Manipulator, mechanical arm and cleaning equipment

Abstract

The invention provides a manipulator, a mechanical arm and cleaning equipment, and relates to the technical field of cleaning. The manipulator comprises a connecting part, a first flange and a plurality of clamping arms. The connecting part can comprise a shell and a driving device arranged in the shell. The first flange is rotationally connected with the connecting part, and the driving device is in transmission connection with the first flange and used for driving the first flange to rotate. The multiple clamping arms are arranged on the outer side of the first flange at intervals, one end of each clamping arm is rotationally connected with the first flange, an opening is formed in the end, away from the first flange, of each clamping arm, the driving device is in transmission connection with each clamping arm, and the driving device is used for driving the multiple clamping arms to be close to or away from each other so that the opening can be opened or closed. The rotation axis of the first flange is perpendicular to the plane where the opening is located. According to the mechanical arm, clamping and rotating actions can be achieved, the mechanical arm can enter some narrow spaces, the application scene is wide, and the problem that in the related technology, the application scene of a mechanical arm is limited can be solved.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a manipulator, a manipulator arm and cleaning equipment. Background Art

[0002] In recent years, with the improvement of people's living standards, home cleaning has become the main burden of people's home life. Cleaning equipment such as sweepers and floor scrubbers are popular among people for their advantages of automatically cleaning the environment, thereby effectively reducing people's workload in home cleaning.

[0003] In order to make the cleaning equipment adapt to more application scenarios and realize more cleaning functions, a cleaning robot arm is usually set on the cleaning equipment, and a robot is set at the end of the cleaning robot arm, which can assist the cleaning equipment to perform cleaning work, for example, to assist in dumping dust boxes, cleaning larger garbage, etc.

[0004] However, the robot arm in the related technology can only grasp or put down objects, and the robot arm cannot enter some narrow spaces, resulting in the problem of limited application scenarios of the robot arm. Summary of the invention

[0005] The present invention provides a manipulator, a robot arm and a cleaning device. The manipulator can realize clamping and rotating actions, can enter some narrow spaces, has a wide range of application scenarios, and can solve the problem of limited application scenarios of the robot arm in related technologies.

[0006] A first aspect of an embodiment of the present invention provides a manipulator, comprising:

[0007] A connecting part, comprising a housing and a driving device arranged in the housing;

[0008] A first flange is rotatably connected to the connecting portion, the driving device is drivingly connected to the first flange, and the driving device is used to drive the first flange to rotate;

[0009] A plurality of clamp arms are arranged at intervals on the outer side of the first flange, one end of each of the clamp arms is rotatably connected to the first flange, and one end of the plurality of clamp arms away from the first flange forms an opening, the driving device is transmission-connected to each of the clamp arms, and the driving device is used to drive the plurality of clamp arms to move closer to or away from each other so as to open or close the opening; wherein,

[0010] The rotation axis of the first flange is perpendicular to the plane where the opening is located.

[0011] The manipulator provided by the embodiment of the present application is provided with a driving device, and the driving device is transmission-connected with the first flange and multiple clamping arms, so that the driving device can drive the first flange to rotate, and can also drive the openings of multiple clamping arms to open or close, so that the opening and closing and rotation of the manipulator can be realized by a driving device. Compared with the related art that realizes the degree of freedom in two directions by two driving modules, the technical solution of the present application can effectively simplify the structure of the manipulator, reduce the difficulty of assembly, and thus reduce costs. In this way, the weight of the manipulator itself can be reduced, thereby saving energy and increasing the load of the manipulator. In addition, the volume of the manipulator can be reduced in this way, so that the manipulator can be suitable for more narrow spaces to adapt to more application scenarios.

[0012] By setting the rotation axis of the first flange perpendicular to the plane where the opening is located, the angle of the clamping arm can be adjusted according to the size of the space to be cleaned, so that the size of the clamping arm in the width direction of the space to be cleaned can match the space to be cleaned, so that the manipulator can enter the space to be cleaned and perform cleaning operations, etc., which can improve the applicability of the manipulator.

[0013] It should be noted that when the connecting part of the manipulator is connected to the robotic arm, the connection can be rotated in the horizontal direction. In this way, the end of the robotic arm equipped with the manipulator has three degrees of freedom, which can realize flipping in the horizontal direction, opening and closing in the plane where the opening is located, and rotation in a first direction. The first direction is perpendicular to the plane where the opening is located, and both the horizontal and vertical directions are perpendicular to the first direction, thereby improving the applicability of the robotic arm equipped with the manipulator.

[0014] In a possible implementation, the driving device includes a driving portion, and the driving portion is disposed through the first flange and movably connected to the first flange;

[0015] The clamp arm comprises a driving end, and the driving ends of the plurality of clamp arms are all arranged outside the driving part and are drivingly connected to the driving part;

[0016] The driving portion is used to drive the driving end of the clamping arm to move along the axial direction of the driving portion when rotating around the axial direction of the driving portion, so as to drive the plurality of clamping arms to move closer to or farther from each other;

[0017] The driving portion is also used for continuing to rotate in the same direction to drive the first flange to rotate together with the driving portion when the driving end cannot move in the axial direction of the driving portion.

[0018] By providing a driving part and movably connecting the driving part with the first flange, the driving part can be rotated relative to the first flange. By connecting the driving part with the clamp arm in a transmission connection, the clamp arm can be driven to move axially along the driving part by controlling the rotation of the driving part, so that the openings between the multiple clamp arms are opened. By connecting the clamp arm with the first flange, the rotation of the clamp arm can drive the first flange to rotate. Therefore, when the driving end of the clamp arm moves axially to the limit along the driving part, it will stop moving axially along the driving part. At this time, the driving part continues to rotate in the same direction, which will drive the clamp arm to rotate together, thereby driving the first flange connected to the clamp arm to rotate. In this way, two degrees of freedom can be achieved through one driving part, which can simplify the structure of the driving device, reduce the difficulty of assembly, and reduce costs.

[0019] In a possible implementation, a second flange is provided on the driving portion, and the driving end of the clamping arm is drivingly connected to the driving portion via the second flange.

[0020] By providing the second flange, the driving part can be conveniently connected to the driving end of the clamping arm, thereby reducing the difficulty of assembly.

[0021] In a possible implementation, the driving ends of the plurality of clamp arms are all rotatably connected to the second flange;

[0022] The second flange is disposed through the driving part and is rotatably connected to the driving part. In the axial direction of the driving part, the second flange is movably connected to the driving part. The driving part is used to drive the second flange to move along the axial direction of the driving part when rotating around the axial direction of the driving part.

[0023] The driving end of each clamp arm is rotationally connected to the second flange, and the driving part is also used to continue to rotate in the same direction to drive the second flange to rotate together with the driving part when the second flange cannot move along the axial direction of the driving part.

[0024] By inserting the second flange into the driving part and rotatingly connecting with the driving part, and in the axial direction of the driving part, the second flange is movably connected with the driving part, so that the driving part can drive the second flange to move along the axial direction of the driving part. By rotatingly connecting the driving end of each clamp arm to the second flange, when the second flange moves along the axial direction of the driving part, the multiple clamp arms can be driven to move closer to or farther from each other, so that the opening formed between the multiple clamp arms is opened or closed. In addition, by rotatingly connecting the driving end of each clamp arm to the second flange, when the second flange moves to the extreme position along the axial direction of the driving part and cannot continue to move axially, the driving part continues to rotate in the same direction, so that the second flange can be driven to rotate together with the driving part, so that the clamp arm connected to the second flange can be driven to rotate together, and since the clamp arm is connected to the first flange, the first flange can be driven to rotate together.

[0025] In a possible implementation, the first flange includes a first blocking portion and a second blocking portion; wherein,

[0026] The first blocking portion and the second blocking portion are arranged opposite to each other along the axial direction of the driving portion;

[0027] The second flange is located between the first blocking portion and the second blocking portion;

[0028] When the second flange abuts against the first blocking portion, the plurality of clamp arms are in a state of being opened to the maximum;

[0029] When the second flange abuts against the second blocking portion, the plurality of clamp arms are in a closed state.

[0030] By providing the first blocking portion and the second blocking portion, the second flange can be prevented from being separated from the driving portion at the first blocking portion or the second blocking portion, and the travel of the second flange can be limited, thereby preventing damage to the manipulator and increasing the service life of the manipulator.

[0031] In a possible implementation, the driving part is a screw structure, and a thread is provided on the outer side of the screw structure;

[0032] The second flange is provided with a threaded hole, and the screw rod structure is matched and connected with the threaded hole.

[0033] Such an arrangement can simplify the structure of the driving part and the second flange, thereby reducing the cost.

[0034] In a possible implementation, it also includes a limiting flange and an elastic member;

[0035] The limiting flange is fixedly connected to the housing, one end of the elastic member is engaged with the limiting flange, and the other end is engaged with the first flange, and the elastic member is used to limit the first flange from rotating relative to the housing;

[0036] When the torsion force applied to the end of the elastic member connected to the first flange is greater than a preset threshold, the elastic member undergoes elastic deformation, and the first flange drives the end of the elastic member connected to the first flange to rotate.

[0037] Such a configuration can prevent the manipulator from rotating at will when the manipulator is used, that is, by providing the limiting flange and the elastic member, the first flange can be limited from rotating relative to the connecting portion. When the limiting effect of the elastic member on the first flange is destroyed by an external force, the first flange can be driven to rotate, which can reduce the shaking of the manipulator and improve the accuracy of the manipulator's movements.

[0038] In a possible implementation manner, the first flange is provided with a rib matched with the elastic member, and the rib is snap-connected with the elastic member.

[0039] Such an arrangement can facilitate the engagement and connection between the elastic member and the first flange, thereby reducing the difficulty of assembly.

[0040] In a possible implementation manner, the elastic member includes a torsion spring.

[0041] By configuring the elastic member as a torsion spring, the structure of the elastic member can be simplified, the difficulty of assembly can be reduced, and the cost can be reduced.

[0042] In a possible implementation, a clamp is provided at one end of the clamp arm away from the connecting portion, and a soft rubber part is provided on the inner side of the clamp;

[0043] A support member and a buffer member are disposed on the outside of the soft rubber member, the support member and the buffer member are both fixedly connected to the soft rubber member, the support member is fixedly connected to the buffer member, and the support member is disposed close to an end of the clamp away from the connecting portion;

[0044] The rigidity of the buffer component is greater than that of the soft rubber component, but smaller than that of the support component.

[0045] By setting the inner side of the chuck as a soft rubber part, the gripping force and stability can be improved when performing the gripping action. Soft rubber materials usually have a high friction coefficient, which can increase the friction between the chuck and the gripped object, thereby improving the gripping force and stability. High friction can effectively prevent the gripped object from sliding or shifting during the gripping process, ensuring the reliability of the gripping process. By setting the inner side of the chuck as a soft rubber part, the gripped object can be protected. The soft rubber material has a certain elasticity and softness, which can buffer the gripping force and reduce damage to the surface of the gripped object. It is particularly suitable for fragile or surface-sensitive objects such as glass, electronic components and precision instruments. Soft rubber parts can evenly disperse the gripping force to avoid deformation or cracking of objects caused by excessive local pressure. Soft rubber materials have a certain deformation ability and can adapt to objects of different shapes and sizes, improving the versatility and adaptability of the manipulator. Through the deformation ability of soft rubber parts, the manipulator can better grasp objects with irregular shapes or uneven surfaces. Soft rubber materials have good vibration reduction properties, which can absorb and buffer vibrations during the gripping process and reduce the impact on the mechanical system. In the process of clamping and releasing objects, soft rubber parts can reduce contact noise and improve the quietness of operation. The high friction coefficient and elasticity of soft rubber materials can effectively prevent objects from accidentally slipping and improve the safety of operation.

[0046] By arranging support members and buffer members on the outside of the soft rubber member, the support member can provide support for the soft rubber member to prevent the soft rubber member from being deformed too much, which may cause the robot to fail to grip. By arranging the buffer member, the collision force between the clamp and the obstacle can be buffered, the support member can be prevented from being deformed or damaged, and the object colliding with the support member can be prevented from being damaged, thereby improving adaptability.

[0047] In a possible implementation, the clamp arm includes a driving rod, a first driven rod and a second driven rod, and a supporting rod is formed on the first flange: wherein,

[0048] One end of the driving rod is the driving end of the clamping arm, and the other end is rotatably connected to the first driven rod;

[0049] One end of the first driven rod is rotatably connected to the chuck, and the other end is rotatably connected to the support rod;

[0050] One end of the second driven rod is rotatably connected to the chuck, and the other end is rotatably connected to the support rod;

[0051] The first driven rod and the second driven rod are arranged in parallel, and the second driven rod is located outside the first driven rod.

[0052] Such an arrangement can simplify the structure of the clamping arm, thereby reducing the cost.

[0053] In a possible implementation, a dust suction nozzle is provided on the outer side of at least one of the clamping arms, and the dust suction nozzle is a hollow structure.

[0054] Such a setting can enable the robot to perform vacuuming actions, thereby enriching the functions of the robot and improving the adaptability of the robot.

[0055] In a possible implementation, a soft structure is provided at the end of the dust nozzle.

[0056] Exemplarily, the soft structure can be a silicone structure, a rubber structure, a plastic structure, etc. Since the soft structure has certain elasticity and softness, it can buffer impact force and is particularly suitable for fragile or surface-sensitive objects. This can reduce wear or scratches on the ground, walls, and narrow gap boundaries during operation.

[0057] In a possible implementation, a detection component is also included; wherein,

[0058] The detection component is arranged on the outside of the shell and fixedly connected to the shell, and the detection end of the detection component is arranged toward the clamping arm.

[0059] Such an arrangement allows the manipulator to detect the types of surrounding objects, etc., so that the manipulator has visual functions, which can increase the functions of the manipulator and improve the operating accuracy of the manipulator.

[0060] A second aspect of an embodiment of the present invention provides a robotic arm, comprising any one of the robotic arms described in the first aspect above; wherein:

[0061] The manipulator is arranged at the end of the manipulator arm, and the connecting portion of the manipulator is rotatably connected to the end of the manipulator arm.

[0062] The robotic arm in the embodiment of the present application can have multiple degrees of freedom by setting the robotic arm in the above-mentioned embodiment, so that more actions and more functions can be achieved, for example, entering a small space, etc., thereby improving applicability.

[0063] In a possible implementation, the robot arm includes a dust suction tube; wherein,

[0064] A dust suction nozzle is arranged on the outer side of at least one of the clamping arms, and the dust suction pipe is connected to the dust suction nozzle.

[0065] Such an arrangement can make the robot arm have a dust suction function and a grasping function, so that the robot arm has more functions, thereby solving the problem of single function of the robot arm in related technologies.

[0066] A third aspect of an embodiment of the present invention provides a cleaning device, comprising a device body and the above-mentioned mechanical arm;

[0067] The mechanical arm is rotatably connected to the equipment body.

[0068] The cleaning device in the embodiment of the present application may be a sweeper or the like. By providing the above-mentioned robotic arm, the cleaning device may have a robotic arm and have a grabbing function and a vacuuming function. The robotic arm may be used to perform vacuuming operations on some locations that are difficult to clean on the device body, such as skirtings, facades, sliding door tracks, right angles, bosses, etc., to improve the cleaning effect. The robotic arm may also be used to grab some larger garbage or obstacles, such as toys, shoes, etc. These larger garbage or obstacles may be removed by the robotic arm, making it convenient for the device body to perform cleaning operations, thereby enriching the functions of the cleaning device and improving the user experience.

[0069] 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

[0070] 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.

[0071] Figure 1 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0072] Figure 2 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0073] Figure 3 is a schematic structural diagram of a mechanical arm provided by an embodiment of the present invention;

[0074] Figure 4 It is a schematic structural diagram of a cleaning device provided by an embodiment of the present invention when horizontally grasping;

[0075] Figure 5 It is a schematic structural diagram of a cleaning device provided by an embodiment of the present invention when vertically grasping;

[0076] Figure 6 is a schematic cross-sectional structure diagram of a manipulator provided by an embodiment of the present invention;

[0077] Figure 7 is a schematic cross-sectional structure diagram of a manipulator provided by an embodiment of the present invention;

[0078] Figure 8is a schematic structural diagram of a mechanical arm provided by an embodiment of the present invention;

[0079] Fig. 9 is an exploded schematic diagram of a manipulator provided by an embodiment of the present invention;

[0080] Fig.10 is a structural schematic diagram of a first flange of a manipulator provided by an embodiment of the present invention;

[0081] Fig.11 It is a schematic structural diagram of a vacuum nozzle of a robot provided in an embodiment of the present invention.

[0082] Description of reference numerals:

[0083] 1000-cleaning equipment; 100-robot arm; 110-base;

[0084] 120-folding arm; 121-connecting arm; 140-dust suction pipe;

[0085] 200-equipment body; 210-top surface; 220-bottom surface;

[0086] 230-side wall; 240-accommodating cavity; 250-cover plate;

[0087] 270- vision module; 280- side brush; 290- rag tray;

[0088] 300-manipulator; 310-connecting part; 311-housing;

[0089] 312-driving device; 3121-driving unit; 3122-driving motor;

[0090] 313-blocking piece;

[0091] 320-first flange; 321-first through hole; 322-extension wall;

[0092] 323-connection hole; 324-first space; 325-second space;

[0093] 326-first blocking portion; 327-second blocking portion; 328-first retaining edge;

[0094] 329-second rib; 330-clamping arm; 331-driving end;

[0095] 340 - second flange; 341 - second through hole;

[0096] 350-detection component; 351-vision component; 352-sensor component;

[0097] 361-limiting flange; 362-elastic member; 363-first elastic arm;

[0098] 364-second elastic arm; 370-chuck; 371-soft rubber part;

[0099] 372-support member; 373-buffer member; 374-drive rod;

[0100] 375-first driven rod; 376-second driven rod; 377-support rod;

[0101] 381-first connection position; 382-second connection position; 383-third connection position;

[0102] 384 - fourth connection position; 390 - dust suction nozzle; 391 - first dust suction port;

[0103] 392 - second dust suction port; 400 - obstacle; 500 - plane where the opening is located. DETAILED DESCRIPTION

[0104] 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.

[0105] Cleaning equipment such as sweepers and floor scrubbers are popular among people for their ability 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 a robotic hand is provided at the end of the robotic arm, through which actions such as grabbing can be performed.

[0106] The robot in the related technology is usually a two-finger robot with a flippable vision module on it. The opening and closing of the robot and the flipping of the vision module are each driven by a set of motors. However, this will make the robot larger and difficult to clean some relatively narrow locations, thus limiting the application scenarios of the robot.

[0107] In order to solve the above technical problems, the present application proposes a manipulator, a mechanical arm and a cleaning device. The manipulator can realize the actions of gripping and rotating, can enter some narrow spaces, has a wide range of application scenarios, and can solve the problem of limited application scenarios of mechanical arms in related technologies.

[0108] The following is a detailed description of the manipulator, robot arm and cleaning equipment provided in the embodiments of the present application in conjunction with the accompanying drawings.

[0109] The embodiment of the present application provides a cleaning device, which may be a sweeper, a floor scrubber, etc. In the embodiment of the present application, the type of the cleaning device is not further limited. The cleaning device is described below as a sweeper.

[0110] For the convenience of description, in the embodiment of the present application, the horizontal direction is taken as the x direction, the vertical direction is taken as the z direction, the first direction is the y direction, and the x direction, the y direction and the z direction are perpendicular to each other.

[0111] Figure 1 It is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention. Figure 2 It is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention.

[0112] The present application embodiment provides a cleaning device 1000, such as Figure 1 and Figure 2 As shown, the cleaning device 1000 may include a device body 200 and a robot arm 100, the end of the robot arm 100 is rotatably provided with a robot hand 300, and the robot arm 100 is connected to the device body 200. Exemplarily, the robot arm 100 can rotate 360° relative to the device body, and the axis of rotation of the robot arm 100 relative to the device body 200 can be parallel to the vertical direction (z direction). In this way, the coverage range of the robot arm 100 can be increased.

[0113] like Figure 2 As shown, the device body 200 may include a housing cavity 240, and the base 110 of the robot arm 100 is disposed in the housing cavity 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 cavity 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 cavity 240.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] Continue to see Figure 2 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 .

[0118] 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.

[0119] 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.

[0120] Exemplarily, the cleaning device 1000 may further include a vision module 270. The vision module 270 is disposed at the front end of the device body 200, and the vision module 270 is used to obtain environmental information of the area to be cleaned. For example, the vision module 270 can realize mobile navigation, obstacle avoidance, object recognition, object positioning, etc. of the cleaning device 1000 based on the obtained environmental information.

[0121] It should be noted that the front end of the device body 200 refers to the end facing the forward direction of the device body 200 .

[0122] By setting up the vision module 270, the cleaning device 1000 can be facilitated to perceive and navigate the environment through the vision module 270, for example, to identify and detect obstacles 400, such as furniture, walls and other objects, to avoid collisions. Identify the edges and stairs of the floor to prevent the robot from falling, identify dirt and garbage on the ground, and optimize the cleaning path. Through the images captured by the vision module 270, the cleaning device 1000 can build a map of the environment (simultaneous localization and mapping, SLAM) to help it navigate in a complex environment. Based on the constructed map and real-time image data, the robot can plan the optimal cleaning path to improve efficiency and coverage. Through the vision module 270, the robot can determine its own position and direction to ensure the accuracy of navigation. Through image processing, the cleaning device 1000 can identify different types of floors, such as carpets, wooden floors, tiles, etc., and adjust the cleaning mode and intensity.

[0123] Continue to see Figure 2 As shown, the cleaning device 1000 may also include cleaning components such as a side brush 280 and a rag disc 290. Exemplarily, two side brushes 280 and two rag discs 290 are provided on the device body 200, the two side brushes 280 are arranged near the front end of the device body 200, and the two rag discs 290 are arranged near the rear end of the device body 200. The two rag discs 290 are arranged on the bottom surface 220 of the device body 200 and can be used to clean the floor. One end of the two side brushes 280 is arranged in contact with the ground and can be used to clean the ground.

[0124] The two side brushes 280 are symmetrically arranged on the device body 200 to clean the floor and part of the facade, and the rag tray 290 is symmetrically arranged on the device body 200. The cover plate 250 can be automatically flipped to close the body of the robot arm 100 after it is received inside the device body 200 and to avoid the robot arm 100 after it is unfolded. Figure 1 to Figure 2 The process of unfolding and folding and unfolding is shown.

[0125] In some embodiments, two side brushes 280 are movably disposed on the device body 200, and the two side brushes 280 can move toward or away from each other to achieve more cleaning work. In the embodiment of the present application, the specific structure of the side brush 280 is not further limited.

[0126] Figure 3 It is a schematic diagram of the structure of a mechanical arm provided by an embodiment of the present invention.

[0127] like Figure 3As shown, the robot arm 100 may include a base 110, a folding arm 120, a robot 300 and a dust suction pipe 140. The base 110 is used to connect with the device body 200. The folding arm 120 may include a plurality of rotatably connected connecting arms 121, the robot 300 is arranged at the end of the robot arm 100, and the connecting portion 310 of the robot 300 is rotatably connected to the end of the robot arm 100, and the robot 300 is used to perform a grasping action. The dust suction pipe 140 is arranged on the folding arm 120, and the outside of the robot 300 is provided with a dust suction pipe 140, one end of the dust suction pipe 140 is connected to the dust suction nozzle 390, and the other end is connected to the dust box (not shown in the figure) of the device body 200, so that the dust suction pipe 140 can perform a dust suction operation.

[0128] In one possible implementation, Figure 4 and Figure 5 As shown, the rotation axis between the manipulator 300 and the end of the folding arm 120 is parallel to the horizontal direction. During the rotation process of the manipulator 300 relative to the end of the folding arm 120, the manipulator 300 passes through at least a horizontal plane and a vertical plane.

[0129] The cleaning device 1000 in the embodiment of the present application may be a sweeper or the like. By providing the above-mentioned robotic arm 100, the cleaning device 1000 may have a robotic arm 100 and have a grabbing function and a vacuuming function. The robotic arm 100 may be used to perform vacuuming operations on some locations of the device body 200 that are difficult to clean, such as skirtings, facades, sliding door tracks, right angles, bosses, etc., to improve the cleaning effect. The robotic arm 100 may also be used to grab some relatively large garbage or obstacles 400, such as toys, shoes, etc. These relatively large garbage or obstacles 400 may be removed by the robotic arm 100, which facilitates the device body 200 to perform cleaning operations, thereby enriching the functions of the cleaning device 100 and improving the user experience.

[0130] The robot 300 is described in detail below with reference to the accompanying drawings.

[0131] Figure 6 It is a schematic cross-sectional structure diagram of a robot arm 300 provided in an embodiment of the present invention. Figure 7 It is a schematic cross-sectional structure diagram of a robot arm 300 provided in an embodiment of the present invention.

[0132] like Figure 3 As shown, the robot 300 may include a connecting portion 310 , a first flange 320 , and a plurality of clamping arms 330 .

[0133] like Figure 6As shown, the connection part 310 may include a housing 311 and a driving device 312 disposed in the housing 311. The first flange 320 is rotationally connected to the connection part 310, and the driving device 312 is transmission-connected to the first flange 320, and the driving device 312 is used to drive the first flange 320 to rotate.

[0134] like Figure 7 As shown, multiple clamp arms 330 are arranged at intervals on the outside of the first flange 320, one end of each clamp arm 330 is rotatably connected to the first flange 320, and one end of the multiple clamp arms 330 away from the first flange 320 forms an opening. The driving device 312 is transmission-connected to each clamp arm 330, and the driving device 312 is used to drive the multiple clamp arms 330 to move closer to or away from each other, so as to open or close the opening. The rotation axis of the first flange 320 is perpendicular to the plane 500 where the opening is located. Figure 8 As shown, the rotation direction of the multiple clamping arms 330 is the direction indicated by the arrow in the figure.

[0135] The manipulator 300 provided in the embodiment of the present application is provided with a driving device 312, and the driving device 312 is transmission-connected with the first flange 320 and the plurality of clamping arms 330, so that the driving device 312 can drive the first flange 320 to rotate, and can also drive the openings of the plurality of clamping arms 330 to open or close, so that the opening and closing and rotation of the manipulator 300 can be realized by a driving device 312, and relative to the two-direction degrees of freedom realized by two driving modules in the related art, the technical solution of the present application can effectively simplify the structure of the manipulator 300, reduce the difficulty of assembly, and thus reduce the cost. In this way, the weight of the manipulator 300 itself can be reduced, so that energy can be saved and the load of the manipulator 300 can be increased. In addition, the volume of the manipulator 300 can be reduced in this way, so that the manipulator 300 can be suitable for more narrow spaces to adapt to more application scenarios.

[0136] By setting the rotation axis of the first flange 320 perpendicular to the plane 500 where the opening is located, the angle of the clamping arm 330 can be adjusted according to the size of the space to be cleaned, so that the size of the clamping arm 330 in the width direction of the space to be cleaned can match the space to be cleaned, so that the manipulator 300 can enter the space to be cleaned and perform cleaning operations, etc., which can improve the applicability of the manipulator 300.

[0137] It should be noted that when the connection portion 310 of the manipulator 300 is connected to the robot arm 100, the connection can be rotated in the horizontal direction, so that the end of the robot arm 100 provided with the manipulator 300 has three degrees of freedom, which can realize flipping in the horizontal direction, opening and closing in the plane 500 where the opening is located, and rotation in the first direction. The first direction is perpendicular to the plane 500 where the opening is located, and the first direction is perpendicular to both the horizontal direction and the vertical direction, thereby improving the applicability of the robot arm 100 provided with the manipulator 300.

[0138] Fig. 9 It is an exploded schematic diagram of a robot arm 300 provided in an embodiment of the present invention.

[0139] Combination Figure 7 and Fig. 9 As shown, the driving device 312 may include a driving portion 3121, which is disposed through the first flange 320 and is movably connected to the first flange 320. The driving device 312 also includes a driving motor 3122, which is drivingly connected to the driving portion 3121, and the driving motor 3122 is used to drive the driving portion 3121 to rotate. The driving motor 3122 is fixedly connected to the housing 311.

[0140] like Fig. 9 As shown, the first flange 320 includes a plurality of connection positions, which can be used to connect the clamp arm 330. The first flange 320 is also provided with a first through hole 321 for the driving part 3121 to pass through, so as to be movably connected with the driving part 3121.

[0141] like Figure 7 As shown, the clamp arm 330 may include a driving end 331 , and the driving ends 331 of the plurality of clamp arms 330 are all disposed on the outside of the driving portion 3121 , and are all drivingly connected to the driving portion 3121 .

[0142] In some embodiments, the driving portion 3121 is provided with a second flange 340, and the driving end 331 of the clamp arm 330 is drivingly connected to the driving portion 3121 via the second flange 340. By providing the second flange 340, the driving portion 3121 and the driving end 331 of the clamp arm 330 can be easily connected to each other, reducing the difficulty of assembly.

[0143] In the embodiment of the present application, the driving portion 3121 is used to drive the driving end 331 of the clamping arm 330 to move along the axial direction of the driving portion 3121 when rotating around the axial direction of the driving portion 3121, so as to drive the multiple clamping arms 330 to move closer to or farther from each other. The driving portion 3121 is also used to continue to rotate in the same direction to drive the first flange 320 to rotate together with the driving portion 3121 when the driving end 331 cannot move along the axial direction of the driving portion 3121.

[0144] By providing a driving part 3121 and movably connecting the driving part 3121 with the first flange 320, the driving part 3121 can rotate relative to the first flange 320. By connecting the driving part 3121 with the clamping arm 330 in a transmission manner, the clamping arm 330 can be driven to move along the axial direction of the driving part 3121 by controlling the rotation of the driving part 3121, so that the openings between the multiple clamping arms 330 are opened. By connecting the clamping arm 330 with the first flange 320, the rotation of the clamping arm 330 can drive the first flange 320 to rotate. Therefore, when the driving end 331 of the clamping arm 330 moves to the limit along the axial direction of the driving part 3121, it will stop moving along the axial direction of the driving part 3121. At this time, the driving part 3121 continues to rotate in the same direction, which will drive the clamping arm 330 to rotate together, thereby driving the first flange 320 connected to the clamping arm 330 to rotate. In this way, the freedom of two directions can be achieved through one driving part 3121, which can simplify the structure of the driving device 312, reduce the difficulty of assembly, and reduce costs.

[0145] Exemplarily, the second flange 340 is provided with a second through hole 341 that cooperates with the driving portion 3121. The second flange 340 passes through the driving portion 3121 and is rotationally connected to the driving portion 3121. In the axial direction of the driving portion 3121, the second flange 340 is movably connected to the driving portion 3121. The driving portion 3121 is used to drive the second flange 340 to move along the axial direction of the driving portion 3121 when rotating around the axial direction of the driving portion 3121.

[0146] The driving ends 331 of the plurality of clamp arms 330 are all rotatably connected to the second flange 340. The driving end 331 of each clamp arm 330 is rotatably connected to the second flange 340, and the driving portion 3121 is also used to continue to rotate in the same direction to drive the second flange 340 and the driving portion 3121 to rotate together when the second flange 340 cannot move along the axial direction of the driving portion 3121.

[0147] It should be noted that the rotation axis of the second flange 340 relative to the driving part 3121 is the central axis of the driving part 3121 , and the rotation axis of the driving end 331 of the clamping arm 330 and the second flange 340 is perpendicular to the central axis of the driving part 3121 .

[0148] By inserting the second flange 340 into the driving portion 3121 and rotatably connected to the driving portion 3121, and movably connected to the driving portion 3121 in the axial direction of the driving portion 3121, the driving portion 3121 can drive the second flange 340 to move along the axial direction of the driving portion 3121. By rotatably connecting the driving end 331 of each clamping arm 330 to the second flange 340, when the second flange 340 moves along the axial direction of the driving portion 3121, the multiple clamping arms 330 can be driven to move closer to or farther from each other, so that the opening formed between the multiple clamping arms 330 is opened or closed. In addition, by rotating the driving end 331 of each clamp arm 330 to the second flange 340, when the second flange 340 moves to the extreme position along the axial direction of the driving portion 3121 and cannot continue to move axially, the driving portion 3121 continues to rotate in the same direction, which can drive the second flange 340 to rotate together with the driving portion 3121, thereby driving the clamp arm 330 connected to the second flange 340 to rotate together. Since the clamp arm 330 is connected to the first flange 320, it will drive the first flange 320 to rotate together.

[0149] Fig.10 3 is a schematic structural diagram of a first flange 320 of a manipulator 300 provided in an embodiment of the present invention.

[0150] like Fig.10 As shown, the first flange 320 may include two extending walls 322 arranged at intervals along the z direction, and two connecting positions arranged oppositely along the x direction, each connecting position including two connecting holes 323, and the connecting holes 323 may be used to realize rotational connection with the clamp arm 330. A first space 324 for accommodating the second flange 340 and the driving portion 3121 is formed between the two extending walls 322. Second spaces 325 for the clamp arm 330 to move are formed on both sides of the first space 324 along the x direction, and the driving end 331 of the clamp arm 330 may move in the second space 325 to prevent the first flange 320 from obstructing the driving end 331 of the clamp arm 330.

[0151] Continue to see Figure 7 As shown, the first flange 320 also includes a first blocking portion 326 and a second blocking portion 327. The first blocking portion 326 and the second blocking portion 327 are arranged opposite to each other along the axial direction (y direction) of the driving portion 3121. The second flange 340 is located between the first blocking portion 326 and the second blocking portion 327. When the second flange 340 abuts against the first blocking portion 326, the plurality of clamping arms 330 are in a state of being opened to the maximum. When the second flange 340 abuts against the second blocking portion 327, the plurality of clamping arms 330 are in a closed state. The second flange 340 moves between the first blocking portion 326 and the second blocking portion 327.

[0152] By providing the first blocking portion 326 and the second blocking portion 327, the second flange 340 can be prevented from being separated from the driving portion 3121 at the first blocking portion 326 or the second blocking portion 327, so as to limit the travel of the second flange 340. This prevents damage to the manipulator 300 and increases the service life of the manipulator 300.

[0153] Exemplarily, the first blocking portion 326 and the second blocking portion 327 may be connected to the first flange 320 by fasteners, for example, by screws. One end of the driving portion 3121 passes through the first blocking portion 326 and is rotatably connected to the first blocking portion 326.

[0154] In some embodiments, the manipulator 300 may further include a blocking member 313, which is disposed between the driving portion 3121 and the first blocking portion 326, and is used to rotatably connect the driving portion 3121 to the first blocking portion 326. This improves the connection stability between the driving portion 3121 and the first blocking portion 326, and the blocking member 313 can provide support for the driving portion 3121, thereby improving the stability of the driving portion 3121 when rotating.

[0155] Exemplarily, the blocking member 313 may include structures such as a bearing and a screw, wherein the bearing is sleeved on the driving portion 3121, and the inner ring is fixedly connected to the driving portion 3121, and the outer ring is fixedly connected to the first blocking portion 326. The screw is arranged at one end of the driving portion 3121 away from the second blocking portion 327, and the bearing is fixedly connected to the driving portion 3121. Of course, in other embodiments, the blocking member 313 may also be other structures, and the specific structure of the blocking member 313 is not further limited in the embodiment of the present application.

[0156] In a possible implementation, the driving part 3121 is a screw structure, and a thread is arranged on the outer side of the screw structure. The second flange 340 is provided with a threaded hole, and the screw structure is matched and connected with the threaded hole.

[0157] Such a configuration can simplify the structures of the driving portion 3121 and the second flange 340, thereby reducing the cost.

[0158] Of course, in other embodiments, the transmission mode of the driving part 3121 and the second flange 340 can also adopt other transmission modes. For example, a slide rail and a slider can be set on the driving part 3121, wherein the slide rail and the slider are connected by a threaded drive, and the rotating slide rail can drive the slider to move along the axial direction of the slide rail, and the slider is fixedly connected to the second flange 340, thereby driving the second flange 340 to move along the axial direction of the slide rail. When the slider moves to a state where it cannot move, continuing to rotate the slide rail will drive the slider to rotate together, thereby driving the second flange 340 to rotate together. In the embodiment of the present application, the transmission mode between the driving part 3121 and the second flange 340 is not further limited.

[0159] In one possible implementation, combining Figure 7 and Fig. 9 As shown, the manipulator 300 may further include a limiting flange 361 and an elastic member 362. The limiting flange 361 is fixedly connected to the housing 311, one end of the elastic member 362 is engaged with the limiting flange 361, and the other end is engaged with the first flange 320, and the elastic member 362 is used to limit the rotation of the first flange 320 relative to the housing 311. When the torque applied to the end of the elastic member 362 connected to the first flange 320 is greater than a preset threshold, the elastic member 362 generates elastic deformation, and the first flange 320 drives the end of the elastic member 362 connected to the first flange 320 to rotate.

[0160] Such a configuration can prevent the manipulator 300 from rotating at will when the manipulator 300 is used, that is, by providing the limiting flange 361 and the elastic member 362, the first flange 320 can be limited from rotating relative to the connecting portion 310. When the limiting effect of the elastic member 362 on the first flange 320 is destroyed by an external force, the first flange 320 can be driven to rotate, which can reduce the shaking of the manipulator 300 and improve the accuracy of the movement of the manipulator 300.

[0161] In a possible implementation, the first flange 320 is provided with a retaining edge matched with the elastic member 362, and the retaining edge is engaged and connected with the elastic member 362. Such a configuration can facilitate the engagement and connection of the elastic member 362 with the first flange 320, thereby reducing the difficulty of assembly.

[0162] In a possible implementation, the elastic member 362 includes a torsion spring.

[0163] Exemplarily, the torsion spring may include a helical elastic portion and two elastic arms, and the first flange 320 includes two ribs that are oppositely disposed.

[0164] For the convenience of description, the two elastic parts are respectively used as the first elastic arm 363 and the second elastic arm 364, and the two retaining edges are respectively used as the first retaining edge 328 and the second retaining edge 329, wherein the first elastic arm 363 is snap-fitted and connected with the first retaining edge 328, and the first elastic arm 363 is used to limit the first flange 320 to rotate clockwise (or counterclockwise), and the second elastic arm 364 is snap-fitted and connected with the second retaining edge 329, and the second elastic arm 364 is used to limit the first flange 320 to rotate counterclockwise (or clockwise).

[0165] Exemplarily, the elastic member 362 is two torsion springs with opposite rotation directions, one of which is snap-connected with the first baffle 328 to limit the first flange 320 from rotating in a clockwise direction (or counterclockwise direction), and the other torsion spring is snap-connected with the second baffle 329 to limit the first flange 320 from rotating in a counterclockwise direction (or clockwise direction).

[0166] By configuring the elastic member 362 as a torsion spring, the structure of the elastic member 362 can be simplified, the difficulty of assembly can be reduced, and the cost can be reduced.

[0167] It should be noted that when the elastic arm moves in the same direction as the spiral direction of the elastic part, the elastic part will be squeezed in the direction of tightening the elastic part, and when the elastic arm moves in the opposite direction to the spiral direction of the elastic part, the elastic part will be squeezed in the direction of opening the elastic part. Since the elastic part has a certain anti-deformation ability, the two ribs of the first flange 320 are respectively connected to an elastic arm to prevent the first flange 320 from rotating relative to the elastic member 362. When the torque applied to the first flange 320 is greater than a preset threshold, the rotating part of the elastic member 362 generates elastic deformation, so that the first flange 320 drives the end of the elastic member 362 connected to the first flange 320 to rotate.

[0168] Continue to see Figure 7 As shown, a clamp 370 is provided at one end of the clamp arm 330 away from the connection part 310, and a soft rubber part 371 is provided on the inner side of the clamp 370. A support part 372 and a buffer part 373 are provided on the outer side of the soft rubber part 371, and the support part 372 and the buffer part 373 are both fixedly connected to the soft rubber part 371. The support part 372 is fixedly connected to the buffer part 373, and the support part 372 is arranged near the end of the clamp 370 away from the connection part 310. The rigidity of the buffer part 373 is greater than that of the soft rubber part 371, and less than that of the support part 372.

[0169] For example, the material of the soft plastic part 371 can be silicone, rubber, etc., the material of the support part 372 can be a metal material, and the buffer part 373 can be a hard plastic part or a plastic material with greater rigidity. In the embodiment of the present application, the materials of the soft plastic part 371, the support part 372 and the buffer part 373 are not further limited.

[0170] By setting the inner side of the chuck 370 as a soft rubber part 371, the gripping force and stability can be improved when performing the gripping action. The soft rubber material usually has a high friction coefficient, which can increase the friction between the chuck 370 and the gripped object, thereby improving the gripping force and stability. The high friction can effectively prevent the gripped object from sliding or shifting during the gripping process, ensuring the reliability of the gripping process. By setting the inner side of the chuck 370 as a soft rubber part 371, the gripped object can be protected. The soft rubber material has a certain elasticity and softness, which can buffer the gripping force and reduce the damage to the surface of the gripped object. It is particularly suitable for fragile or surface-sensitive objects such as glass, electronic components and precision instruments. The soft rubber part 371 can evenly disperse the gripping force to avoid deformation or rupture of the object due to excessive local pressure. The soft rubber material has a certain deformation ability and can adapt to objects of different shapes and sizes, thereby improving the versatility and adaptability of the manipulator 300. Through the deformation ability of the soft rubber part 371, the manipulator 300 can better grip objects with irregular shapes or uneven surfaces. The soft rubber material has good vibration reduction performance, can absorb and buffer the vibration during the clamping process, and reduce the impact on the mechanical system. In the process of clamping and releasing the object, the soft rubber part 371 can reduce the contact noise and improve the quietness of the operation. The high friction coefficient and elasticity of the soft rubber material can effectively prevent the object from accidentally slipping and improve the safety of the operation.

[0171] By arranging the support member 372 and the buffer member 373 on the outside of the soft rubber member 371, the support member 372 can provide support to the soft rubber member 371 to prevent the soft rubber member 371 from being deformed too much, which may cause the robot 300 to fail to grip. The buffer member 373 can buffer the collision force between the clamp 370 and the obstacle 400, prevent the support member 372 from being deformed or damaged, and prevent the object that collides with the support member 372 from being damaged, thereby improving adaptability.

[0172] In one possible implementation, Figure 7 As shown, the clamp arm 330 may include a driving rod 374, a first driven rod 375, and a second driven rod 376, and a support rod 377 is formed on the first flange 320. One end of the driving rod 374 is the driving end 331 of the clamp arm 330, and the other end is rotatably connected to a position between the two ends of the first driven rod 375. One end of the first driven rod 375 is rotatably connected to the clamp head 370, and the other end is rotatably connected to the support rod 377. One end of the second driven rod 376 is rotatably connected to the clamp head 370, and the other end is rotatably connected to the support rod 377. The first driven rod 375 and the second driven rod 376 are arranged in parallel, and the second driven rod 376 is located outside the first driven rod 375.

[0173] It should be noted that the position where the first driven rod 375 is connected to the chuck 370 is the first connection position 381, the position where the second driven rod 376 is connected to the chuck 370 is the second connection position 382, ​​and the first connection position 381 and the second connection position 382 are arranged at intervals. The position where the first driven rod 375 is connected to the support rod 377 is the third connection position 383, and the position where the second driven rod 376 is connected to the support rod 377 is the fourth connection position 384. Among them, the connection line of the first connection position 381 and the second connection position 382 forms a connecting rod structure, and the connection line of the third connection position 383 and the fourth connection position 384 forms the support rod 377. In this way, the clamp arm 330 can form a four-bar linkage, which is convenient for controlling the opening of the manipulator 300 to open or close.

[0174] Such a configuration can simplify the structure of the clamping arm 330 and thus reduce the cost.

[0175] Of course, in other embodiments, the clamp arm 330 may also be configured as other structures. In the embodiment of the present application, the specific structure of the clamp arm 330 is not further limited.

[0176] In one possible implementation, see Figure 7 As shown, a dust suction nozzle 390 is provided on the outer side of at least one clamping arm 330 of the manipulator 300, and the dust suction nozzle 390 may be a hollow structure. When in use, the dust suction nozzle 390 may be connected to the dust suction pipe 140 of the manipulator 100, so that the manipulator 300 may perform a dust suction action, thereby enriching the functions of the manipulator 300 and improving the adaptability of the manipulator 300.

[0177] In a possible implementation, a soft structure is provided at the end of the suction nozzle 390. For example, a soft brush, a silicone structure, a rubber structure, a plastic structure, etc. In the embodiment of the present application, the material of the soft structure is not further limited.

[0178] Because the soft structure has a certain degree of elasticity and softness, it can buffer impact force and is particularly suitable for fragile or surface-sensitive objects. This can reduce wear or scratches on the ground, walls, and narrow gap boundaries during operation.

[0179] In one possible implementation, Fig.11 As shown, the suction nozzle 390 may include a first suction port 391 and a second suction port 392. The first suction port 391 is located at the top of the suction nozzle 390. When the manipulator 300 is perpendicular to the horizontal plane, the first suction port 391 faces the ground. The second suction port 392 is located on the side wall 230 of the suction nozzle 390. When the manipulator 300 is parallel to the horizontal plane, the second suction port 392 faces the ground.

[0180] By providing the suction nozzle 390 with a first suction port 391 and a second suction port 392, it is possible to suck garbage and other objects in different directions. For example, dust in a narrow space can be sucked through the first suction port 391. Large and light objects on the ground, such as waste paper, can be sucked through the second suction port 392. In other words, dust can be sucked through the first suction port 391, and objects can be picked up through the second suction port 392. In this way, the applicability of the suction nozzle 390 can be improved. The robot arm 100 can achieve more functions and improve the user experience.

[0181] In a possible implementation, a baffle may be provided at the first dust suction port 391 and the second dust suction port 392. When the first dust suction port 391 or the second dust suction port 392 needs to be used for cleaning, the baffle at the first dust suction port 391 or the second dust suction port 392 may be opened to form suction at the first dust suction port 391 or the second dust suction port 392. In the embodiment of the present application, the setting method and control method of the baffle are not further limited.

[0182] In a possible implementation, the manipulator 300 may further include a detection component 350. The detection component 350 is disposed outside the housing 311 and is fixedly connected to the housing 311, and the detection end of the detection component 350 is disposed toward the clamping arm 330. The detection component 350 is at least used to detect the type of the obstacle 400 in the area to be cleaned.

[0183] Such an arrangement allows the manipulator 300 to detect the types of surrounding objects, etc., so that the manipulator 300 has a visual function, which can increase the function of the manipulator 300 and improve the operating accuracy of the manipulator 300.

[0184] Exemplarily, the detection component 350 is fixedly connected to the housing 311, so that when the housing 311 rotates relative to the second end of the robot 100, the detection component 350 can be driven to rotate with the housing 311, which can reduce the difficulty of installing the detection component 350, thereby reducing the cost. In addition, the detection component 350 can always be directed toward the front end of the robot 300, thereby facilitating the detection of objects in front of the robot 300, facilitating information collection, and improving detection efficiency.

[0185] The detection component 350 is used to detect the type of obstacle 400 at the front end of the manipulator 300, such as wires, shoes, pets, etc., and then the manipulator 300 is controlled to perform corresponding actions according to the type of obstacle 400. For example, when the obstacle 400 at the front end of the manipulator 300 is a movable obstacle 400 such as a shoe, the manipulator 300 can be controlled to grab the obstacle 400. When the obstacle 400 at the front end of the manipulator 300 is garbage such as dust and hair, the manipulator 300 can be controlled to perform a vacuuming action to absorb the dust and hair.

[0186] In a possible implementation, the detection component 350 includes a visual component 351 and a sensor component 352. The sensor component 352 is used to collect category information of the target obstacle 400. The visual component 351 is used to collect image information of the target obstacle 400.

[0187] Such a configuration can improve the detection accuracy of the detection component 350, thereby improving the operation accuracy of the robot arm 100, and thereby improving the user experience. In addition, the detection component 350 cooperates with the visual module 270 on the device body 200 to improve the environmental perception and navigation capabilities of the cleaning device 1000, thereby enabling the cleaning device 1000 to have more functions and improve the user experience.

[0188] For example, the sensor assembly 352 may include one or more of a shape sensor, a distance sensor, an infrared sensor, a temperature sensor, a material sensor, a dirt sensor, etc., so as to detect the type of the object. In the embodiment of the present application, the specific composition of the sensor assembly 352 is not further limited.

[0189] For example, in some families with pets or children, the visual component 351 in the detection component 350 can be used to take photos of the pets or children, record the daily life of the pets and children, etc. The visual component 351 and the sensor component 352 can be used to interact with the children, build blocks, etc. A voice module can also be set to realize chat interaction with the user through the visual component 351, the sensor component 352 and the voice module.

[0190] 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.

[0191] 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.

[0192] 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.

[0193] 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 manipulator, used for a mechanical arm, characterized in that: include: A connecting portion (310) comprising a housing (311) and a driving device (312) disposed in the housing (311); A first flange (320) is rotatably connected to the connecting portion (310); the driving device (312) is transmission-connected to the first flange (320); the driving device (312) is used to drive the first flange (320) to rotate; A plurality of clamp arms (330) are arranged at intervals on the outside of the first flange (320), one end of each of the clamp arms (330) is rotatably connected to the first flange (320), one end of the plurality of clamp arms (330) away from the first flange (320) forms an opening, the driving device (312) is transmission-connected to each of the clamp arms (330), and the driving device (312) is used to drive the plurality of clamp arms (330) to move closer to or farther from each other, so as to open or close the opening; wherein, The rotation axis of the first flange (320) is perpendicular to the plane (500) where the opening is located.

2. The robot according to claim 1, characterized in that: The driving device (312) comprises a driving portion (3121), wherein the driving portion (3121) is disposed through the first flange (320) and is movably connected to the first flange (320); The clamping arm (330) comprises a driving end (331), and the driving ends (331) of the plurality of clamping arms (330) are all arranged on the outside of the driving portion (3121), and are all in transmission connection with the driving portion (3121); The driving portion (3121) is used to drive the driving end (331) of the clamping arm (330) to move along the axial direction of the driving portion (3121) when rotating around the axial direction of the driving portion (3121), so as to drive the plurality of clamping arms (330) to move closer to or farther from each other; The driving portion (3121) is also used to continue to rotate in the same direction to drive the first flange (320) to rotate together with the driving portion (3121) when the driving end (331) is unable to move along the axial direction of the driving portion (3121).

3. The robot according to claim 2, characterized in that: The driving portion (3121) is provided with a second flange (340), and the driving end (331) of the clamping arm (330) is transmission-connected to the driving portion (3121) via the second flange (340).

4. The robot according to claim 3, characterized in that: The driving ends (331) of the plurality of clamp arms (330) are all rotatably connected to the second flange (340); The second flange (340) is inserted through the driving portion (3121) and is rotatably connected to the driving portion (3121). In the axial direction of the driving portion (3121), the second flange (340) is movably connected to the driving portion (3121). The driving portion (3121) is used to drive the second flange (340) to move along the axial direction of the driving portion (3121) when rotating around the axial direction of the driving portion (3121). The driving end (331) of each clamping arm (330) is rotationally connected to the second flange (340), and the driving portion (3121) is also used to continue to rotate in the same direction to drive the second flange (340) to rotate together with the driving portion (3121) when the second flange (340) cannot move along the axial direction of the driving portion (3121).

5. The robot according to claim 3 or 4, characterized in that: The first flange (320) includes a first blocking portion (326) and a second blocking portion (327); wherein, The first blocking portion (326) and the second blocking portion (327) are arranged opposite to each other along the axial direction of the driving portion (3121); The second flange (340) is located between the first blocking portion (326) and the second blocking portion (327); When the second flange (340) abuts against the first blocking portion (326), the plurality of clamp arms (330) are in a state of being opened to the maximum; When the second flange (340) abuts against the second blocking portion (327), the plurality of clamping arms (330) are in a closed state.

6. The robot according to claim 5, characterized in that: The driving part (3121) is a screw rod structure, and the outer side of the screw rod structure is provided with threads; The second flange (340) is provided with a threaded hole, and the screw rod structure is cooperatively connected with the threaded hole.

7. The manipulator according to any one of claims 1 to 4, characterized in that: It also includes a limiting flange (361) and an elastic member (362); The limiting flange (361) is fixedly connected to the housing (311); one end of the elastic member (362) is snap-connected to the limiting flange (361), and the other end is snap-connected to the first flange (320); the elastic member (362) is used to limit the first flange (320) from rotating relative to the housing (311); When the torque applied to one end of the elastic member (362) connected to the first flange (320) is greater than a preset threshold, the elastic member (362) undergoes elastic deformation, and the first flange (320) drives the end of the elastic member (362) connected to the first flange (320) to rotate.

8. The robot according to claim 7, characterized in that: The first flange (320) is provided with a retaining edge matched with the elastic member (362), and the retaining edge is snap-fitted and connected with the elastic member (362).

9. The robot according to claim 8, characterized in that: The elastic member (362) includes a torsion spring.

10. The manipulator according to any one of claims 1 to 4, characterized in that: A clamping head (370) is provided at one end of the clamping arm (330) away from the connecting portion (310), and a soft rubber part (371) is provided on the inner side of the clamping head (370); A support member (372) and a buffer member (373) are provided on the outer side of the soft rubber member (371); the support member (372) and the buffer member (373) are both fixedly connected to the soft rubber member (371); the support member (372) and the buffer member (373) are fixedly connected; and the support member (372) is arranged close to an end of the clamp (370) away from the connecting portion (310); The rigidity of the buffer component (373) is greater than that of the soft rubber component (371) and smaller than that of the support component (372).

11. The robot according to claim 10, characterized in that: The clamp arm (330) includes a driving rod (374), a first driven rod (375) and a second driven rod (376), and a supporting rod (377) is formed on the first flange (320): wherein, One end of the driving rod (374) is the driving end (331) of the clamping arm (330), and the other end is rotationally connected to the first driven rod (375); One end of the first driven rod (375) is rotatably connected to the clamp (370), and the other end is rotatably connected to the support rod (377); One end of the second driven rod (376) is rotatably connected to the clamp (370), and the other end is rotatably connected to the support rod (377); The first driven rod (375) and the second driven rod (376) are arranged in parallel, and the second driven rod (376) is located outside the first driven rod (375).

12. The manipulator according to any one of claims 1 to 4, characterized in that: A dust suction nozzle (390) is provided on the outer side of at least one of the clamping arms (330), and the dust suction nozzle (390) is a hollow structure.

13. The robot according to claim 12, characterized in that: The end of the dust suction nozzle (390) is provided with a soft structure.

14. The robot according to any one of claims 1 to 4, characterized in that: Also included is a detection component (350); wherein, The detection component (350) is arranged on the outside of the shell (311) and is fixedly connected to the shell (311), and the detection end of the detection component (350) is arranged toward the clamping arm (330).

15. A robotic arm, characterized in that: A manipulator comprising any one of claims 1 to 14 above; wherein: The manipulator is arranged at the end of the manipulator arm, and the connecting portion (310) of the manipulator is rotatably connected to the end of the manipulator arm.

16. The robot arm according to claim 15, characterized in that: The mechanical arm comprises a dust suction pipe (140); wherein, A dust suction nozzle (390) is provided on the outer side of at least one clamping arm (330), and the dust suction pipe (140) is in communication with the dust suction nozzle (390).

17. A cleaning device, characterized in that: It comprises a device body (200) and the robot arm as described in claim 15 or 16; The mechanical arm is rotatably connected to the device body (200).

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