing dust from falling on the robot arm 100.

[0153] It should be noted that the cover 250 can be opened automatically or manually. In the embodiment of the present application, there is no further limitation on the opening method of the cover 250. The size of the accommodating cavity 240 matches the robot arm 100. In the embodiment of the present application, there is no further limitation on the size of the accommodating cavity 240.

[0154] The embodiment of the present invention provides a robot arm 100, which is used for the cleaning device 1000 in the above embodiment. Figure 5 As shown, the robot arm 100 may include a base 110, a folding arm 120, a clamping claw 130 and a dust suction tube 140. The base 110 includes a fixed base 112 and a rotating part 111, the rotating part 111 is rotatably connected to the fixed base 112, and the fixed base 112 is used to connect with the device body 200 of the cleaning device 1000.

[0155] like Figure 5 As shown, the folding arm 120 may include a plurality of rotatably connected connecting arms. For example, the number of the connecting arms is two. For the convenience of description, the two connecting arms are respectively referred to as a first connecting arm 124 and a second connecting arm 125. The first connecting arm 124 and the second connecting arm 125 are connected via a rotating joint 123.

[0156] Exemplarily, the rotary joint 123 is fixedly connected to one end of the second connecting arm 125 connected to the first connecting arm 124, and the first connecting arm 124 is rotatably connected to the rotary joint 123. The rotary joint 123 and the second connecting arm 125 may be fixed by welding, casting, or integral molding, etc. In the embodiment of the present application, the fixing method of the rotary joint 123 and the second connecting arm 125 is not further limited.

[0157] Of course, in some embodiments, the rotating joint 123 may also be fixedly connected to the first connecting arm 124 . In the embodiment of the present application, the fixed position of the rotating joint 123 is not further limited.

[0158] Exemplarily, the folding arm 120 includes a first end 121 and a second end 122, and the first end 121 is rotatably connected to the rotating portion 111. The clamp 130 is disposed at the second end 122 of the folding arm 120, and the clamp 130 is rotatably connected to the second end 122, and the clamp 130 is used to perform a grasping action.

[0159] The dust suction tube 140 is arranged on the folding arm 120 , and a dust suction nozzle 150 is provided at one end of the dust suction tube 140 . The dust suction nozzle 150 is located at the end of the clamp 130 away from the second end 122 . The dust suction nozzle 150 is connected to the dust suction tube 140 , and the dust suction tube 140 performs cleaning operations on the area to be cleaned through the dust suction nozzle 150 .

[0160] The robot arm 100 in the embodiment of the present application can have a grasping action and a dust collecting action by providing a clamping claw 130 and a dust collecting tube 140, so that the function of the robot arm 100 can be increased, so that the cleaning device 1000 provided with the robot arm 100 can achieve a grasping function through the robot arm 100, and can also achieve a dust collecting function through the robot arm 100. By providing a dust collecting tube 140 and providing a dust collecting nozzle 150 at one end of the dust collecting tube 140, the dust collecting nozzle 150 can be controlled by the robot arm 100 to reach dead corners, sliding door rails, gaps, skirtings and other locations that cannot be cleaned by the device body 200, and dust collecting and cleaning can be performed through the dust collecting tube 140, thereby improving the cleaning effect. By setting the clamp 130, some relatively large garbage or obstacles, such as toys, shoes, etc., can be grabbed by the robot arm 100. These relatively large garbage or obstacles can be removed by the robot arm 100, which facilitates the device body 200 of the cleaning device 1000 to perform cleaning operations, making the cleaning device 1000 more functional and improving the user experience.

[0161] In a possible implementation, the dust suction pipe 140 may include a plurality of sub-suction pipes (eg Figure 6The first sub-suction pipe 141 and the second sub-suction pipe 142 are connected to each other, and at least one end of each sub-suction pipe is used to be rotatably connected to the rotating joint 123. Among them, one end of the sub-suction pipe closest to the clamping claw 130 is connected to the dust suction nozzle 150, and the other end is connected to the rotating joint 123.

[0162] By configuring the dust suction tube 140 to be a plurality of sub-tubes, it can be conveniently connected to the folding arm 120, and the plurality of sub-tubes are respectively connected to the rotating joint 123 and connected into a whole. Compared with configuring the dust suction tube 140 to be a relatively long tube, it can prevent the mechanical arm 100 from rubbing, colliding and pulling the dust suction tube 140 during the folding and rotation process, thereby improving the service life of the dust suction tube 140.

[0163] By using at least one end of each sub-tube to be rotatably connected to the rotating joint 123, the sub-tube can rotate relative to the rotating joint 123, thereby preventing the dust suction tube 140 from being twisted, bent, etc. during the folding and rotation of the folding arm 120, thereby preventing damage to the dust suction tube 140.

[0164] For example, a fixing member 126 for fixing the dust suction tube 140 may be provided on the folding arm 120, and the fixing member 26 may be a buckle or a clamp. The dust suction tube 140 is fixed to the folding arm 120 by the buckle or the clamp. Of course, the dust suction tube 140 may also be fixed to the folding arm 120 by other fixing structures.

[0165] In one possible implementation, Figure 6 As shown, there are two sub-pipes. For the convenience of description, the two sub-pipes are respectively referred to as the first sub-pipe 141 and the second sub-pipe 142 .

[0166] like Figure 7 As shown, the first sub-pipe 141 is arranged near the clamp 130, one end of the first sub-pipe 141 is connected to the suction nozzle 150, the other end is connected to the rotating joint 123, and is fixed to the first connecting arm 124 through the fixing member 26. One end of the second sub-pipe 142 is connected to the rotating joint 123, the other end is connected to the base 110, and a part of the structure of the second sub-pipe 142 passes through the second connecting arm 125, so that the second sub-pipe 142 is fixed to the second connecting arm 125. The second sub-pipe 142 is movably arranged with the first connecting arm 124, so that when the first connecting arm 124 is folded, it will not interfere with the second sub-pipe 142.

[0167] With such an arrangement, the first sub-pipe 141 and the second sub-pipe 142 can be connected via the rotating joint 123, and then the dust nozzle 150, the first sub-pipe 141, the rotating joint 123, and the second sub-pipe 142 can be connected, so that suction can be applied to the dust nozzle 150 through the connected dust pipe 140, and then the garbage sucked from the dust nozzle 150 can be transmitted to the base 110 through the first sub-pipe 141, the rotating joint 123, and the second sub-pipe 142, and connected to the dust box of the cleaning device 1000 through the base 110, so that the garbage can be collected for centralized treatment.

[0168] In some embodiments, the dust suction tube 140 can be an independent pipeline, for example, a hose structure or a hard pipe structure, or it can be a hard pipe integrated with the robot arm 100. In the embodiment of the present application, the structure and material of the dust suction tube 140 are not further described.

[0169] In order to prevent the dust suction tube 140 from being pulled, twisted or scratched during the folding process of the robot arm 100, the embodiment of the present application proposes a connection device 300. In some embodiments, the connection device 300 can be set at the rotation joint 123 of the robot arm 100. In other embodiments, at least one connection device 300 can also be set as the rotation joint 123.

[0170] The connection device provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0171] It should be noted that the connecting device is used for sealing connection with the pipe to be connected, and can realize relative rotation of the connecting device and the pipe to be connected. In addition, the connecting device and the pipe to be connected can also be disassembled for quick disassembly and assembly.

[0172] In the embodiment of the present application, the pipe 400 to be connected may be the suction pipe 140 provided on the robot arm 100. Specifically, the first sub-suction pipe 141 and the second sub-suction pipe 142 are both the pipe 400 to be connected in the embodiment of the present application. Of course, in other embodiments, the pipe 400 to be connected may also be other tubular structures, such as a hydraulic pipe.

[0173] In the embodiments of the present application, Figure 8 As shown, the two connecting devices 300 are configured as a rotating joint 123. The first structural member 310 can be configured as the second connecting arm 125 of the robot 100, or the first structural member 310 is fixedly connected to the second connecting arm 125. The second structural member 320 can be configured as the first connecting arm 124 of the robot 100, or the second structural member 320 is fixedly connected to the first connecting arm 124.

[0174] The following description will be made by taking the tube 400 to be connected as the dust suction tube 140 provided on the robot arm 100 as an example.

[0175] The embodiment of the present invention provides a connection device 300, such as Fig. 9 As shown, the connection device 300 may include a first structural member 310, a second structural member 320, a sealing assembly 330 and a rotating member 340. The second structural member 320 is rotationally connected to the first structural member 310, and the first structural member 310 is sleeved on the outside of the second structural member 320. The sealing assembly 330 is fixed to the inner side of the second structural member 320 and is sealed with the second structural member 320. One end of the sealing assembly 330 forms a first connection port 331, and the first connection port 331 is used to be sealed with the pipe 400 to be connected. The rotating member 340 is located on the inner side of the second structural member 320 and is arranged at one end of the sealing assembly 330 having the first connection port 331. The rotating member 340 is rotationally connected to the second structural member 320. The rotating member 340 is detachably connected to the pipe 400 to be connected, and a part of the structure of the rotating member 340 is used to limit the movement of the pipe 400 to be connected in the axial direction (x direction) when the connection device 300 is connected to the pipe 400 to be connected.

[0176] The connection device 300 in the embodiment of the present application is provided with a first structure member 310 and a second structure member 320 which are rotatably connected, so that the two structures connected to the first structure member 310 and the second structure member 320 can rotate relative to each other (for example, Figure 7 Relative rotation between the first connecting arm 124 and the second connecting arm 125).

[0177] By setting a rotating member 340 and rotatably connecting the rotating member 340 to the second structural member 320, when the first structural member 310 and the second structural member 320 rotate, the rotating member 340 can rotate relative to the second structural member 320, so that the pipe 400 to be connected connected to the rotating member 340 can rotate relative to the second structural member 320, thereby preventing the pipe 400 to be connected from twisting, pulling, scratching, wearing, etc., thereby improving the service life of the pipe 400 to be connected.

[0178] Exemplarily, the rotating member 340 can be fixedly connected to the pipe 400 to be connected, so that when the first structural member 310 and the second structural member 320 of the connection structure rotate relatively, the pipe 400 to be connected can drive the rotating member 340 to rotate relative to the second structural member 320 under the action of gravity or other restrictions, thereby preventing the pipe 400 to be connected from being twisted and pulled. Of course, the rotating member 340 and the pipe 400 to be connected are detachably connected, so that the pipe 400 to be connected can be removed from the connecting device 300 for easy maintenance.

[0179] Of course, in some embodiments, the rotating member 340 can also be rotatably connected to the pipe 400 to be connected. In this way, the pipe 400 to be connected can be rotated relative to the second structural member 320 under the action of gravity or other restrictions, thereby preventing the pipe 400 to be connected from being twisted and pulled.

[0180] In the embodiment of the present application, the connection method between the rotating member 340 and the pipe 400 to be connected is not further limited. As long as the rotating member 340 can limit the movement of the pipe 400 to be connected relative to the second structural member 320 in the axial direction (x direction) when connected to the pipe 400 to be connected.

[0181] In one possible implementation, see Fig.10 As shown, the sealing assembly 330 may include a sealing body 332 and a support member 333. The support member 333 is embedded in the sealing body 332 and is arranged along the circumference of the sealing body 332. The sealing body 332 is sealed and connected to the second structural member 320, and a first connection port 331 is formed on the inner side of the sealing body 332. The rigidity of the support member 333 is greater than the rigidity of the sealing body 332.

[0182] By providing a support member 333 inside the sealing body 332 , the supporting force of the sealing assembly 330 can be increased, preventing the sealing assembly 330 from being deformed during repeated installation and disassembly of the pipe 400 to be connected and the connecting device 300 , thereby improving the sealing performance of the sealing assembly 330 .

[0183] It should be noted that the sealing body 332 is an annular structure, and a support member 333 is provided inside the sealing body 332. The support member 333 can also be an annular structure, thereby forming support for each position of the outer circumference of the sealing body 332 to prevent the sealing body 332 from deforming and losing the sealing effect, thereby improving the sealing effect of the sealing assembly 330 and also improving the service life of the sealing assembly 330.

[0184] Exemplarily, the material of the sealing body 332 can be a soft glue material, such as rubber, silicone, etc., and the material of the support member 333 can be a metal material, such as alloy material, stainless steel, copper, etc. In the embodiment of the present application, the materials of the sealing body 332 and the support member 333 are not further limited.

[0185] In order to improve the sealing performance of the sealing assembly 330, in some embodiments, the sealing assembly 330 may further include an elastic portion 334. The elastic portion 334 is disposed around the outer side of the sealing body 332 and close to the first connection port 331, and is used to limit the radial expansion of the first connection port 331.

[0186] Such an arrangement can keep the first connection port 331 in a relatively tight state at all times, thereby improving the connection stability between the sealing component 330 and the pipe 400 to be connected, thereby ensuring the sealing performance between the sealing component 330 and the pipe 400 to be connected.

[0187] Exemplarily, the elastic part 334 can be a spring or other structure, and the elastic part 334 is sleeved on the outside of the first connection port 331, and has a certain inward contraction force on the first connection port 331. When the pipe 400 to be connected is inserted into the first connection port 331, the elastic part 334 can assist in compressing the inner ring of the sealing body 332 and the outer ring of the pipe 400 to be connected, so that the sealing body 332 and the pipe 400 to be connected are sealed and connected.

[0188] Exemplarily, the inner wall of the first connection port 331 is an inclined structure 3311 (see Fig.10 As shown in FIG. 1 , the diameter r of the first connection port 331 gradually decreases in the insertion direction of the to-be-connected pipe 400. This arrangement facilitates the sealing connection between the to-be-connected pipe 400 and the first connection port 331 and reduces the difficulty of assembly.

[0189] In one possible implementation, see Fig. 9 As shown, the second structural member 320 may include a first limiting structure 321. The first limiting structure 321 is disposed at one end of the sealing assembly 330 where the first connection port 331 is disposed, and the first limiting structure 321 abuts against the sealing assembly 330. One end of the sealing assembly 330 away from the first limiting structure 321 abuts against the second structural member 320. The first limiting structure 321 is fixedly connected to the second structural member 320.

[0190] Such arrangement can prevent the sealing assembly 330 from moving axially relative to the second structural member 320, so as to ensure the connection stability between the sealing assembly 330 and the second structural member 320. In addition, it can also prevent the sealing assembly 330 from being brought out of the second structural member 320 by the pipe 400 to be connected when the pipe 400 to be connected is removed from the connecting device 300, so that the pipe 400 to be connected can be repeatedly installed and removed from the connecting device 300.

[0191] In a possible implementation, the second structural member 320 may further include a second limiting structure 322. The rotating member 340 abuts against the second limiting structure 322 in the axial direction of the second structural member 320, and the second limiting structure 322 is used to limit the rotating member 340 from moving in the axial direction of the second structural member 320.

[0192] It should be noted that the rotating member 340 can rotate relative to the second structural member 320 and is fixed relative to the second structural member 320 in the axial direction to ensure that the rotating member 340 will not separate from the second structural member 320 .

[0193] Such arrangement can prevent the rotating member 340 from moving in the axial direction of the second structural member 320, so as to ensure the connection stability between the rotating member 340 and the second structural member 320. In addition, it can also prevent the rotating member 340 from being brought out of the second structural member 320 by the pipe 400 to be connected when the pipe 400 to be connected is removed from the connecting device 300, so that the pipe 400 to be connected can be repeatedly installed and removed from the connecting device 300.

[0194] Continue to see Fig. 9 As shown, the second structural member 320 includes a limiting member 323. The limiting member 323 is fixedly connected to the second structural member 320. In the axial direction of the second structural member 320, the limiting member 323 is spaced apart from the first limiting structure 321, and a second limiting structure 322 is formed between the limiting member 323 and the first limiting structure 321. The second limiting structure 322 is a groove-shaped structure formed between the limiting member 323 and the first limiting structure 321. Part of the structure of the rotating member 340 is located in the second limiting structure 322.

[0195] Illustratively, in the axial direction of the rotating part, the partial structure of the rotating part 340 located in the second limiting structure 322 can abut against both the limiting part 323 and the first limiting structure 321, so that the axial movement of the rotating part 340 can be limited. Of course, it is also possible not to abut against the limiting part 323 and the first limiting structure 321, which can facilitate the rotation of the rotating part. In the embodiment of the present application, the axial connection relationship between the rotating part and the limiting part 323 and the first limiting structure 321 is not further limited.

[0196] By providing the limiting member 323, the second limiting structure 322 is formed between the first limiting structure 321 and the limiting member 323, and the rotating member 340 is provided on the second structural member 320, and the rotating member 340 can rotate relative to the second structural member 320, and can also be fixed relative to the second structural member 320 in the axial direction of the second structural member 320. In addition, during assembly, the sealing assembly 330, the first limiting structure 321, the rotating member 340 and the limiting member 323 can be conveniently assembled on the second structural member 320, thereby reducing the difficulty of assembly.

[0197] Exemplarily, the position-limiting member 323 and the second structural member 320 may be fixedly connected by bonding, welding, slot connection, etc. In the embodiment of the present application, the connection method between the second structural member 320 and the position-limiting member 323 is not further limited.

[0198] In some embodiments, Figure 8 and Fig. 9As shown, the shape of the first limiting structure 321 can be the same as the shape of the limiting member 323. The first limiting structure 321 is fixedly connected to the second structural member 320 and abuts against the sealing assembly 330, thereby preventing the sealing assembly 330 from moving axially relative to the second structural member 320. In addition, by setting the first limiting structure 321 to the same shape as the limiting member 323, the sealing assembly 330 can be easily assembled, reducing the difficulty of assembly.

[0199] The rotating member 340 is described below. Fig. 9 and Fig.11 As shown, the rotating member 340 includes a fixing portion 341 and a connecting portion 342. A second connecting port 3421 is formed at the connecting portion 342, and the second connecting port 3421 is used to connect with the pipe 400 to be connected. The fixing portion 341 is rotatably connected to the second structural member 320.

[0200] Illustratively, in the axial direction of the second structural member 320, the fixing portion 341 may abut against the second limiting structure 322, or may be spaced apart from the second limiting structure 322. In the embodiment of the present application, the connection relationship between the fixing portion 341 and the second limiting structure 322 in the axial direction of the second structural member 320 is not further limited.

[0201] It should be noted that the connecting portion 342 is used to connect to the pipe 400 to be connected, and the fixing portion 341 is used to connect the rotating member 340 to the second structural member 320 .

[0202] By providing the rotating member 340 with a fixing portion 341 and a connecting portion 342, the rotating member 340 can be rotatably connected to the second structural member 320 via the fixing portion 341, and fixedly connected to the pipe 400 to be connected via the connecting portion 342, so that the pipe 400 to be connected connected to the rotating member 340 can rotate relative to the second structural member 320, thereby preventing the connecting pipe from twisting, pulling, scratching, wearing, etc., thereby improving the service life of the pipe 400 to be connected.

[0203] like Fig.11 As shown, the rotating member 340 is an annular structure. The fixing portion 341 is located on the outside of the annular structure, and the connecting portion 342 is located on the inside of the annular structure. The side of the connecting portion 342 facing away from the sealing assembly 330 is an inclined surface, and the thickness of the inclined surface gradually decreases in the axial direction of the annular structure from the outside to the inside of the annular structure.

[0204] By configuring the rotating member 340 to be an annular structure, the structure of the rotating member 340 can be simplified, the difficulty of processing the rotating member 340 can be reduced, and the cost can be reduced.

[0205] By making the side of the connecting portion 342 facing away from the sealing assembly 330 as an inclined surface, when the pipe 400 to be connected is inserted into the second connecting port 3421, it can be gradually inserted along the inclined surface, which is convenient for assembly. When the second structure rotates and the connection hole to be connected is pulled, the end of the inclined surface can generate resistance to the surface of the pipe 400 to be connected, preventing the pipe 400 to be connected from falling off the rotating member 340, thereby improving the connection stability between the pipe 400 to be connected and the connecting device 300.

[0206] In one possible implementation, see Fig.11 As shown, the connecting portion 342 is provided with a plurality of openings, wherein the plurality of openings are arranged at intervals along the circumference of the connecting portion 342. The openings extend from one end of the connecting portion 342 away from the fixing portion 341 along the radial direction of the rotating member 340 toward the fixing portion 341.

[0207] With such a configuration, the connecting portion 342 can be in an open pawl-like structure to prevent the pipe 400 to be connected from falling off the rotating member 340. In addition, the structural strength of the connecting portion 342 can be reduced, and it is convenient to push so that the second connecting port 3421 becomes larger, so that the pipe 400 to be connected can be disconnected from the connecting portion 342 under the action of the driving force, so that the pipe 400 to be connected can be repeatedly installed and removed from the connecting portion 342.

[0208] It should be noted that in the embodiment of the present application, the number of openings is not further limited. Of course, in some embodiments, the openings may not be provided, and the connecting portion 342 may be provided as a structure having elasticity, which may also facilitate plugging and unplugging. In the embodiment of the present application, the structure of the connecting portion 342 is not further limited.

[0209] In a possible implementation, the connecting device 300 may further include a sliding member 370. The sliding member 370 is disposed on the inner side of the second structural member 320, and the sliding member 370 is located at one end of the rotating member 340 away from the sealing assembly 330. In the axial direction of the second structural member 320, the sliding member 370 is slidably connected to the second structural member 320. One end of the sliding member 370 facing the rotating member 340 is disposed opposite to the connecting portion 342. The sliding member 370 is used to drive the sliding member 370 to push the connecting portion 342 outwardly toward one end of the rotating member 340 when moving in the axial direction of the second structural member 320 in a direction close to the rotating member 340, so as to separate the connecting portion 342 from the pipe 400 to be connected.

[0210] Exemplarily, the sliding member 370 includes a first position and a second position. When the sliding member 370 is in the first position, one end of the sliding member 370 facing the rotating member 340 is spaced relative to the connecting portion 342 of the rotating member 340. When the sliding member 370 is in the second position, one end of the sliding member 370 facing the rotating member 340 abuts against the connecting portion 342 of the rotating member 340, and the connecting portion 342 expands outward. The sliding member 370 and the second structural member 320 are movably arranged in the axial direction, and the sliding member 370 passes through at least the first position and the second position when moving relative to the second structural member 320.

[0211] With such a configuration, the connecting portion 342 can be pushed to expand outward by the sliding member 370 , so that the connecting portion 342 is separated from the pipe 400 to be connected, thereby facilitating the disassembly of the pipe 400 to be connected.

[0212] In a possible implementation, the connecting device 300 may further include an elastic member 360 , wherein the elastic member 360 is compressed and disposed between the sliding member 370 and the second structural member 320 .

[0213] Exemplarily, an accommodation space is provided between the sliding member 370 and the second structural member 320, and the elastic member 360 is disposed in the accommodation space. In the axial direction of the second structural member 320, the two ends of the elastic member 360 abut against the second structural member 320 and the sliding member 370 respectively, and squeezing the elastic member 360 can cause the elastic member 360 to undergo elastic deformation. One end of the sliding member 370 that is away from the rotating member 340 abuts against the second structural member 320.

[0214] With such a configuration, when the pipe 400 to be connected is connected to the rotating member 340, the elastic member 360 can limit the sliding member 370 to a position opposite to but not in contact with the connecting portion 342, thereby ensuring that the pipe 400 to be connected and the rotating member 340 are stably connected. When the pipe 400 to be connected and the rotating member 340 need to be disassembled, the sliding member 370 can be pressed in the direction close to the rotating member 340 along the axial direction of the second structural member 320, so that the sliding member 370 can drive the connecting portion 342 of the rotating member 340 to expand outward, so that the connecting portion 342 is separated from the pipe 400 to be connected, thereby facilitating the disassembly of the pipe 400 to be connected. After the pipe 400 to be connected is disassembled from the rotating member 340, the sliding member 370 is restored to its original position under the action of the restoring force of the elastic member 360, so that the connecting device 300 and the pipe 400 to be connected can be connected again.

[0215] In a possible implementation, the elastic member 360 may be a spring, a compression spring, a spring sheet, a torsion spring, etc. In the embodiment of the present application, the specific type of the elastic member 360 is not further limited.

[0216] Such an arrangement can simplify the structure of the elastic member 360, reduce the difficulty of assembly, and further reduce the cost.

[0217] In one possible implementation, see Fig. 9 As shown, the connecting device 300 further includes a second bearing 350 , which is disposed between the first structural member 310 and the second structural member 320 , and the first structural member 310 and the second structural member 320 are rotatably connected via the second bearing 350 .

[0218] Exemplarily, the second bearing 350 may include an inner ring and an outer ring that are rotatably connected, the inner ring of the second bearing 350 is fixedly connected to the second structural member 320, and the outer ring of the second bearing 350 is fixedly connected to the first structural member 310, so as to achieve a rotatable connection between the first structural member 310 and the second structural member 320.

[0219] Such an arrangement can facilitate the rotational connection between the first structural member 310 and the second structural member 320 . In addition, the bearing structure is convenient for assembly, which can reduce the difficulty of assembling the connecting device 300 .

[0220] In some other embodiments, the connecting device 300 may also be in other shapes, such as Fig.12 As shown, the rotating member 340 further includes an extension portion 343. The extension portion 343 extends along the axial direction of the rotating member 340 in a direction close to the sealing assembly 330, and the second connection port 3421 is located at an end of the rotating member 340 away from the sealing assembly 330. The extension portion 343 is sealedly connected to the first connection port 331, and the second connection port 3421 is sealedly connected to the pipe 400 to be connected.

[0221] By setting the extension part 343, the rotating part 340 is sealedly connected to the first connecting port 331. Since the second connecting port 3421 of the rotating part 340 is sealedly connected to the pipe 400 to be connected, the first connecting port 331 is sealedly connected to the pipe 400 to be connected through the rotating part 340. In this way, the second connecting port 3421 can be set on the outside close to the second structural part 320, which is convenient for connection with the pipe 400 to be connected.

[0222] In addition, by providing the extension part 343 and connecting the extension part 343 with the sealing assembly 330, the pipe 400 to be connected is connected to the second connection port 3421 of the rotating member 340, so that the pipe 400 to be connected only needs to be connected to the second connection port 3421, and does not need to be directly connected to the sealing assembly 330. In other words, the repeated disassembly and installation process of the pipe 400 to be connected does not involve plugging and unplugging the sealing assembly 330, thereby improving the service life of the sealing assembly 330.

[0223] For example, a snap-fit ​​protrusion or a thread may be provided at the connection portion 342. The snap-fit ​​protrusion and the thread may be provided on the outside of the connection portion 342, which may facilitate connection with the pipe 400 to be connected, improve connection stability, and reduce assembly difficulty. In addition, the structure of the connection portion 342 may be simplified, the processing difficulty may be reduced, and the cost may be reduced.

[0224] It should be noted that the connection between the rotating member 340 and the connecting portion 342 connected to the pipe 400 to be connected is a one-way connection. When the pulling force on the pipe 400 to be connected is less than the preset pulling force, the connection between the pipe 400 to be connected and the connecting portion 342 will not be broken. When the pipe 400 to be connected is pulled hard, the connection between the pipe 400 to be connected and the connecting portion 342 can be broken to separate the pipe 400 to be connected and the connecting portion 342 when the pulling force on the pipe 400 to be connected is greater than the preset pulling force. The preset pulling force is greater than the weight of the pipe 400 to be connected.

[0225] In some embodiments, the sealing assembly 330 may include a plurality of sealing rings arranged along the axial direction of the second structural member 320, which can simplify the structure of the sealing assembly 330 and reduce the cost. In the embodiment of the present application, the structure of the sealing assembly 330 is not further limited.

[0226] In one possible implementation, Fig.12 As shown, a first bearing 325 is disposed outside the extension portion 343. The first bearing 325 includes an inner ring and an outer ring that are rotatably connected. The inner ring of the first bearing 325 is fixedly connected to the extension portion 343, and the outer ring of the first bearing 325 is fixedly connected to the second structural member 320.

[0227] Such an arrangement allows the rotating member 340 and the second structural member 320 to be rotatably connected, and the bearing structure is convenient for assembly. Therefore, disposing the first bearing 325 on the outer side of the extension portion 343 can reduce the difficulty of assembling the connecting device 300 .

[0228] In the embodiment of the present application, the second limiting structure 322 is a groove structure provided on the second structural member 320. Part of the structure of the rotating member 340 is located in the groove structure. In the axial direction of the second structural member 320, the part of the structure of the rotating member 340 abuts against the two sides of the groove structure respectively. Exemplarily, the fixing portion 341 of the rotating member 340 is located in the groove structure and abuts against the two sides of the groove structure.

[0229] Such an arrangement can simplify the structure of the second structural member 320 , reduce the difficulty of processing, and further reduce the cost.

[0230] In a possible implementation, the connection device 300 may further include a transmission assembly, wherein the transmission assembly is connected to the second structural member 320, and the transmission assembly is used to drive the second structural member 320 to rotate.

[0231] Exemplarily, the transmission assembly includes a driving member and a driven member 391. The driven member 391 is fixedly connected to the second structural member 320, and the driving member is in transmission connection with the driven member 391. The driving member is used to drive the driven member 391 to rotate, and the driven member 391 is used to drive the second structural member 320 to rotate when rotating.

[0232] By providing a transmission assembly, the second structure 320 can be conveniently driven to rotate, so as to realize automatic rotation between the first structure 310 and the second structure 320. When the connecting device 300 is provided on a mechanical arm, the mechanical arm can be conveniently driven to fold or unfold.

[0233] In a possible implementation, the transmission assembly is a gear transmission assembly, a synchronous belt transmission mechanism, or a screw transmission mechanism.

[0234] Such an arrangement can simplify the structure of the transmission assembly, thereby reducing the difficulty of assembly and further reducing costs.

[0235] In a possible implementation, the connection device 300 may further include a drive motor, wherein the drive motor is transmission-connected to the active member, and the drive motor is used to drive the active member to rotate.

[0236] Such an arrangement can conveniently provide power to the active member, so that the rotating member can rotate, thereby driving the driven member 391 to rotate and drive the second structural member 320 to rotate.

[0237] It should be noted that in the embodiment of the present application, the setting position of the drive motor is not further limited.

[0238] In a possible implementation, the first structural member 310 includes a first assembly portion 311, and the first assembly portion 311 is used to connect with a first part to be assembled. The second structural member 320 includes a second assembly portion 324, and the second assembly portion 324 is used to connect with a second part to be assembled.

[0239] It should be noted that the first component to be assembled and the second component to be assembled may be connecting arms.

[0240] Such an arrangement allows the first component to be assembled and the second component to be assembled connected by the connecting device 300 to rotate relative to each other, thereby achieving a folding action, thereby improving the flexibility of the first component to be assembled and the second component to be assembled.

[0241] The present application also provides a joint module 500, such as Fig.13As shown, the joint module 500 may include the connection device 300 in any of the above embodiments. The joint module 500 may include one or more of the above connection devices 300. A mechanical arm may be formed by connecting multiple joint modules 500 and multiple connecting arms in series.

[0242] Such an arrangement can prevent the pipe to be connected from being twisted, pulled, scratched, worn, etc. when the two components connected to the joint module 500 rotate relative to each other, thereby increasing the service life of the pipe to be connected.

[0243] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0244] In the description of the present invention, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0245] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and it can make the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0246] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A connection device, characterized in that: include: A first structural member (310); A second structural member (320) is rotatably connected to the first structural member (310), and the first structural member (310) is sleeved on the outside of the second structural member (320); a sealing component (330) fixed to the inner side of the second structural member (320) and sealedly connected to the second structural member (320); one end of the sealing component (330) forms a first connecting port (331), and the first connecting port (331) is used for sealingly connecting to the pipe (400) to be connected; The rotating member (340) is located inside the second structural member (320) and is arranged at one end of the sealing assembly (330) having the first connecting port (331). The rotating member (340) is rotationally connected to the second structural member (320), and the rotating member (340) is detachably connected to the pipe (400) to be connected.

2. The connection device according to claim 1, characterized in that: The rotating member (340) comprises a second connection port (3421); wherein, The pipe to be connected (400) passes through the second connection port (3421) and is plugged into and matched with the first connection port (331), and the first connection port (331) and the pipe to be connected (400) are detachably connected.

3. The connection device according to claim 1, characterized in that: The rotating member (340) comprises a second connection port (3421); wherein, The second connection port (3421) is located at an end of the rotating member (340) away from the sealing assembly (330); One end of the rotating member (340) facing the sealing assembly (330) is sealedly connected to the first connecting port (331), and the second connecting port (3421) is plug-fitted with the pipe to be connected (400), and the second connecting port (3421) is sealed and detachably connected to the pipe to be connected (400).

4. The connecting device according to any one of claims 1 to 3, characterized in that: The second structural member (320) comprises a first limiting structure (321); wherein, The first limiting structure (321) is arranged at one end of the sealing component (330) where the first connecting port (331) is arranged, and the first limiting structure (321) is in abutment with the sealing component (330); One end of the sealing component (330) that is away from the first limiting structure (321) abuts against the second structural member (320); The first limiting structure (321) is fixedly connected to the second structural member (320).

5. The connection device according to claim 4, characterized in that: The second structural member (320) comprises a second limiting structure (322); wherein, In the axial direction of the second structural member (320), the rotating member (340) abuts against the second limiting structure (322), and the second limiting structure (322) is used to limit the movement of the rotating member (340) in the axial direction of the second structural member (320).

6. The connection device according to claim 5, characterized in that: The second structural member (320) includes a limiting member (323); wherein, The limiting member (323) is fixedly connected to the second structural member (320); In the axial direction of the second structural member (320), the limiting member (323) and the first limiting structure (321) are arranged at a distance, and the second limiting structure (322) is formed between the limiting member (323) and the first limiting structure (321); Part of the structure of the rotating member (340) is located within the second limiting structure (322).

7. The connection device according to claim 5, characterized in that: The second limiting structure (322) is a groove structure arranged on the second structural member (320); wherein, Part of the structure of the rotating member (340) is located in the groove structure, and the groove structure is used to limit the axial movement of the rotating member (340) in the second structural member (320).

8. The connection device according to claim 2 or 3, characterized in that: The rotating member (340) comprises a fixing portion (341) and a connecting portion (342); wherein: The second connection port (3421) is formed at the connection portion (342); The fixing portion (341) is rotatably connected to the second structural member (320).

9. The connection device according to claim 8, characterized in that: The rotating member (340) is an annular structure; wherein, The fixing portion (341) is located on the outside of the annular structure, and the connecting portion (342) is located on the inside of the annular structure; A surface of the connecting portion (342) facing away from the sealing assembly (330) is a slope, and the thickness of the slope gradually decreases in the axial direction of the annular structure in the direction from the outside to the inside of the annular structure.

10. The connection device according to claim 9, characterized in that The connecting portion (342) is provided with a plurality of openings; wherein, The plurality of openings are arranged at intervals along the circumference of the connecting portion (342); The opening extends from one end of the connecting portion (342) away from the fixing portion (341) along the radial direction of the rotating member (340) in a direction approaching the fixing portion (341).

11. The connection device according to claim 8, characterized in that The rotating member (340) further includes an extension portion (343); wherein, The extension portion (343) extends along the axial direction of the rotating member (340) in a direction close to the sealing assembly (330); The extension portion (343) is sealedly connected to the first connection port (331).

12. The connection device according to claim 11, characterized in that A first bearing (325) is provided on the outer side of the extension portion (343); wherein, The first bearing (325) comprises an inner ring and an outer ring which are rotatably connected; The inner ring of the first bearing (325) is fixedly connected to the extension portion (343), and the outer ring of the first bearing (325) is fixedly connected to the second structural member (320).

13. The connection device according to claim 11 or 12, characterized in that: The second connection port (3421) is formed at one end of the connection portion (342) away from the sealing assembly (330); The outer side of the second connection port (3421) is provided with a locking protrusion or a thread.

14. The connection device according to claim 9 or 10, characterized in that: Also includes a sliding member (370); wherein, The sliding member (370) is arranged on the inner side of the second structural member (320), and the sliding member (370) is located at an end of the rotating member (340) away from the sealing assembly (330); In the axial direction of the second structural member (320), the sliding member (370) is slidably connected to the second structural member (320); One end of the sliding member (370) facing the rotating member (340) is arranged opposite to the connecting portion (342); The sliding member (370) is used to drive the sliding member (370) to push the connecting portion (342) to expand outward toward one end of the rotating member (340) when moving along the axial direction of the second structural member (320) in a direction close to the rotating member (340), so as to separate the connecting portion (342) from the pipe (400) to be connected.

15. The connection device according to claim 14, characterized in that Also includes an elastic member (360); wherein, The elastic member (360) is compressed and arranged between the sliding member (370) and the second structural member (320).

16. The connection device according to claim 15, characterized in that The elastic member (360) is a spring, a compression spring, a spring sheet or a torsion spring.

17. The connection device according to any one of claims 1 to 3, characterized in that: The sealing assembly (330) comprises a sealing body (332) and a support member (333); wherein: The support member (333) is embedded in the sealing body (332) and is arranged along the circumference of the sealing body (332); The sealing body (332) is sealedly connected to the second structural member (320), and the first connecting port (331) is formed on the inner side of the sealing body (332); The rigidity of the support member (333) is greater than the rigidity of the sealing body (332).

18. The connection device according to claim 17, characterized in that The sealing assembly (330) further includes an elastic portion (334); wherein: The elastic portion (334) is arranged around the outside of the sealing body (332) and is disposed close to the first connecting port (331). The elastic portion (334) is used to limit the radial expansion of the first connecting port (331).

19. The connection device according to any one of claims 1 to 3, characterized in that: The invention also includes a second bearing (350), wherein the second bearing (350) is arranged between the first structural member (310) and the second structural member (320), and the first structural member (310) and the second structural member (320) are rotatably connected via the second bearing (350).

20. The connection device according to any one of claims 1 to 3, characterized in that: Also includes a transmission assembly; wherein, The transmission assembly is connected to the second structural member (320), and the transmission assembly is used to drive the second structural member (320) to rotate.

21. The connection device according to claim 20, characterized in that The transmission assembly comprises a driving member and a driven member (391); wherein, The driven member (391) is fixedly connected to the second structural member (320), and the active member is transmission-connected to the driven member (391). The active member is used to drive the driven member (391) to rotate, and the driven member (391) is used to drive the second structural member (320) to rotate when rotating.

22. The connection device according to claim 21, characterized in that The transmission assembly is a gear transmission assembly, a synchronous belt transmission mechanism or a screw transmission mechanism.

23. The connection device according to claim 22, characterized in that Also includes a drive motor; wherein, The driving motor is in transmission connection with the active member, and the driving motor is used to drive the active member to rotate.

24. The connection device according to any one of claims 1 to 3, characterized in that: The first structural member (310) comprises a first assembly portion (311), and the first assembly portion (311) is used to connect with a first component to be assembled; The second structural member (320) comprises a second assembly portion (324), and the second assembly portion (324) is used to connect with a second component to be assembled.

25. The connection device according to any one of claims 1 to 3, characterized in that: The inner wall of the first connection port (331) is an inclined structure (3311); wherein, In the insertion direction of the pipe (400) to be connected, the diameter of the first connection port (331) gradually decreases.

26. A joint module, characterized in that: A connecting device comprising any one of claims 1 to 25.

27. A robotic arm, characterized in that: A connecting device comprising any one of claims 1 to 25; or Includes the joint module described in claim 26 above.

28. A cleaning device, characterized in that: It comprises a device body and the mechanical arm as described in claim 27 above; wherein, The mechanical arm is connected to the equipment body.

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