Connecting device, joint module, mechanical arm and cleaning device

Abstract

The application provides a connecting device, a joint module, a mechanical arm and a cleaning equipment, and relates to the technical field of cleaning. The connecting device comprises: a first structural member; a second structural member, which is rotationally connected with the first structural member, and the first structural member is sleeved outside the second structural member; a sealing assembly, which is fixed to the inner side of the second structural member and is sealingly connected with the second structural member, one end of the sealing assembly forms a first connecting port, and the first connecting port is used for sealingly connecting with a pipe to be connected; and a rotating member, which is located on the inner side of the second structural member and is arranged at the end of the sealing assembly with the first connecting port, the rotating member is rotationally connected with the second structural member, and the rotating member is detachably connected with the pipe to be connected. The connecting device in the application can rotate the pipe to be connected relative to the connecting device, can prevent the pipe to be connected from being twisted and pulled, prolongs the service life of the pipe to be connected, and can be quickly disassembled and assembled.

Description

Technical Field

[0001] This 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 Technology

[0002] With the development of intelligent cleaning equipment, cleaning equipment is becoming increasingly popular due to its rich functionality.

[0003] To further enrich the functions of cleaning equipment, some cleaning equipment is equipped with robotic arms to assist in emptying dust boxes or cleaning larger pieces of trash, thereby improving intelligence and freeing people's hands.

[0004] However, robotic arms are usually equipped with some pipes. When the robotic arm folds or rotates, the pipes on the robotic arm may be twisted or pulled, which can easily damage the pipes. Summary of the Invention

[0005] The present invention provides a connecting device, a joint module, a robotic arm, and a cleaning device. The connecting device allows the pipeline connected to the connecting device to rotate relative to the connecting device, which can prevent the pipeline from being twisted or pulled, extend the service life of the pipeline, and also allows for quick assembly and disassembly.

[0006] One embodiment of the present invention provides a connecting device, comprising:

[0007] First structural component;

[0008] The second structural component is rotatably connected to the first structural component, and the first structural component is sleeved on the outside of the second structural component;

[0009] A sealing assembly is fixed to the inner side of the second structural member and is sealed to the second structural member. One end of the sealing assembly forms a first connection port, which is used to seal to the pipe to be connected.

[0010] A rotating component is located inside the second structural component and is disposed at the end of the sealing assembly where the first connection port is located. The rotating component is rotatably connected to the second structural component.

[0011] The rotating component is detachably connected to the tube to be connected.

[0012] The connecting device in this embodiment of the application, by providing a rotatably connected first and second structural members, allows the first and second structural members to be rotatably connected, enabling relative rotation between the two structures connected to the first and second structural members. By providing a rotating member and rotatably connecting it to the second structural member, the rotating member can rotate relative to the second structural member when the first and second structural members rotate. This allows the pipe to be connected to the rotating member to rotate relative to the second structural member, thereby preventing twisting, pulling, scratching, and wear on the pipe, thus extending its service life. Furthermore, it enables quick assembly and disassembly, reducing maintenance time and improving maintenance efficiency.

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

[0014] The tube to be connected passes through the second connection port and is inserted into the first connection port. The first connection port is detachably connected to the tube to be connected.

[0015] This configuration allows the pipe to be connected to the sealing component directly through an insertion, simplifying the structure of the connection device and thus reducing the processing cost of the connection structure.

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

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

[0018] The end of the rotating component facing the sealing assembly is sealed to the first connection port, the second connection port is inserted into the tube to be connected, and the second connection port is sealed to the tube to be connected and is detachably connected.

[0019] This configuration allows the pipe to be connected to the sealing assembly via a rotating component. During use, the second connection port prevents repeated disassembly and reassembly between the pipe and the first connection port of the sealing assembly, which could affect the sealing performance of the sealing assembly. Since the sealing assembly is located inside the second structural component and is not easy to replace, the maintenance cost can be reduced by connecting the pipe to be connected to the sealing assembly via the second connection port.

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

[0021] The first limiting structure is disposed at one end of the sealing assembly where the first connection port is located, and the first limiting structure abuts against the sealing assembly;

[0022] The end of the sealing assembly that is away from the first limiting structure abuts against the second structural member;

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

[0024] This design prevents the sealing assembly from moving axially relative to the second structural member, ensuring the stability of the connection between the sealing assembly and the second structural member. Additionally, it prevents the pipe to be connected from pulling the sealing assembly out of the second structural member when disassembling it from the connecting device, allowing the pipe to be connected to be repeatedly installed and removed from the connecting device.

[0025] In one 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, which restricts the rotating member from moving in the axial direction of the second structural member.

[0027] This design prevents the rotating component from moving axially in the second structural component, ensuring the stability of the connection between the rotating component and the second structural component. Additionally, it prevents the pipe to be connected from pulling the rotating component out of the second structural component when disassembling it from the connecting device, allowing the pipe to be connected to be repeatedly installed and removed from the connecting device.

[0028] In one possible implementation, the second structural member includes a limiting 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] A portion of the rotating component is located within the second limiting structure.

[0032] By setting a limiting member, a second limiting structure is formed between the first limiting structure and the limiting member, thereby allowing the rotating member to be mounted on the second structural member and enabling it to rotate relative to the second structural member. Furthermore, it can be fixed relative to the second structural member axially. Additionally, during assembly, the sealing assembly, the first limiting structure, the rotating member, and the limiting member can be easily assembled onto the second structural member, thus reducing assembly difficulty.

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

[0034] A portion of the rotating component is located within the groove structure, which restricts the rotating component from moving axially in the second structural component.

[0035] This design simplifies the structure of the second structural component, reduces processing difficulty, and thus lowers costs.

[0036] In one possible implementation, the rotating component includes a fixed portion and a connecting portion; wherein,

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

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

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

[0040] In one possible implementation, the rotating component is a ring-shaped structure; wherein,

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

[0042] The side of the connecting part away from the sealing assembly is an inclined surface, and the thickness of the inclined surface gradually decreases in the axial direction of the annular structure from the outer side to the inner side.

[0043] By designing the rotating component as a ring structure, the structure of the rotating component can be simplified, the processing difficulty of the rotating component can be reduced, and thus the cost can be reduced. By making the side of the connecting part away from the sealing assembly beveled, when inserting the tube to be connected into the second connecting port, it can be gradually inserted along the bevel, which facilitates assembly. When the second structure rotates, the end of the bevel can generate resistance on the surface of the tube to be connected when the tube to be connected is pulled, preventing the tube to be connected from falling off the rotating component and improving the connection stability between the tube to be connected and the connecting device.

[0044] In one possible implementation, the connecting portion is provided with multiple openings; wherein,

[0045] The plurality of openings are spaced apart circumferentially along 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 toward the fixing portion.

[0047] This design allows the connecting part to have an open, ratchet-like structure, preventing the tube to be connected from falling off the rotating part. Additionally, this reduces the structural strength of the connecting part, facilitates pushing, and enlarges the second connection port, allowing the tube to be connected to disengage from the connecting part under driving force, thus enabling repeated installation and removal of the tube from the connecting part.

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

[0049] The extension extends along the axial direction of the rotating member toward the sealing assembly;

[0050] The extension is sealed to the first connection port.

[0051] By providing an extension, the rotating part is sealed to the first connection port. Since the second connection port of the rotating part is sealed to the pipe to be connected, the first connection port is sealed to the pipe to be connected through the rotating part. This allows the second connection port to be located on the outside near the second structural member, facilitating connection to the pipe to be connected.

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

[0053] The first bearing includes an inner ring and an outer ring that are rotatably connected;

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

[0055] This configuration allows for the rotatable connection between the rotating component and the second structural component, and facilitates the assembly of the bearing structure. Therefore, placing the first bearing on the outer side of the extension reduces the assembly difficulty of the connecting device.

[0056] In one possible implementation, the end of the connecting portion opposite to the sealing assembly has a second connection port;

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

[0058] This design simplifies the structure of the connection, reduces processing difficulty, and thus lowers costs.

[0059] In one possible implementation, the connecting device further includes a slider; wherein,

[0060] The sliding member is disposed on the inner side of the second structural member, and the sliding member is located at the end of the rotating member opposite to the sealing assembly;

[0061] The sliding member is slidably connected to the second structural member along the axial direction.

[0062] The end of the slider facing the rotating member is positioned opposite to the connecting portion;

[0063] The slider is used to drive one end of the slider toward the rotating member to push the connecting part outward as it moves toward the rotating member along the axial direction of the second structural member, so as to separate the connecting part from the pipe to be connected.

[0064] With this design, the connecting part can be pushed outward by the sliding member to separate the connecting part from the tube to be connected, making it easy to disassemble the tube to be connected.

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

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

[0067] This design allows the elastic element to restrain the sliding element in a position opposite to but not in contact with the connecting part when the pipe to be connected and the rotating part are connected, ensuring a stable connection between the pipe to be connected and the rotating part. When it is necessary to disassemble the pipe to be connected and the rotating part, pressing the sliding element along the axial direction of the second structural member towards the rotating part causes the sliding element to drive the connecting part of the rotating part to expand outward, thereby separating the connecting part from the pipe to be connected and facilitating disassembly of the pipe to be connected. After the pipe to be connected is removed from the rotating part, the sliding element returns to its original position under the restoring force of the elastic element, allowing the connecting device to reconnect with the pipe to be connected.

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

[0069] This design simplifies the structure of the elastic component, reduces assembly difficulty, and thus lowers costs.

[0070] In one 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 is arranged along the circumference of the sealing body;

[0072] The sealing body is sealed to the second structural component, and the first connection port is formed on the inner side of the sealing body;

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

[0074] By setting a support inside the sealing body, the supporting force of the sealing assembly can be improved, preventing deformation of the sealing assembly during repeated installation and disassembly of the pipe to be connected and the connecting device, thereby improving the sealing performance of the sealing assembly.

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

[0076] The elastic portion surrounds the outside of the sealing body and is located near the first connection port. The elastic portion is used to limit the radial expansion of the first connection port.

[0077] This configuration ensures that the first connection point remains relatively tight, which improves the connection stability between the sealing component and the pipe to be connected, thereby guaranteeing the seal between them.

[0078] In one possible implementation, the connecting device further includes a second bearing disposed between the first structural member and the second structural member, the first structural member and the second structural member being rotatably connected via the second bearing.

[0079] This design allows for easy rotational connection between the first and second structural components. In addition, the bearing structure facilitates assembly, reducing the assembly difficulty of the connecting device.

[0080] In one possible implementation, the connecting 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] This configuration allows for easy rotation of the second structural component, enabling automatic rotation between the first and second structural components.

[0083] In one 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, and the driving member is drivenly connected to the driven member. The driving 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] This configuration allows for easy rotation of the second structural component.

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

[0087] This design simplifies the structure of the transmission components, thereby reducing assembly difficulty and cost.

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

[0089] The drive motor is connected to the active component in a transmission manner, and the drive motor is used to drive the active component to rotate.

[0090] This configuration allows for easy power supply to the driving component, enabling the rotating component to rotate, which in turn drives the driven component to rotate and in turn drives the second structural component to rotate.

[0091] In one possible implementation, the first structural member includes a first assembly portion for connecting with a first accessory to be assembled.

[0092] The second structural component includes a second assembly part, which is used to connect with a second accessory to be assembled.

[0093] This configuration allows the first and second components to be installed connected to the connecting device to rotate relative to each other, thereby achieving a folding action and improving the flexibility of the first and second components to be installed.

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

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

[0096] This design facilitates a sealed connection between the pipe to be connected and the first connection port, reducing assembly difficulty.

[0097] A second aspect of this application provides a joint module, including any of the connecting devices described in the first aspect above.

[0098] This design prevents the tube to be connected from twisting, pulling, scratching, or wearing when the two components connected to the joint module rotate relative to each other, thereby extending the service life of the tube to be connected.

[0099] A third aspect of this application provides a robotic arm that includes any of the connecting devices described in the first aspect above. Alternatively, it includes the joint module described in the second aspect above.

[0100] This design prevents the tubing on the robotic arm from twisting, pulling, scraping, or wearing out when the robotic arm is folded or rotated, thereby extending the service life of the tubing.

[0101] A fourth aspect of this application discloses a cleaning device, comprising a device body and the robotic arm described in the third aspect above; wherein...

[0102] The robotic arm is connected to the main body of the device.

[0103] This design prevents the tubing on the robotic arm from twisting, pulling, scraping, or wearing out when the robotic arm rotates or folds, thereby extending the service life of the tubing and thus improving the lifespan of the tubing on the robotic arm of the cleaning equipment.

[0104] The structure of the present invention, as well as its other inventive objects and beneficial effects, will become more apparent from the description of preferred embodiments taken in conjunction with the accompanying drawings. Attached Figure Description

[0105] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0106] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention;

[0107] Figure 2 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention;

[0108] Figure 3 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention;

[0109] Figure 4 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention;

[0110] Figure 5 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of the present invention;

[0111] Figure 6 This is an exploded structural diagram of a robotic arm provided in an embodiment of the present invention;

[0112] Figure 7 This is a schematic diagram of the structure of a folding arm of a robotic arm provided in an embodiment of the present invention;

[0113] Figure 8 This is an exploded structural diagram of a folding arm of a robotic arm provided in an embodiment of the present invention;

[0114] Figure 9 This is a cross-sectional structural schematic diagram of a connecting device provided in an embodiment of the present invention;

[0115] Figure 10 This is a cross-sectional structural schematic diagram of an elastic component of a connecting device provided in an embodiment of the present invention;

[0116] Figure 11This is a schematic diagram of the rotating component structure of a connecting device provided in an embodiment of the present invention;

[0117] Figure 12 This is a cross-sectional structural schematic diagram of a connecting device provided in an embodiment of the present invention;

[0118] Figure 13 This is a schematic diagram of the structure of a joint module provided in an embodiment of the present invention.

[0119] Explanation of reference numerals in the attached figures:

[0120] 1000 - Cleaning equipment; 100 - Robotic arm; 110 - Base;

[0121] 111-Rotating part; 112-Fixed base; 120-Folding arm;

[0122] 121 - First end; 122 - Second end; 123 - Rotational joint;

[0123] 124 - First connecting arm; 125 - Second connecting arm; 126 - Fixing element;

[0124] 130 - Gripper; 140 - Suction tube; 141 - First sub-suction tube;

[0125] 142 - Second sub-suction tube; 150 - Suction nozzle; 200 - Main body of the equipment;

[0126] 210 - Top surface; 220 - Bottom surface; 230 - Side wall;

[0127] 240 - Receiving cavity; 250 - Cover plate; 300 - Connecting device;

[0128] 310 - First structural component; 311 - First assembly section; 320 - Second structural component;

[0129] 321 - First limiting structure; 322 - Second limiting structure; 323 - Limiting component;

[0130] 324 - Second assembly section; 325 - First bearing; 330 - Sealing assembly;

[0131] 331-First connection port; 3311-Inclined structure; 332-Sealing body;

[0132] 333 - Support component; 334 - Elastic part; 340 - Rotating component;

[0133] 341-Fixing part; 342-Connecting part; 3421-Second connecting port;

[0134] 343 - Extension; 350 - Second bearing; 360 - Elastic element;

[0135] 370 - Sliding component; 391 - Follower component;

[0136] 400 - Pipe to be connected; 500 - Joint module. Detailed Implementation

[0137] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0138] Cleaning equipment such as sweepers and floor scrubbers are popular because they can perform cleaning tasks automatically. Taking sweepers as an example, to enhance their automation, a robotic arm is usually installed on the sweeper, which can be mounted on top of the sweeper body.

[0139] For example, one end of a robotic arm is connected to the machine body, and the other end is connected to the dustbin of the cleaning device. The robotic arm is used to pick up, place, and empty the dustbin, allowing the cleaning device to automatically pick up, place, and empty the dustbin without requiring manual handling by the user, thus improving the automation of the cleaning device and enhancing the user experience. However, the function of such a robotic arm is limited to emptying the dustbin, and adding a robotic arm increases the height of the sweeper, preventing it from entering some low-ceilinged spaces and limiting its mobility.

[0140] To address the aforementioned technical issues, the robotic arm could be designed as a folding structure, allowing it to be folded into the sweeper's body when not in use, thus maintaining the sweeper's height. However, the robotic arm's functionality is limited and cannot meet the needs of daily life.

[0141] To enhance the functionality of robotic arms, a suction pipe can be installed on the arm and connected to a fan, enabling the arm to perform vacuuming, especially in confined spaces. However, the suction pipe can be pulled, twisted, or scraped during the folding process, making it prone to damage.

[0142] Therefore, this application provides a connecting device, a joint module, a robotic arm, and a cleaning device. This connecting device prevents the robotic arm from pulling, twisting, or scraping the suction hose during folding, thus extending the service life of the suction hose. Furthermore, it allows for quick assembly and disassembly, reducing maintenance time and improving maintenance efficiency.

[0143] The connecting device, joint module, robotic arm, and cleaning equipment provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0144] For ease of description, in the embodiments of this application, the horizontal direction is referred to as the x-direction and the vertical direction as the z-direction.

[0145] like Figure 1 and Figure 2 As shown in the illustration, this application provides a cleaning device 1000, which may include a device body 200 and a robotic arm 100. The robotic arm 100 is connected to the device body 200. For example, the robotic arm 100 can rotate 360° relative to the device body, and the axis of rotation of the robotic arm 100 relative to the device body 200 can be parallel to the vertical direction (z-direction). This increases the coverage area of ​​the robotic arm 100.

[0146] The cleaning device 1000 in this embodiment of the application, by setting the aforementioned robotic arm 100, can have a robotic arm 100 with gripping and vacuuming functions. The robotic arm 100 can perform vacuuming operations on some areas that are difficult to clean on the main body 200, such as baseboards, facades, sliding door tracks, right angles, and protrusions, thereby improving the cleaning effect. The robotic arm 100 can also grip some larger pieces of trash or obstacles, such as toys and shoes, and remove them, making it easier for the main body 200 to perform cleaning operations. This enriches the functions of the cleaning device 1000 and enhances the user experience.

[0147] like Figure 3 As shown, the main body 200 of the device may include a receiving cavity 240, and the base 110 of the robotic arm 100 is disposed within the receiving cavity 240. The robotic arm 100 includes a folded state and an unfolded state. When the robotic arm 100 is in the folded state, it is housed within the receiving cavity 240. When the robotic arm 100 is in the unfolded state, a portion of its structure extends beyond the receiving cavity 240 (see [reference]). Figure 4 (As shown).

[0148] For example, 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 disposed opposite each other at both ends of the side wall 230, with the bottom surface 220 facing the ground. A receiving cavity 240 may be disposed on the top surface 210 of the device body 200 and recessed from the top surface 210 towards the bottom surface 220.

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

[0150] By providing a receiving cavity 240 on the main body 200 of the device, the robotic arm 100 can be easily housed. This reduces the height of the main body 200 when the robotic arm 100 is folded, allowing it to easily access low-lying areas for cleaning, such as under beds. When the robotic arm 100 is extended, it can perform functions such as gripping and vacuuming. This enriches the functionality of the cleaning device 1000 and enhances the user experience.

[0151] See also Figure 3 As shown, the main body 200 of the equipment is provided with a cover plate 250, which can be opened and closed at the top of the receiving cavity 240.

[0152] This design allows the cover plate 250 to be placed on top of the receiving cavity 240 when the robotic arm 100 is in a folded state, preventing the robotic arm 100 from being exposed to the outside world, improving the aesthetics of the cleaning equipment 1000, and also preventing dust from falling onto the robotic arm 100.

[0153] It should be noted that the cover plate 250 can be opened automatically or manually. In this embodiment, the opening method of the cover plate 250 is not further limited. The size of the receiving cavity 240 matches the size of the robotic arm 100. In this embodiment, the size of the receiving cavity 240 is not further limited.

[0154] This invention provides a robotic arm 100 for use in the cleaning device 1000 described in the above embodiments, such as... Figure 5 As shown, the robotic arm 100 may include a base 110, a folding arm 120, a gripper 130, and a suction pipe 140. The base 110 includes a fixed seat 112 and a rotating part 111, which is rotatably connected to the fixed seat 112. The fixed seat 112 is used to connect to the device body 200 of the cleaning device 1000.

[0155] like Figure 5 As shown, the folding arm 120 may include multiple rotatably connected connecting arms. For example, there are two connecting arms, which are referred to as the first connecting arm 124 and the second connecting arm 125 for ease of description. The first connecting arm 124 and the second connecting arm 125 are connected by a rotary joint 123.

[0156] For example, the rotary joint 123 is fixedly connected to one end of the second connecting arm 125 that connects 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 can be fixed by welding, casting, or integral molding, etc. In this embodiment, 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 rotary joint 123 may also be fixedly connected to the first connecting arm 124. In this embodiment, the fixed position of the rotary joint 123 is not further limited.

[0158] For example, the folding arm 120 includes a first end 121 and a second end 122, with the first end 121 rotatably connected to the rotating part 111. A gripper 130 is disposed at the second end 122 of the folding arm 120 and rotatably connected to the second end 122, and the gripper 130 is used to perform a gripping action.

[0159] The suction pipe 140 is provided on the folding arm 120. One end of the suction pipe 140 is provided with a suction nozzle 150. The suction nozzle 150 is located at the end of the gripper 130 away from the second end 122. The suction nozzle 150 is connected to the suction pipe 140. The suction pipe 140 performs cleaning operations on the area to be cleaned through the suction nozzle 150.

[0160] The robotic arm 100 in this embodiment, by configuring grippers 130 and a suction pipe 140, enables both grasping and vacuuming actions, thus increasing its functionality. This allows the cleaning device 1000 equipped with the robotic arm 100 to perform both grasping and vacuuming functions. By configuring the suction pipe 140 and attaching a suction nozzle 150 to one end, the robotic arm 100 can control the nozzle 150 to reach hard-to-clean areas such as corners, sliding door tracks, crevices, and baseboards that the main body 200 cannot reach, improving cleaning efficiency. By setting the gripper 130, the robotic arm 100 can grab some relatively large trash or obstacles, such as toys, shoes, etc. The robotic arm 100 can remove these relatively large trash or obstacles, making it easier for the main body 200 of the cleaning equipment 1000 to perform cleaning operations, thus enriching the functions of the cleaning equipment 1000 and improving the user experience.

[0161] In one possible implementation, the suction tube 140 may include multiple sub-suction tubes (such as...) Figure 6The first sub-suction tube 141 and the second sub-suction tube 142 are provided, and at least one end of each sub-suction tube is rotatably connected to the rotary joint 123. The end of the sub-suction tube closest to the gripper 130 is connected to the suction nozzle 150, and the other end is connected to the rotary joint 123.

[0162] By setting the suction pipe 140 as multiple sub-suction pipes, it can be easily connected to the folding arm 120. The multiple sub-suction pipes are connected to the rotating joint 123 respectively and connected into a whole. Compared with setting the suction pipe 140 as a relatively long suction pipe, it can prevent the robotic arm 100 from rubbing, colliding and pulling on the suction pipe 140 during folding and rotating, thereby improving the service life of the suction pipe 140.

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

[0164] For example, a fastener 26 for securing the vacuum hose 140 can be provided on the folding arm 120. This fastener 26 can be a buckle or a clamp. The vacuum hose 140 is secured to the folding arm 120 by the buckle or clamp. Of course, it can also be secured to the folding arm 120 by other fixing structures.

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

[0166] like Figure 7 As shown, the first sub-suction tube 141 is positioned near the gripper 130. One end of the first sub-suction tube 141 communicates with the suction nozzle 150, and the other end communicates with the rotary joint 123. It is fixed to the first connecting arm 124 by the fixing member 26. One end of the second sub-suction tube 142 communicates with the rotary joint 123, and the other end is connected to the base 110. A portion of the structure of the second sub-suction tube 142 passes through the second connecting arm 125, thereby fixing the second sub-suction tube 142 to the second connecting arm 125. The second sub-suction tube 142 is movably disposed from the first connecting arm 124 so that it does not interfere with the second sub-suction tube 142 when the first connecting arm 124 is folded.

[0167] This configuration allows the first sub-suction tube 141 and the second sub-suction tube 142 to be connected via the rotating joint 123. This allows the suction nozzle 150, the first sub-suction tube 141, the rotating joint 123, and the second sub-suction tube 142 to be connected. The suction tube 140 then applies suction to the suction nozzle 150, allowing the waste sucked in from the suction nozzle 150 to be transported to the base 110 via the first sub-suction tube 141, the rotating joint 123, and the second sub-suction tube 142. The base 110 is then connected to the dust box of the cleaning device 1000 for waste collection and centralized processing.

[0168] In some embodiments, the suction pipe 140 can be an independent pipe, such as a flexible hose or a rigid pipe, or it can be a rigid pipe integrated with the robotic arm 100. In this embodiment, the structure and material of the suction pipe 140 will not be further described.

[0169] To prevent the suction pipe 140 from being pulled, twisted, or scraped during the folding process of the robotic arm 100, embodiments of this application propose a connecting device 300. In some embodiments, the connecting device 300 may be disposed at the rotary joint 123 of the robotic arm 100. In other embodiments, at least one connecting device 300 may be disposed as the rotary joint 123.

[0170] The connecting device provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0171] It should be noted that the connecting device is used for a sealed connection with the pipe to be connected, and can realize relative rotation between the connecting device and the pipe to be connected. In addition, it can also realize the disassembly and connection of the connecting device and the pipe to be connected, so as to facilitate quick assembly and disassembly.

[0172] In this embodiment, the tube 400 to be connected can be a suction tube 140 provided on the robotic arm 100. Specifically, the first sub-suction tube 141 and the second sub-suction tube 142 are both tubes 400 to be connected in this embodiment. Of course, in other embodiments, the tube 400 to be connected can also be other tubular structures, such as hydraulic pipes.

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

[0174] The following explanation uses the suction pipe 140 installed on the robotic arm 100 as an example, with the pipe 400 to be connected being the suction pipe 140 to be connected.

[0175] This invention provides a connecting device 300, such as... Figure 9 As shown, the connecting 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 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. The sealing assembly 330 is fixed to the inside of the second structural member 320 and is sealed to it. One end of the sealing assembly 330 forms a first connection port 331, which is used for sealing connection with the pipe 400 to be connected. The rotating member 340 is located inside the second structural member 320 and is disposed at the end of the sealing assembly 330 with the first connection port 331. The rotating member 340 is rotatably connected to the second structural member 320. The rotating member 340 is detachably connected to the pipe 400 to be connected, and part of the structure of the rotating member 340 is used to restrict the axial (x-direction) movement of the pipe 400 to be connected when the connecting device 300 is connected to the pipe 400.

[0176] The connecting device 300 in this embodiment of the application, by providing a first structural member 310 and a second structural member 320 that are rotatably connected, allows the two structures connected to the first structural member 310 and the second structural member 320 to rotate relative to each other (e.g., Figure 7 (The first connecting arm 124 and the second connecting arm 125 rotate relative to each other).

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

[0178] For example, the rotating component 340 can be fixedly connected to the pipe 400 to be connected. This way, when the first structural component 310 and the second structural component 320 of the connecting structure rotate relative to each other, the pipe 400 to be connected can, under the influence of gravity or other constraints, cause the rotating component 340 to rotate relative to the second structural component 320, thereby preventing torsion and pulling of the pipe 400. Of course, the rotating component 340 and the pipe 400 to be connected are detachably connected, so that the pipe 400 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. This also allows the pipe 400 to be connected to rotate relative to the second structural member 320 under the action of gravity or other constraints, thereby preventing the pipe 400 to be connected from twisting or being pulled.

[0180] In this embodiment, the connection method between the rotating member 340 and the tube 400 to be connected is not further limited. As long as the rotating member 340 can restrict the tube 400 to move axially (x direction) relative to the second structural member 320 when connected to the tube 400, it is acceptable.

[0181] In one possible implementation, see Figure 10 As shown, the sealing assembly 330 may include a sealing body 332 and a support member 333. The support member 333 is embedded within the sealing body 332 and is arranged circumferentially along the sealing body 332. The sealing body 332 is sealingly 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 improved, preventing the sealing assembly 330 from deforming during repeated installation and disassembly of the pipe to be connected 400 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 has an annular structure, and a support member 333 is provided inside the sealing body 332. This support member 333 can also be annular, thus providing support at every point on the outer periphery of the sealing body 332, preventing deformation of the sealing body 332 and loss of sealing effect. This improves the sealing effect of the sealing assembly 330 and also extends its service life.

[0184] For example, the material of the sealing body 332 can be a soft rubber material, such as rubber or silicone, and the material of the support 333 can be a metal material, such as an alloy material, stainless steel, or copper. In this embodiment, the materials of the sealing body 332 and the support 333 are not further limited.

[0185] 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 surrounds the outer side of the sealing body 332 and is disposed near the first connection port 331. The elastic portion 334 is used to limit the radial expansion of the first connection port 331.

[0186] This configuration ensures that the first connection port 331 remains relatively tight, thereby improving the connection stability between the sealing component 330 and the pipe 400 to be connected, and thus guaranteeing the sealing performance between the sealing component 330 and the pipe 400 to be connected.

[0187] For example, the elastic part 334 can be a structure such as a spring. 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 tube to be connected 400 is inserted into the first connection port 331, the elastic part 334 can help to press the inner ring of the sealing body 332 and the outer ring of the tube to be connected 400, so that the sealing body 332 and the tube to be connected 400 are sealed together.

[0188] For example, the inner wall of the first connection port 331 is an inclined structure 3311 (see Figure 10 (As shown). In the insertion direction of the tube 400 to be connected, the diameter r of the first connection port 331 gradually decreases. This design facilitates a sealing connection between the tube 400 and the first connection port 331, reducing assembly difficulty.

[0189] In one possible implementation, see [link to previous section] Figure 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 located, and the first limiting structure 321 abuts against the sealing assembly 330. The end of the sealing assembly 330 opposite to the first limiting structure 321 abuts against the second structural member 320. The first limiting structure 321 and the second structural member 320 are fixedly connected.

[0190] This design prevents the sealing assembly 330 from moving axially relative to the second structural member 320, thus ensuring the stability of the connection between the sealing assembly 330 and the second structural member 320. Additionally, it prevents the pipe to be connected 400 from pulling the sealing assembly 330 out of the second structural member 320 when it is being disassembled from the connecting device 300, allowing the pipe to be connected 400 to be repeatedly installed and removed from the connecting device 300.

[0191] In one possible implementation, the second structural member 320 may further include a second limiting structure 322. In this embodiment, 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 restricts the movement of the rotating member 340 in the axial direction of the second structural member 320.

[0192] It should be noted that the rotating component 340 can rotate relative to the second structural component 320, and is fixed axially relative to the second structural component 320. This ensures that the rotating component 340 will not detach from the second structural component 320.

[0193] This design prevents the rotating component 340 from moving axially in the second structural component 320, thus ensuring the stability of the connection between the rotating component 340 and the second structural component 320. Additionally, it prevents the rotating component 340 from being pulled out of the second structural component 320 when the pipe to be connected 400 is removed from the connecting device 300, allowing the pipe to be connected 400 to be repeatedly installed and removed from the connecting device 300.

[0194] See also Figure 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. Along the axial direction of the second structural member 320, the limiting member 323 and the first limiting structure 321 are spaced apart, forming a second limiting structure 322 between the limiting member 323 and the first limiting structure 321. The second limiting structure 322 is a groove-like structure formed between the limiting member 323 and the first limiting structure 321. A portion of the rotating member 340 is located within the second limiting structure 322.

[0195] For example, in the axial direction of the rotating member, the portion of the rotating member 340 located within the second limiting structure 322 can abut against both the limiting member 323 and the first limiting structure 321, thereby restricting the axial movement of the rotating member 340. Of course, it can also not abut against the limiting member 323 and the first limiting structure 321, which facilitates the rotation of the rotating member. In this embodiment, the axial connection relationship between the rotating member and the limiting member 323 and the first limiting structure 321 is not further limited.

[0196] By providing a limiting member 323, a second limiting structure 322 is formed between the first limiting structure 321 and the limiting member 323. This allows the rotating member 340 to be positioned on the second structural member 320, enabling it to rotate relative to the second structural member 320 and also fix itself axially relative to the second structural member 320. Furthermore, during assembly, the sealing assembly 330, the first limiting structure 321, the rotating member 340, and the limiting member 323 can be easily assembled onto the second structural member 320, thereby reducing assembly difficulty.

[0197] For example, the limiting member 323 and the second structural member 320 can be fixedly connected by means of bonding, welding, or slot connection. In this embodiment, the connection method between the second structural member 320 and the limiting member 323 is not further limited.

[0198] In some embodiments, such as Figure 8 and Figure 9As shown, the shape of the first limiting structure 321 can be the same as that 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, it is easier to assemble the sealing assembly 330 and reduce the assembly difficulty.

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

[0200] For example, in the axial direction of the second structural member 320, the fixing part 341 can abut against the second limiting structure 322 or be spaced apart from the second limiting structure 322. In this embodiment, the connection relationship between the fixing part 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 part 342 is used to connect with the tube 400 to be connected, and the fixing part 341 is used to connect the rotating part 340 with the second structural part 320.

[0202] By providing a fixed part 341 and a connecting part 342 to the rotating member 340, it can be rotatably connected to the second structural member 320 through the fixed part 341 and fixedly connected to the tube 400 to be connected through the connecting part 342. This allows the tube 400 to be connected to the rotating member 340 to rotate relative to the second structural member 320, thereby preventing the connecting tube from twisting, pulling, scratching, or wearing, and thus improving the service life of the tube 400 to be connected.

[0203] like Figure 11 As shown, the rotating component 340 has an annular structure. The fixing part 341 is located on the outer side of the annular structure, and the connecting part 342 is located on the inner side of the annular structure. The side of the connecting part 342 facing away from the sealing assembly 330 is a slope, and the thickness of the slope gradually decreases axially from the outer side to the inner side of the annular structure.

[0204] By setting the rotating part 340 as a ring structure, the structure of the rotating part 340 can be simplified, the machining difficulty of the rotating part 340 can be reduced, and thus the cost can be reduced.

[0205] By making the side of the connecting part 342 facing away from the sealing assembly 330 beveled, when inserting the tube 400 to be connected into the second connecting port 3421, it can be gradually inserted along the bevel, which facilitates assembly. When the second structure rotates, and the tube to be connected is pulled, the end of the bevel can generate resistance on the surface of the tube 400 to be connected, preventing the tube 400 to be connected from falling off the rotating part 340, thereby improving the connection stability between the tube 400 to be connected and the connecting device 300.

[0206] In one possible implementation, see [link to previous section] Figure 11 As shown, the connecting portion 342 is provided with a plurality of openings. The plurality of openings are arranged at intervals along the circumference of the connecting portion 342. The openings extend from the 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] This design allows the connecting part 342 to have an open, ratchet-like structure, preventing the tube 400 to be connected from falling off the rotating part 340. Additionally, this reduces the structural strength of the connecting part 342, facilitating pushing and enlarging the second connecting port 3421. This allows the tube 400 to be disengaged from the connecting part 342 under driving force, enabling repeated installation and removal of the tube 400 from the connecting part 342.

[0208] It should be noted that the number of openings is not further limited in this embodiment. Of course, in some embodiments, openings may not be provided, and the connecting part 342 may be configured with a flexible structure, which also facilitates insertion and removal. The structure of the connecting part 342 is not further limited in this embodiment.

[0209] In one possible implementation, the connecting device 300 may further include a slider 370. The slider 370 is disposed inside the second structural member 320 and is located at the end of the rotating member 340 opposite to the sealing assembly 330. The slider 370 is slidably connected to the second structural member 320 axially. The end of the slider 370 facing the rotating member 340 is disposed opposite to the connecting portion 342. When the slider 370 moves axially towards the rotating member 340 along the second structural member 320, it drives the end of the slider 370 facing the rotating member 340 to push the connecting portion 342 outward, thereby separating the connecting portion 342 from the pipe 400 to be connected.

[0210] For example, the slider 370 includes a first position and a second position. When the slider 370 is in the first position, the end of the slider 370 facing the rotating member 340 is spaced apart from the connecting portion 342 of the rotating member 340. When the slider 370 is in the second position, the end of the slider 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 slider 370 and the second structural member 320 are axially movable, and the slider 370 passes through at least the first position and the second position when moving relative to the second structural member 320.

[0211] With this configuration, the connecting part 342 can be pushed outward by the slider 370 to separate the connecting part 342 from the tube 400 to be connected, making it easier to disassemble the tube 400 to be connected.

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

[0213] For example, a receiving space is provided between the sliding member 370 and the second structural member 320, and an elastic member 360 is disposed within the receiving space. Along the axial direction of the second structural member 320, both ends of the elastic member 360 abut against the second structural member 320 and the sliding member 370, respectively. Pressing the elastic member 360 can cause it to undergo elastic deformation. The end of the sliding member 370 facing away from the rotating member 340 abuts against the second structural member 320.

[0214] This configuration allows the elastic element 360 to restrict the sliding element 370 to a position opposite to but not in contact with the connecting portion 342 when the pipe 400 and the rotating component 340 are connected, ensuring a stable connection. When it is necessary to disassemble the pipe 400 and the rotating component 340, pressing the sliding element 370 along the axial direction of the second structural member 320 towards the rotating component 340 causes the sliding element 370 to drive the connecting portion 342 of the rotating component 340 to expand outward, thus separating the connecting portion 342 from the pipe 400 and facilitating disassembly. After the pipe 400 is removed from the rotating component 340, the sliding element 370 returns to its original position under the restoring force of the elastic element 360, allowing the connecting device 300 to reconnect with the pipe 400.

[0215] In one possible implementation, the elastic element 360 can be a spring, compression spring, sheet spring, or torsion spring, etc. In the embodiments of this application, the specific type of the elastic element 360 is not further limited.

[0216] This design simplifies the structure of the 360° elastic element, reduces assembly difficulty, and thus lowers costs.

[0217] In one possible implementation, see [link to previous section] Figure 9 As shown, the connecting device 300 also includes a second bearing 350, which is disposed between the first structural member 310 and the second structural member 320. The first structural member 310 and the second structural member 320 are rotatably connected by the second bearing 350.

[0218] For example, 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 that a rotatable connection is achieved between the first structural member 310 and the second structural member 320.

[0219] This configuration allows for easy rotational connection of the first structural component 310 and the second structural component 320. In addition, the bearing structure facilitates assembly, which reduces the assembly difficulty of the connecting device 300.

[0220] In other embodiments, the connecting device 300 may also be in other shapes, such as Figure 12 As shown, the rotating member 340 also includes an extension 343. The extension 343 extends along the axial direction of the rotating member 340 towards the sealing assembly 330, and the second connection port 3421 is located at the end of the rotating member 340 opposite to the sealing assembly 330. The extension 343 is sealingly connected to the first connection port 331, and the second connection port 3421 is sealingly connected to the tube 400 to be connected.

[0221] By providing an extension 343, the rotating member 340 is sealed to the first connection port 331. Since the second connection port 3421 of the rotating member 340 is sealed to the tube 400 to be connected, the first connection port 331 is sealed to the tube 400 to be connected through the rotating member 340. In this way, the second connection port 3421 can be located on the outside near the second structural member 320, which is convenient for connecting to the tube 400 to be connected.

[0222] Furthermore, by providing an extension 343 and connecting it to the sealing assembly 330, the tube 400 to be connected is connected to the second connection port 3421 of the rotating member 340. In this way, the tube 400 only needs to be connected to the second connection port 3421, without needing to be directly connected to the sealing assembly 330. That is, during repeated disassembly and installation of the tube 400, there is no need for insertion or removal from the sealing assembly 330, thereby extending the service life of the sealing assembly 330.

[0223] For example, a locking protrusion or a thread can be provided at the connecting portion 342. The locking protrusion and thread can be located on the outer side of the connecting portion 342, facilitating connection with the pipe 400 to be connected, improving connection stability, and reducing assembly difficulty. Furthermore, it can simplify the structure of the connecting portion 342, reduce processing difficulty, and thus lower costs.

[0224] It should be noted that the connection between the rotating component 340 and the connecting part 342 connecting the pipe to be connected 400 is unidirectional. When the tensile force on the pipe to be connected 400 is less than a preset tensile force, the connection between the pipe to be connected 400 and the connecting part 342 will not be broken. Only when the pipe to be connected 400 is pulled forcefully and the tensile force is greater than the preset tensile force can the connection between the pipe to be connected 400 and the connecting part 342 be broken, thus separating them. The preset tensile force is greater than the weight of the pipe to be connected 400.

[0225] In some embodiments, the sealing assembly 330 may include a plurality of sealing rings disposed axially along the second structural member 320, which simplifies the structure of the sealing assembly 330 and thereby reduces costs. In this application embodiment, the structure of the sealing assembly 330 is not further limited.

[0226] In one possible implementation, such as Figure 12 As shown, a first bearing 325 is provided on the outer side of the extension 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 343, and the outer ring of the first bearing 325 is fixedly connected to the second structural member 320.

[0227] This configuration allows the rotating component 340 and the second structural component 320 to be rotatably connected. The bearing structure is easy to assemble. Therefore, setting the first bearing 325 on the outside of the extension 343 can reduce the assembly difficulty of the connecting device 300.

[0228] In this embodiment, the second limiting structure 322 is a groove structure disposed on the second structural member 320. A portion of the rotating member 340 is located within the groove structure. Axially, portions of the rotating member 340 abut against both sides of the groove structure. For example, the fixing portion 341 of the rotating member 340 is located within the groove structure and abuts against both sides of the groove structure.

[0229] This design simplifies the structure of the second structural component 320, reduces processing difficulty, and thus lowers costs.

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

[0231] For example, 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 drively connected to 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 setting up a transmission component, the second structural member 320 can be easily driven to rotate, so that the first structural member 310 and the second structural member 320 can rotate automatically. When the connecting device 300 is set on the robotic arm, the robotic arm can be easily driven to fold or unfold.

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

[0234] This design simplifies the structure of the transmission components, thereby reducing assembly difficulty and cost.

[0235] In one possible implementation, the connecting device 300 may further include a drive motor. The drive motor is connected to the driving member in a transmission manner and is used to drive the driving member to rotate.

[0236] This configuration allows for easy power supply to the driving component, enabling the rotating component to rotate, which in turn drives the driven component 391 to rotate, thereby causing the second structural component 320 to rotate.

[0237] It should be noted that, in this embodiment, the location of the drive motor is not further limited.

[0238] In one possible implementation, the first structural member 310 includes a first assembly portion 311 for connecting with a first accessory to be assembled. The second structural member 320 includes a second assembly portion 324 for connecting with a second accessory to be assembled.

[0239] It should be noted that the first and second accessories to be installed can be connecting arms.

[0240] This configuration allows the first and second components to be installed connected by the connecting device 300 to rotate relative to each other, thereby achieving a folding action and improving the flexibility of the first and second components to be installed.

[0241] This application embodiment also provides a joint module 500, such as Figure 13As shown, the joint module 500 may include the connecting device 300 in any of the above embodiments. The joint module 500 may include one or more of the aforementioned connecting devices 300. Connecting multiple joint modules 500 and multiple connecting arms in series can form a robotic arm.

[0242] This design prevents the tube to be connected from twisting, pulling, scratching, or wearing when the two components connected to the joint module 500 rotate relative to each other, thereby extending the service life of the tube to be connected.

[0243] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0244] In the description of this invention, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0245] Unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0246] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A connecting device, characterized in that, include: First structural component (310); The 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 assembly (330) is fixed to the inner side of the second structural member (320) and is sealed to the second structural member (320). One end of the sealing assembly (330) forms a first connection port (331), which is used to seal to the pipe (400) to be connected. A rotating component (340) is located inside the second structural component (320) and is disposed at one end of the sealing assembly (330) having the first connection port (331). The rotating component (340) is rotatably connected to the second structural component (320), and the rotating component (340) is detachably connected to the tube to be connected (400). The rotating component (340) includes a fixing part (341) and a connecting part (342). The rotating component (340) is a ring structure. The fixing part (341) is located on the outside of the ring structure, and the connecting part (342) is located on the inside of the ring structure. The side of the connecting part (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 outer side to the inner side.

2. The connecting device according to claim 1, characterized in that, The rotating component (340) includes a second connection port (3421); wherein, The tube to be connected (400) passes through the second connection port (3421) and is inserted into the first connection port (331). The first connection port (331) and the tube to be connected (400) are detachably connected.

3. The connecting device according to any one of claims 1-2, characterized in that, The second structural component (320) includes a first limiting structure (321); wherein, 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); The sealing assembly (330) abuts against the second structural member (320) at one end away from the first limiting structure (321); The first limiting structure (321) is fixedly connected to the second structural member (320).

4. The connecting device according to claim 3, characterized in that, The second structural component (320) includes 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), which restricts the rotating member (340) from moving in the axial direction of the second structural member (320).

5. The connecting device according to claim 4, 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) is spaced apart from the first limiting structure (321), 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 component (340) is located within the second limiting structure (322).

6. The connecting device according to claim 4, characterized in that, The second limiting structure (322) is a groove structure provided on the second structural member (320); wherein, A portion of the rotating component (340) is located within the groove structure, which restricts the axial movement of the rotating component (340) within the second structural component (320).

7. The connecting device according to claim 2, characterized in that, The second connection port (3421) is formed at the connection part (342); The fixing part (341) is rotatably connected to the second structural member (320).

8. The connecting device according to claim 7, characterized in that, The connecting part (342) is provided with multiple openings; wherein, The plurality of openings are arranged at circumferential intervals along the connecting portion (342); The opening extends from one end of the connecting part (342) away from the fixing part (341) along the radial direction of the rotating part (340) toward the fixing part (341).

9. The connecting device according to claim 7 or 8, characterized in that, It also includes a slider (370); wherein, The sliding member (370) is disposed inside the second structural member (320), and the sliding member (370) is located at the 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); The end of the slider (370) facing the rotating member (340) is disposed opposite to the connecting part (342); The slider (370) is used to drive one end of the slider (370) toward the rotating member (340) to push the connecting part (342) outward when it moves toward the rotating member (340) along the axial direction of the second structural member (320) so as to separate the connecting part (342) from the tube (400) to be connected.

10. The connecting device according to claim 9, characterized in that, It also includes an elastic element (360); among which, The elastic element (360) is compressed between the sliding element (370) and the second structural element (320).

11. The connecting device according to claim 10, characterized in that, The elastic element (360) is a compression spring, a spring sheet, or a torsion spring.

12. The connecting device according to any one of claims 1-2, characterized in that, The sealing assembly (330) includes 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 sealed to the second structural member (320), and the first connection port (331) is formed on the inner side of the sealing body (332). The stiffness of the support member (333) is greater than that of the sealing body (332).

13. The connecting device according to claim 12, characterized in that, The sealing assembly (330) further includes an elastic portion (334); wherein, The elastic part (334) surrounds the outside of the sealing body (332) and is disposed near the first connection port (331). The elastic part (334) is used to limit the radial expansion of the first connection port (331).

14. The connecting device according to any one of claims 1-2, characterized in that, It also 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 by the second bearing (350).

15. The connecting device according to any one of claims 1-2, characterized in that, It also includes transmission components; among which, 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.

16. The connecting device according to claim 15, characterized in that, The transmission assembly includes a driving component and a driven component (391); wherein... The driven member (391) is fixedly connected to the second structural member (320), and the driving member is connected to the driven member (391) in a transmission manner. 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.

17. The connecting device according to claim 16, characterized in that, The transmission components are gear transmission components and synchronous belt transmission mechanisms.

18. The connecting device according to claim 17, characterized in that, It also includes the drive motor; among which, The drive motor is connected to the active component in a transmission manner, and the drive motor is used to drive the active component to rotate.

19. The connecting device according to any one of claims 1-2, characterized in that, The first structural component (310) includes a first assembly part (311), which is used to connect with the first accessory to be assembled; The second structural member (320) includes a second assembly part (324) for connecting with a second accessory to be assembled.

20. The connecting device according to any one of claims 1-2, characterized in that, The inner wall of the first connection port (331) is an inclined structure (3311); wherein, In the insertion direction of the tube to be connected (400), the diameter of the first connection port (331) gradually decreases.

21. A joint module, characterized in that, Includes the connecting device described in any one of claims 1-20 above.

22. A robotic arm, characterized in that, Includes the connecting device as described in any one of claims 1-20; or, Includes the joint module described in claim 21 above.

23. A cleaning device, characterized in that, It includes the main body of the device and the robotic arm as described in claim 22; wherein, The robotic arm is connected to the main body of the equipment.

Images