Mechanical arm, self-moving equipment and self-moving system

Abstract

The invention discloses a mechanical arm, self-moving equipment and a self-moving system, and belongs to the technical field of robots, the mechanical arm can be connected with a self-moving device, the self-moving device is provided with a mounting surface, the mechanical arm comprises an arm body, a mounting seat and a connecting assembly, and the arm body is mounted on the first side of the mounting seat; the connecting assembly comprises a support, a suction cup and a magnet, the support is fixedly connected with the mounting base, the suction cup is located on the second side of the mounting base, the suction cup is sealed and fixedly connected to the periphery of the support, and an adsorption cavity used for being matched with the mounting face is defined by the suction cup; the magnet is installed on the support, and the magnet can be matched with a magnetic appliance fixed to the self-moving device in a magnetic attraction mode. The mechanical arm can solve the problems that a mechanical arm arranged on an existing floor sweeping robot is integrated in equipment and cannot be detached, so that the dust collection space or the battery space is occupied, and the mechanical arm cannot be compatible with an existing floor sweeping robot product.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to a robotic arm, a self-moving device, and a self-moving system. Background Art

[0002] With its relatively good convenience, automatic sweeping robots are gradually being accepted by more and more users. However, due to their size and working method, current sweeping robots are unable to complete the cleaning of relatively large garbage such as paper balls and plastic bags, which leads to a relatively low degree of automation of sweeping robots. To this end, some products have begun to develop sweeping robots with mechanical arms to pick up relatively large garbage, which greatly improves the automation of sweeping robots.

[0003] However, in the current sweeping robots equipped with mechanical arms, the mechanical arms are usually connected to the chassis and integrated into the interior of the device and cannot be disassembled. On the one hand, they occupy the internal dust collection space or battery space of the sweeping robot, and on the other hand, the mechanical arms are not compatible with existing products. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a robotic arm, a self-moving device and a self-moving system to solve the problem that the robotic arm equipped with the current sweeping robot occupies dust collection space or battery space because it is integrated inside the device and cannot be disassembled, and the robotic arm is not compatible with existing sweeping robot products.

[0005] In a first aspect, an embodiment of the present application discloses a mechanical arm that can be connected to a self-moving device, wherein the self-moving device has a mounting surface, and the mechanical arm includes an arm body, a mounting seat, and a connecting assembly, wherein the arm body is mounted on a first side of the mounting seat; The connecting assembly includes a bracket, a suction cup and a magnet. The bracket is fixedly connected to the mounting base. The suction cup is located on the second side of the mounting base. The suction cup is sealed and fixedly connected to the outer periphery of the bracket and forms an adsorption cavity for cooperating with the mounting surface. The magnet is installed on the bracket, and the magnet can be magnetically matched with a magnetic device fixed to the self-moving device.

[0006] In the second aspect, an embodiment of the present application discloses a self-moving device, which includes a self-moving device and the above-mentioned robotic arm, the self-moving device includes a main body and a magnetic device fixedly connected to the main body, the connecting component of the robotic arm can be installed on the mounting surface of the main body through an adsorption cavity, and can be magnetically matched with the magnetic device through the magnet.

[0007] In a third aspect, an embodiment of the present application discloses a self-moving system, which includes a base station and the above-mentioned self-moving device, and the base station has a accommodating space for accommodating the self-moving device.

[0008] The embodiment of the present application discloses a mechanical arm, whose arm body is installed on the first side of the mounting seat, and the bracket in the connecting component is fixedly connected to the mounting seat, and the suction cup in the connecting component is located on the second side of the mounting seat, and the suction cup is sealed and fixedly connected to the outer periphery of the bracket, so that the suction cup and the bracket can form an adsorption cavity, and the connecting component can be adsorbed and matched with the mounting surface of the self-moving device through the adsorption cavity, so that the entire mechanical arm can be connected to the self-moving device. At the same time, in the connecting component, a magnet is installed on the bracket, and the magnet can be magnetically matched with a magnetic device fixed to the self-moving device. Under the action of the magnetic device, the connection stability between the connecting component and the self-moving device can be further improved.

[0009] Moreover, both the suction cup connection and the magnetic connection are detachable connection methods. Therefore, the assembly relationship between the robot arm and the self-moving device is detachable, so that when the robot arm is needed, the robot arm can be installed on the self-moving device. Correspondingly, when the robot arm is not needed or the self-moving device needs to enter a relatively narrow area to work, the robot arm can be removed. In addition, since the magnetic device can be a device equipped by the self-moving device itself, it can also be fixedly installed at the corresponding position of the self-moving device by an external connection, so that the robot arm disclosed in the embodiment of the present application can be adapted to existing self-moving devices such as sweeping robots, without the need to purchase a specific self-moving device, so that the universality of the robot arm disclosed in the present application is relatively good. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 It is a schematic diagram of the assembly of the robotic arm and the self-moving device disclosed in the embodiment of the present application; Figure 2 It is a schematic diagram of the assembly of the robot arm disclosed in the embodiment of the present application with the self-moving device in another state; Figure 3 It is a schematic diagram of the structure of the robotic arm disclosed in an embodiment of the present application in another direction; Figure 4 A cross-sectional schematic diagram of a portion of the structure of the robotic arm disclosed in an embodiment of the present application; Figure 5 It is a schematic cross-sectional diagram of the assembly of the robot arm and the self-moving device disclosed in the embodiment of the present application; Figure 6 This is a schematic diagram of an exploded view of some structures of the robotic arm disclosed in the embodiment of the present application; Figure 7 A schematic diagram of the structure of a self-moving device in a self-moving device disclosed in an embodiment of the present application; Figure 8 It is a schematic cross-sectional view of the assembly between the docking piece and the dust collection box in the mobile device disclosed in the embodiment of the present application; Fig. 9 A schematic diagram of the structure of a self-opening and closing mechanism in a self-moving device disclosed in an embodiment of the present application; Fig.10 A schematic diagram of the structure of the self-moving system disclosed in the embodiment of the present application; Fig.11 It is a cross-sectional schematic diagram of a part of the structure of the self-moving system disclosed in the embodiment of the present application; Fig.12 for Fig.11 A magnified cross-sectional view of ; Fig.13 It is a schematic diagram of the assembly between the robot arm disclosed in the embodiment of the present application and a conventional self-moving device.

[0011] Reference numerals: 1-arm body, 2-connecting assembly, 3-self-moving device, 4-suction device, 5-suction cup, 6-jointing piece, 7-suction pipeline, 8-controller, 9-power supply, 10-accommodating part, 11-force sensor, 12-mounting seat, 13-solenoid valve, 14-mounting ring, 15-inner core, 16-coil, 17-magnetic material, 18-top cover, 19-magnetic device, 20-sealing ring, 21-dust box, 22-slide , 23-first splicing piece, 24-dust collecting chamber, 25-second splicing piece, 26-quick-connector, 27-first elastic reset piece, 28-second elastic reset piece, 29-limiting sinker, 30-docking port, 31-base, 32-pre-positioning sleeve, 33-disassembly and assembly magnet, 34-electrically controlled suction cup, 35-first screw rod, 36-first nut, 37-second screw rod, 38-second nut, 39-rotating motor, 40-base station. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0013] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0014] The embodiment of the present application discloses a robot arm, which can be connected to a self-moving device 3, and the self-moving device 3 generally includes a sweeping robot and an automatic guided vehicle (AGV), etc., which has the ability to move autonomously. Of course, in order to ensure that the robot arm can form a connection relationship with the self-moving device 3, a mounting surface is usually required on the self-moving device 3, so that the connecting component 2 in the robot arm can be adsorbed and matched with the mounting surface through the adsorption cavity. In addition, in order to ensure that the connection relationship between the robot arm and the self-moving device 3 is more stable, in the robot arm disclosed in the embodiment of the present application, it can also be magnetically matched with a magnetic device 19 fixed to the self-moving device 3, wherein the magnetic device 19 can include a magnet or a magnetic part, and the magnetic part can be specifically formed of magnetic materials such as iron, cobalt and nickel, and the self-moving device 3 itself can be equipped with a magnetic device 19, or, the magnetic device 19 can be connected to the self-moving device 3 by an external magnetic device 19, so that the magnetic device 19 forms a fixed connection relationship with the self-moving device 3. For example, the additional magnetic device 19 can be bonded and fixed to the corresponding position of the self-moving device 3 for installing the robot arm by adhesive materials such as glue or double-sided tape, so as to ensure that the self-moving device 3 is provided with a magnetic device 19 fixedly connected thereto. Figure 1 As shown, the robotic arm disclosed in the embodiment of the present application includes an arm body 1, a mounting seat 12 and a connecting component 2, wherein the connecting component 2 is used to enable the entire robotic arm to form a stable assembly relationship with the self-moving device 3.

[0015] In more detail, the arm body 1 is installed on the first side of the mounting base 12. Accordingly, when the robotic arm is in a state of being interconnected with the self-moving device 3, the self-moving device 3 is usually located on the second side of the mounting base 12, and the self-moving device 3 can usually be supported on the ground, etc., so that the self-moving device 3 can drive itself and the robotic arm to move relative to the ground to achieve the purpose of self-walking.

[0016] Specifically, the arm body 1 may be a multi-section structure, the arm body 1 may be a three-axis structure, or the arm body 1 may include multiple rotationally connected joints, so that the arm body 1 has a relatively large range of motion. At the same time, the end of the arm body 1 away from the mounting seat 12 may be configured with devices such as mechanical grippers and cameras to enable the arm body 1 to have corresponding functions, which will not be introduced in this article. In addition, Figure 2 As shown, the arm body 1 may also have a folding function, so that when the arm body 1 is not needed to work, the arm body 1 can be folded to reduce the space occupied by the entire mechanical arm, so as to minimize the adverse effect of the existence of the mechanical arm on the working range of the self-moving device 3. Of course, the folding method of the arm body 1 can be flexibly customized according to actual needs, and this article does not limit this.

[0017] Of course, in order to ensure that the arm body 1 can work normally, during the assembly process of the mechanical arm and the self-moving device 3, the mechanical arm and the power supply of the self-moving device 3 can be electrically connected, or, as shown in FIG. Figure 3 As shown, in the mechanical arm disclosed in the embodiment of the present application, it includes a power supply 9, which can be fixedly mounted on the side of the mounting base 12 away from the arm body 1, that is, the second side of the mounting base 12, and the arm body 1 can be driven by the power supply 9 and work normally by connecting the power supply 9 and the arm body 1 to each other through a wire or other structure. In this case, the mechanical arm can also include a controller 8, etc., which can control the on-off relationship between the power supply 9 and the arm body 1, etc. The controller 8 can also control other situations such as the working state of the arm body 1, which will not be described in detail herein.

[0018] As described above, the connecting component 2 is used to form a stable assembly relationship between the entire robot arm and the self-moving device 3. More specifically, the connecting component 2 is used to fix the mounting base 12 on the self-moving device 3, and the fixed connection relationship between the connecting component 2 and the self-moving device 3 is a detachable relationship.

[0019] In detail, Figure 4 As shown, the connection assembly 2 includes a bracket, a suction cup 5 and a magnet, wherein the bracket is used to provide a mounting function for the suction cup 5 and the magnet, thereby enabling the entire connection assembly 2 to serve as a bridging structure between the mounting base 12 and the self-moving device 3.

[0020] like Figure 4As shown, the bracket is fixedly connected to the mounting seat 12. Specifically, the two can be fixedly connected by welding or bonding according to the actual situation of their own materials. Of course, in some embodiments of the present application, an integral molding method can also be adopted to form a structure including the bracket and the mounting seat 12, which is not limited in this article. At the same time, the suction cup 5 is located on the second side of the mounting seat 12, and the suction cup 5 is sealed and fixedly connected to the outer periphery of the bracket, so that the suction cup 5 and the bracket can enclose an adsorption cavity for matching with the mounting surface. That is, in the distribution direction of the first side and the second side of the mounting seat 12, at least a part of the suction cup 5 extends to the end of the bracket away from the arm body 1, and the suction cup 5 is formed of a soft material, so that the suction cup 5 and the mounting surface of the self-moving device 3 are formed into an adsorption matching relationship by discharging the gas in the adsorption cavity formed by the suction cup 5 and the bracket, and the suction cup 5 is deformed, so that the suction cup 5 and the mounting surface of the self-moving device 3 are formed, and then the bracket can be connected to the self-moving device 3, so as to achieve the purpose of connecting the mechanical arm and the self-moving device 3 to each other.

[0021] Considering that the adsorption stability of the suction cup 5 is related to many parameters such as the material and structure of the suction cup 5, in order to improve the stability of the assembly relationship between the connecting component 2 and the self-moving device 3, in the embodiment of the present application, Figure 4 As shown, a magnet is also installed on the bracket. The magnet can be a permanent magnet, and combined with Figure 5 As shown, by enabling the magnet to magnetically cooperate with the magnetic device 19 fixed to the self-moving device 3, the assembly stability between the entire robot arm and the self-moving device 3 is improved.

[0022] As described above, the magnetic device 19 can be a device equipped by the self-moving device 3 itself, or the magnetic device 19 can be fixed to the corresponding position on the self-moving device 3 by an external connection, which can ensure that the magnet in the mechanical arm can form a magnetic attraction relationship with the magnetic device 19, so as to achieve the purpose of improving the installation stability of the mechanical arm. Moreover, in this case, the mechanical arm disclosed in the embodiment of the present application can be adapted to the current products such as sweeping robots, thereby improving the scope of application of the mechanical arm. In addition, the magnetic device 19 can be a magnet or a magnetic part. In the case where the magnetic device 19 is a magnet, when installing or assembling the magnetic device 19, it is necessary to make the magnetic poles of the magnet correspond to the magnetic poles of the magnetic device 19, so as to ensure that when the suction cup 5 is attracted to the mounting surface of the self-moving device 3, there is a force of mutual attraction between the magnet and the magnetic device 19.

[0023] The embodiment of the present application discloses a mechanical arm, wherein the arm body 1 is mounted on the first side of the mounting seat 12, and the bracket in the connecting component 2 is fixedly connected to the mounting seat 12, and the suction cup 5 in the connecting component 2 is located on the second side of the mounting seat 12, and the suction cup 5 is sealed and fixedly connected to the outer periphery of the bracket, so that the suction cup 5 and the bracket can enclose an adsorption cavity, and the connecting component 2 can be adsorbed and matched with the mounting surface of the self-moving device 3 through the adsorption cavity, so that the entire mechanical arm can be connected to the self-moving device 3. At the same time, in the connecting component 2, the magnet is installed on the bracket, and the magnet can be magnetically matched with the magnetic device 19 fixed to the self-moving device 3. Under the action of the magnetic device 19, the connection stability between the connecting component 2 and the self-moving device 3 can be further improved.

[0024] Moreover, both the connection by the suction cup 5 and the connection by the magnet are detachable connection methods. Therefore, the assembly relationship between the robot arm and the self-moving device 3 is detachable, and then when the robot arm is needed, the robot arm can be installed on the self-moving device 3. Correspondingly, when the robot arm is not needed, or when the self-moving device 3 needs to enter a relatively narrow area to work, the robot arm can be removed. In addition, since the magnetic device 19 can be a device equipped by the self-moving device 3 itself, it can also be fixedly installed at the corresponding position of the self-moving device 3 in an external manner, so that the robot arm disclosed in the embodiment of the present application can be adapted to the existing self-moving devices 3 such as sweeping robots, without the need to purchase a specific self-moving device 3, so that the universality of the robot arm disclosed in the present application is relatively good.

[0025] As described above, the connecting component 2 can enable the mounting seat 12 to form a relatively stable assembly relationship with the self-moving device 3. In order to further improve the reliability of the assembly relationship between the robot arm and the self-moving device 3, in a specific embodiment of the present application, the number of connecting components 2 is multiple, so that the mounting seat 12 can form an assembly relationship with the self-moving device 3 through multiple connecting components 2, which can greatly improve the installation stability of the robot arm. Of course, the distribution of multiple connecting components 2 on the mounting seat 12 can be flexibly determined according to the actual situation such as the specific number of connecting components 2, and this article does not limit this. Of course, the structures of multiple connecting components 2 can be the same or not completely the same.

[0026] In a specific embodiment of the present application, Figure 1 and Figure 3As shown, the number of the connecting components 2 can be three, and the three connecting components 2 have the same structure. By making the centers of the three connecting components 2 coplanar and forming an acute triangle, a relatively stable and reliable assembly relationship can be formed between the robot arm and the self-moving device 3 when the number of connecting components 2 is relatively small. Of course, in this case, one end of the arm body 1 can be located within the triangle formed by the three connecting components 2, or at least located on one side of the triangle, so as to prevent the deviation between the arm body 1 and the mounting seat 12 from being large, which would adversely affect the stability of the connecting component 2.

[0027] As described above, the assembly relationship between the connecting component 2 and the self-moving device 3 is a kind of detachable connection relationship. Accordingly, in the process of disassembling the robotic arm and the self-moving device 3, a reverse force can be applied to the bracket manually, and the adsorption state of the adsorption chamber can be destroyed by lifting the outer edge of the suction cup 5, and the magnetic attraction force between the magnet and the magnetic device 19 can be overcome, thereby separating the connecting component 2 from the self-moving device 3.

[0028] In another embodiment of the present application, in order to improve the degree of automation of the robotic arm, optionally, the magnet is an electromagnet, and the connecting component 2 may further include a solenoid valve 13. By connecting the solenoid valve 13 to the adsorption chamber, during the process of separating the robotic arm from the self-moving device 3, the solenoid valve 13 can be controlled to open, so that the adsorption chamber can be actively connected to the outside atmosphere, thereby allowing the suction cup 5 to break away from the adsorption-cooperating relationship with the mounting surface.

[0029] Accordingly, when the magnetic device 19 is a magnet, when the mechanical arm and the self-moving device 3 need to be separated, the magnetic pole direction of the electromagnet in the mechanical arm can be changed to form a mutually repelling magnetic matching relationship between the electromagnet and the magnetic device 19, which, on the one hand, releases the magnetic attraction relationship between the electromagnet and the magnetic device 19, and on the other hand, helps the external gas to enter the adsorption chamber, speeding up the contact speed of the adsorption matching relationship between the suction cup 5 and the mounting surface. In the case where the magnetic device is a magnetic part, the magnetic attraction relationship between the electromagnet and the magnetic device 19 can be released by disconnecting the power of the electromagnet.

[0030] In addition, the electromagnet may include an inner core 15 and a coil 16, and the inner core 15 may be formed of magnetic materials such as iron, cobalt and nickel. In this case, after the robot arm and the self-moving device 3 are assembled, if the magnetic device 19 is a magnet, the electromagnet may be controlled to be powered off to reduce the energy consumption of the robot arm. Since the magnetic device 19 can still maintain a magnetic attraction state with the inner core 15 of the electromagnet, the connection stability between the connecting component 2 and the self-moving device 3 can still be ensured to be relatively strong. In the case where the magnetic device 19 is a magnetic part, in order to ensure that the assembly relationship between the robot arm and the self-moving device 3 is relatively stable, the electromagnet may be controlled to be always powered on.

[0031] As described above, the robot arm disclosed in the embodiment of the present application may include a power supply 9 and a controller 8. For this reason, in the embodiment of the present application, the electromagnet and the solenoid valve 13 may be connected to the power supply 9, and the electromagnet and the solenoid valve 13 may be connected to the controller 8, so that when the robot arm needs to be removed, the electromagnet and the solenoid valve 13 may be controlled by the controller 8. It should be noted that, in the case where the suction cup 5 is only equipped with the solenoid valve 13, when the robot arm needs to be assembled on the self-moving device 3, the solenoid valve 13 may be controlled to be in a closed state. At the same time, by controlling the electromagnet and the magnetic device 19 to attract each other, the gas in the adsorption chamber of the suction cup 5 may be discharged, so that the suction cup 5 forms an adsorption matching relationship with the mounting surface.

[0032] In order to further improve the vacuum degree of the adsorption chamber, optionally, the robot arm disclosed in the embodiment of the present application may also include a suction device 4, and the suction device 4 is connected to the solenoid valve 13. Specifically, the suction device 4 can be a vacuum pump, which can be connected to both the power supply 9 and the controller 8 of the robot arm, and the controller 8 is used to control the working state of the suction device 4. Then, in the process of assembling the robot arm and the self-moving device 3, the suction device 4 can be controlled to work, and the gas in the space between the adsorption chamber and the mounting surface can be extracted, which can make the adsorption cooperation relationship between the suction cup 5 and the mounting surface more reliable. Of course, when the vacuum degree in the adsorption chamber meets the requirements, the suction device 4 can be controlled to stop working. Alternatively, the suction device 4 can also be controlled to maintain the suction state, thereby further improving the stability of the connecting component 2.

[0033] As described above, the solenoid valve 13 is connected to the adsorption chamber. Optionally, a through hole is provided on the suction cup 5. By installing the solenoid valve 13 at the through hole, it can be ensured that the solenoid valve 13 can be connected to the adsorption chamber. In order to prevent the setting of the solenoid valve 13 from affecting the adsorption stability of the suction cup 5 as much as possible, in another embodiment of the present application, the solenoid valve 13 can be installed on a bracket, which is a hard structural member, so that the setting of the solenoid valve 13 will not affect the gas extraction process in the adsorption chamber and the deformation process of the suction cup 5.

[0034] In detail, Figure 4 As shown, the bracket may include a mounting ring 14 and a receiving portion 10, wherein the receiving portion 10 is located within the mounting ring 14, that is, the mounting ring 14 is connected to the outer periphery of the receiving portion 10, so that the bracket is formed into an integral structure. Of course, in the embodiment of the present application, the mounting ring 14 and the receiving portion 10 can still be formed in an integral molding manner, which is not limited in this article.

[0035] In addition, in the direction of the magnetic pole distribution of the magnet, it is necessary to ensure that a part of the suction cup 5 can extend beyond the side of the receiving portion 10 and the mounting ring edge 14 facing the self-moving device 3, thereby ensuring that the suction cup 5 produces a certain deformation and forms a reliable adsorption and matching relationship with the mounting surface of the self-moving device 3. As for the positional relationship of the end surface of the receiving portion 10 and the mounting ring edge 14 facing the self-moving device 3, it can be flexibly selected according to actual conditions, and is not limited herein.

[0036] In a specific embodiment of the present application, in the magnetic pole distribution direction of the magnet, the accommodating portion 10 and the mounting ring edge 14 are each arranged flush with the end surface of one end facing the self-moving device 3, that is, the accommodating portion 10 and the mounting ring edge 14 are each arranged flush with the end surface of one end facing away from the arm body 1.

[0037] In another embodiment of the present application, the robot arm includes the magnetic device 19, that is, the robot arm is equipped with the magnetic device 19 when it leaves the factory, so that the user can install the magnetic device 19 on the existing self-moving device 3. Specifically, as described above, the magnetic device 19 can be fixedly connected to the mounting surface of the self-moving device 3 by bonding or the like. In this case, since the magnetic device 19 is provided on the mounting surface, the area on the mounting surface where the magnetic device 19 is provided protrudes from other areas. For this reason, in the embodiment of the present application, Fig.13 As shown, in the direction of magnetic pole distribution of the magnet, the mounting ring edge 14 can be extended to the end of the accommodating portion 10 away from the arm body 1 to the outside of the end surface of the accommodating portion 10 away from the arm body 1. Intuitively speaking, relative to the accommodating portion 10, the lower edge of the mounting ring edge 14 is arranged lower. In this case, by surrounding the mounting ring edge 14 outside the magnetic device 19, the magnetic matching relationship between the magnetic device 19 and the accommodating portion 10 can be relatively better, while the distance between the mounting ring edge 14 and the mounting surface can be relatively smaller, or even 0, which makes the matching stability and external force buffering ability between the suction cup 5 and the mounting surface relatively stronger.

[0038] More specifically, in the distribution direction of the above-mentioned magnetic poles, the size of the portion of the mounting ring 14 extending beyond the end face of the accommodating portion 10 is related to the thickness size of the magnetic device 19. Specifically, the sizes of the two can be made equal or substantially equal. In this case, when the magnet installed in the accommodating portion 10 is magnetically attracted to the magnetic device 19, the lower edge of the mounting ring 14 can just contact the mounting surface, and there is basically no interaction force, which makes the collision resistance of the entire connecting component 2 relatively higher, thereby greatly reducing the probability and amplitude of lateral displacement of the connecting component 2.

[0039] Based on the bracket of the above structure, during the process of assembling the connection component 2, the suction cup 5 can be sealed and fixedly connected to the outer periphery of the mounting ring edge 14. Specifically, the two can be connected by rubber encapsulation to form a sealed connection relationship while forming a fixed connection relationship. Accordingly, in this case, the component in the bracket that forms the adsorption cavity with the suction cup 5 includes the mounting ring edge 14 and the accommodating portion 10. That is, in the embodiment of the present application, the accommodating portion 10 is a bottomed structure to ensure that the formed adsorption cavity has only one opening at the suction cup 5.

[0040] In the embodiment of the present application, by setting a perforation on the mounting ring edge 14, the perforation is connected to the adsorption chamber, and then, by installing the solenoid valve 13 at the perforation, the solenoid valve 13 can be connected to the perforation, and then the solenoid valve 13 forms a connection relationship with the adsorption chamber through the perforation. Of course, in the case where the robot arm includes a suction device 4, the suction device 4 can be connected to the adsorption chamber through the solenoid valve 13 and the perforation to perform a vacuum operation on the adsorption chamber. In addition, in order to facilitate the installation of the solenoid valve 13, a protruding tubular structure can be set on the outer edge of the mounting ring edge 14, and the tubular structure is connected to the perforation on the mounting ring edge 14, and the solenoid valve 13 can be installed at the end of the tubular structure. Of course, in order to ensure that the tubular structure can normally extend out of the suction cup 5, a through hole can be set at the position corresponding to the tubular structure in the part of the suction cup 5 surrounding the mounting ring edge 14, so that the tubular structure can extend from the aforementioned through hole and connect with the solenoid valve 13.

[0041] In addition, it is mentioned in the above embodiment that the number of connecting components 2 can be multiple. In this case, the brackets of the multiple connecting components 2 can be provided with perforations, and the multiple perforations can be installed with electromagnetic valves 13. Optionally, there are multiple suction devices 4, and they correspond to the electromagnetic valves 13 and the adsorption chambers one by one. In order to minimize the number of devices and reduce costs, in another embodiment of the present application, the number of suction devices 4 can be one, and multiple electromagnetic valves 13 are connected to the same suction device 4 through the suction pipeline 7, and then one suction device 4 is used to vacuum the adsorption chambers of multiple suction cups 5, which can also reduce the control difficulty.

[0042] As described above, in order to reduce the difficulty of disassembly and assembly of the robotic arm, the magnet of the robotic arm can be an electromagnet, and in order to enhance the magnetic capacity of the electromagnet, the electromagnet can include an inner core 15 and a coil 16 wound around the inner core 15. The coil 16 is connected to the power supply 9 and can generate a magnetic effect when powered on, thereby forming a magnetic attraction relationship with the magnetic device 19 fixed on the movable device.

[0043] In a specific embodiment of the present application, the electromagnet can be fixedly mounted on the bracket by bonding or the like. In order to further improve the connection reliability between the electromagnet and the bracket, in a specific embodiment of the present application, the bracket can include a receiving portion 10. Of course, as described above, the bracket can also include a mounting ring 14, wherein the receiving portion 10 has a receiving groove, and accordingly, the magnet can be installed in the receiving groove. By forming a fixed connection relationship between the electromagnet and the bottom of the receiving groove by bonding or the like, the stability of the assembly relationship between the electromagnet and the bracket can be further improved.

[0044] In another embodiment of the present application, in order to reduce the difficulty of connecting the electromagnet and the bracket, and further improve the connection effect between the electromagnet and the magnetic device 19, optionally, a magnetic material piece 17 is buried at the bottom of the receiving groove, and the magnetic material piece 17 is a device formed of magnetic materials such as iron, cobalt and nickel. The bracket can usually be formed of materials such as plastic. For this reason, during the injection molding process of the bracket, the magnetic material piece 17 can be formed in the bottom of the groove of the receiving portion 10 in the bracket by an integral injection molding method. Accordingly, the electromagnet can be installed in the receiving groove from the opening of the receiving groove, and at the same time, a threaded connector is installed from the other side of the receiving portion 10 away from its opening, so that the magnetic material piece 17 and the inner core 15 of the electromagnet can be detachably fixedly connected through the threaded connector. Of course, in the embodiment of the present application, an opening for installing the threaded connector is provided on the side of the receiving portion 10 away from the receiving groove, and the magnetic material piece 17 and the inner core 15 are both provided with threaded holes.

[0045] When the above technical solution is adopted, on the one hand, while reducing the difficulty of assembling the electromagnet and the bracket, the stability of the connection effect between the electromagnet and the bracket can be improved. On the other hand, the magnetic material piece 17 can be used as a magnetic conductive structure to make the magnetic effect between the electromagnet and the magnetic device 19 more significant.

[0046] As described above, the end of the arm body 1 away from the mounting seat 12 disclosed in the embodiment of the present application can be installed with a corresponding action device. In order to control the working condition of the mechanical arm, a force sensor 11 can be installed in the mechanical arm. Optionally, the force sensor is installed at the end of the arm body 1 away from the mounting seat 12 to detect the information of the external force by using the force sensor. In order to reduce the load of the arm body 1 and thus improve the working performance of the arm body 1 to a certain extent, in another embodiment of the present application, the force sensor may not be installed at the end of the arm body 1.

[0047] In detail, as described above, the bracket may include a mounting ring 14 and a housing portion 10. To this end, in an embodiment of the present application, the force sensor 11 can be arranged around the housing portion 10, and in the magnetic pole distribution direction of the magnet, the force sensor 11 can be clamped between the mounting seat 12 and the mounting ring 14. At the same time, the mounting seat 12 and the mounting ring 14 can be fixedly connected to the force sensor 11. Since the arm body 1 is installed on the mounting seat 12, and the mounting seat 12 is fixedly connected to the self-moving device 3 through the bracket, the mechanical condition of the arm body 1 can be transmitted to the force sensor 11 through the mounting seat 12, so that the force sensor 11 can detect the mechanical information of the arm body 1.

[0048] Of course, in the embodiment of the present application, in order to ensure that the force sensor 11 can be installed normally, in the magnetic pole distribution direction of the magnet, one end of the receiving portion 10 needs to extend beyond the end surface of the mounting ring edge 14 facing the arm body 1. Intuitively speaking, the upper edge of the receiving portion 10 needs to extend beyond the upper edge of the mounting ring edge 14, so that the force sensor 11 can be sleeved outside the receiving portion 10 and clamped between the mounting seat 12 and the mounting ring edge 14. More specifically, as Figure 4 As shown, threaded holes may be provided on the inner side of the lower surface and the outer side of the upper surface of the force sensor 11, so that the mounting seat 12 can be fixedly connected to the threaded holes on the outer side of the upper surface of the force sensor 11 by means of connecting parts such as screws, and the mounting ring edge 14 can be fixedly connected to the threaded holes on the inner side of the lower surface of the force sensor 11 by means of screws.

[0049] In addition, in the above embodiment, the number of connecting components 2 can be multiple, in which case, each connecting component 2 can be correspondingly provided with the above force sensor 11, multiple force sensors 11 are fixedly connected to the mounting seat 12, and each force sensor 11 is correspondingly fixedly connected to the mounting ring edge 14 of the bracket in each connecting component 2. In this case, the mechanical condition of the arm body 1 is related to the measured value of each force sensor 11, and of course, is also related to the respective location of each force sensor 11 and the installation position of the arm body 1 on the mounting seat 12.

[0050] In addition, the force sensor installed at the end of the arm body 1 is generally a six-dimensional force sensor. In the above embodiment of the present application, when there are multiple connecting components 2 and each connecting component 2 is correspondingly provided with the above-mentioned force sensor 11, each force sensor 11 can be a three-dimensional force sensor, and the specific situation of the force exerted on the arm body 1 is determined based on the principle of force synthesis, which can greatly reduce the cost of the force sensor.

[0051] As described above, the end of the arm body 1 can be integrated with devices such as a camera. In a specific embodiment of the present application, the robot arm can also include a dust suction pipeline, and one end of the dust suction pipeline extends to the end of the arm body 1 away from the mounting seat 12, that is, the dust suction pipeline extends to the end of the arm body 1, so that the arm body 1 can be moved to the desktop and other areas to perform dust suction and other tasks, which enables the robot arm to have a dust suction function. Of course, when the robot arm includes a dust suction pipeline, it is also necessary to configure the other end of the dust suction pipeline to be connected to a negative pressure mechanism. Optionally, the robot arm also includes a negative pressure mechanism, and the negative pressure mechanism is connected to one end of the dust suction pipeline. Under the action of the negative pressure mechanism, the robot arm can perform dust suction work alone. As described above, the robot arm disclosed in the embodiment of the present application can be installed on a self-moving device 3 such as a sweeping robot. For this reason, in other embodiments of the present application, the dust suction pipeline of the robot arm can also be connected to the negative pressure mechanism possessed by the self-moving device 3, which can reduce the number of devices in the robot arm, thereby reducing the cost of the entire robot arm.

[0052] Based on the above embodiments, the present application further discloses a self-moving device, which includes a self-moving device 3 and a mechanical arm. It should be noted that the mechanical arm in the self-moving device disclosed in the embodiments of the present application does not include a magnetic device 19.

[0053] Among them, the self-moving device 3 includes a magnetic device 19 of the body, the magnetic device 19 is fixedly connected to the body, and the connecting component 2 of the robot arm can be installed on the mounting surface of the body through the adsorption cavity formed by the suction cup 5 and other devices. At the same time, the connecting component 2 of the robot arm can also be magnetically matched with the magnetic device 19 through a magnet, so that the robot arm and the self-moving device 3 form a relatively stable assembly relationship. Correspondingly, the two also have the ability to be disassembled, so that when the robot arm is not needed or the self-moving device 3 needs to work in a relatively small area, the robot arm can be removed and separated from the self-moving device 3.

[0054] As described above, the mechanical arm and the self-moving device 3 form an assembly relationship through two connection methods, vacuum adsorption and magnetic adsorption. Since the two aforementioned connection methods cannot form a relatively fixed relationship between the mechanical arm and the self-moving device 3 in the direction perpendicular to the connection direction, for this reason, further, in the self-moving device disclosed in the embodiment of the present application, the mounting surface of the body is provided with a limiting sink 29, a part of the bracket can be extended into the limiting sink 29, and the bracket and the limiting sink 29 are limitedly matched in the direction perpendicular to the magnetic pole distribution direction of the magnet. In this case, the relative lateral movement between the connecting component 2 and the self-moving device 3 can be limited, so that the assembly stability between the mechanical arm and the self-moving device 3 can be further improved.

[0055] Specifically, the outer surface of the bracket is an annular structure. For this reason, the inner surface of the limiting sinker 29 can also be designed accordingly with reference to the shape of the outer surface of the bracket. In a specific embodiment of the present application, the outer surface of the bracket and the inner surface of the limiting sinker 29 can both be annular structures, which facilitates the processing of the bracket and the limiting sinker 29. By making the size of the inner surface of the limiting sinker 29 basically equivalent to the size of the outer surface of the bracket, a part of the bracket can extend into the limiting sinker 29 and limit each other with the limiting sinker 29 in a direction perpendicular to the direction of the magnetic pole distribution.

[0056] In another embodiment of the present application, in the direction perpendicular to the direction of magnetic pole distribution, the size of the inner surface of the limit sinker 29 can also be made slightly larger than the size of the outer surface of the bracket in the corresponding direction. In this case, after the bracket is installed in the limit sinker 29, a buffer gap can be formed between the outer surface of the bracket and the inner surface of the limit sinker 29, that is, the bracket can perform a slight lateral movement in the limit sinker 29. In this case, when the self-moving device 3 collides due to accidents, etc., the bracket can perform a slight lateral movement relative to the self-moving device 3 under the action of its own inertia, thereby avoiding a rigid collision between the bracket and the limit sinker 29 (that is, the robotic arm and the self-moving device 3), which has a greater adverse effect on the connection stability of the connecting component 2.

[0057] As described above, the bracket may include a receiving portion 10 and a mounting ring 14. To this end, in another embodiment of the present application, a portion of the receiving portion 10 of the bracket may be extended into the limiting sink 29, and the mounting ring 14 may still be located above the mounting surface. Of course, the mounting ring 14 may be in contact with the mounting surface. In this case, the size of the limiting sink 29 may be reduced, and the visual effect of the limiting sink 29 on the self-moving device 3 may be weakened as much as possible, thereby improving the appearance performance of the self-moving device 3.

[0058] Based on this, in the embodiments of the present application, Figure 4As shown, in the distribution direction of the magnetic poles, the accommodating portion 10 can be extended toward one end of the self-moving device 3 to the outside of the end surface of the mounting ring edge 14 toward the self-moving device 3, that is, relative to the lower edge of the mounting ring edge 14, the lower surface of the accommodating portion 10 is arranged lower, and accordingly, by designing the respective dimensions of the mounting ring edge 14 and the accommodating portion 10, when a part of the accommodating portion 10 is extended into the limiting sink 29, the mounting ring edge 14 can be made to contact with the mounting surface of the main body to enhance the adsorption effect of the suction cup 5.

[0059] In the above embodiment, it is mentioned that the inner surface of the limiting sink 29 can be a circular ring structure. In another embodiment of the present application, Figure 4 As shown, the inner surface of the limiting sink 29 and the outer surface of the accommodating portion 10 can both be truncated cone side structures, so that the inner surface of the limiting sink 29 can provide a certain pre-positioning and guiding effect for the installation of the accommodating portion 10, thereby greatly reducing the assembly difficulty between the robot arm and the self-moving device 3, and can greatly improve the connection accuracy between the two.

[0060] When the bracket cooperates with the limiting sinker 29 through the accommodating portion 10, the size of the inner surface of the limiting sinker 29 in the direction perpendicular to the magnetic pole distribution direction can also be made slightly larger than the size of the outer surface of the accommodating portion 10 in the corresponding direction, so that when the accommodating portion 10 and the limiting sinker 29 cooperate with each other, the above-mentioned buffer gap can be formed between the outer surface of the accommodating portion 10 and the inner surface of the limiting sinker 29.

[0061] As described above, the self-moving device 3 includes a magnetic device 19. When the main body is provided with a limiting sinker 29, the magnetic device 19 can be fixedly installed on the bottom surface of the limiting sinker 29, so that when the bracket and the limiting sinker 29 cooperate with each other, the magnet installed on the bracket can form a more reliable magnetic attraction relationship with the magnetic device 19.

[0062] In order to prevent repeated disassembly and assembly of the robot arm, which may affect the connection reliability between the magnetic device 19 and the body, in another embodiment of the present application, the body can include a self-moving base and a top cover 18, wherein the self-moving base includes components such as wheels, which have the ability to move autonomously, and the top cover 18 is installed on the self-moving base and is basically located above the self-moving base. The top cover 18 has a mounting surface and a limiting sink 29 recessed on the mounting surface. In the embodiment of the present application, Figure 5As shown, the magnetic device 19 can be buried under the limit sink 29 in the top cover 18. Specifically, the top cover 18 can be formed of materials such as plastic. For this purpose, an integral injection molding method can be adopted. In the process of forming the top cover 18, the magnetic device 19 is buried at a corresponding position in the top cover 18, so that the installation stability of the magnetic device 19 will not be affected by the repeated disassembly and assembly between the robot arm and the self-moving device 3. Of course, the parameters such as the distance between the magnetic device 19 and the limit sink 29 can be flexibly selected according to actual conditions, and this article does not limit this.

[0063] In the robot arm disclosed in the above embodiment, the robot arm can include a dust suction pipeline, and the dust suction pipeline can provide dust suction function normally by connecting with the negative pressure mechanism. Based on this, in the embodiment of the present application, the main body of the self-moving device 3 can include a negative pressure mechanism, and the main body can also include a dust box 21, the dust box 21 has a dust collecting cavity 24, and the dust box 21 is connected with the negative pressure mechanism through the dust collecting cavity 24. Of course, a corresponding dust suction channel can also be provided in the main body, and the dust suction channel is connected with the dust box 21, so that the self-moving device 3 also has the ability to suck dust.

[0064] In the case where the main body is provided with a dust box 21 and a negative pressure mechanism, the dust suction pipeline of the robot arm can be connected to the negative pressure mechanism in the self-moving device 3, so that there is no need to separately configure a negative pressure mechanism and a dust collection mechanism for the robot arm, and at the same time, it is also convenient to clean the dust box 21. To this end, the dust box 21 can be provided with a docking port 30 on the side facing the mounting seat 12, and the robot arm also includes a docking piece 6, one end of the dust suction pipeline can extend to the end of the arm body 1 away from the mounting seat 12, and at the same time, the other end of the dust suction pipeline is connected to the docking piece 6, and the docking piece 6 can be sealed and connected to the docking port 30, so that the dust suction pipeline can be connected to the negative pressure mechanism of the self-moving device 3 through the dust box.

[0065] As described above, the second side of the mounting base 12 is provided with a suction cup 5 and other devices, that is, there is also a certain distance between the second side of the mounting base 12 and the self-moving device 3. For this reason, in the embodiment of the present application, Figure 8As shown, a part of the docking member 6 can be located on the second side of the mounting seat 12, so that the docking member 6 can be connected to the docking port 30 of the dust box 21. At the same time, a sealing ring 20 can be provided on the outer periphery of the docking member 6 so that the two can form a sealed connection relationship. In another embodiment of the present application, in order to improve the sealing effect between the docking member 6 and the docking port 30, a sealing ring 20 can be provided on the inner wall of the docking port 30. In addition, in order to further improve the sealing effect between the two, the outer surface of the docking member 6 can be made into a truncated cone-shaped side surface, and in the part of the docking member 6 located on the second side of the mounting seat 12, the diameter of the end close to the mounting seat 12 is greater than the diameter of the end of the docking member 6 away from the mounting seat 12, which can also reduce the difficulty of matching between the docking member 6 and the docking port 30, and further improve the sealing reliability between the docking member 6 and the docking port 30.

[0066] Of course, the dust collection pipeline can be sleeved outside the outer surface of the docking member 6. In another embodiment of the present application, Figure 8 As shown, the dust suction pipeline and the docking piece 6 can be connected via a quick connector 26, so that the dust suction pipeline and the docking piece 6 can form a more reliable fixed and sealed connection relationship. Specifically, the quick connector 26 is a rotatable and sealable connector.

[0067] In addition, since the robotic arm has the ability to be separated from the self-moving device 3, in order to prevent the self-moving device 3 from being unable to perform dust collection work normally due to the docking port 30 provided on the dust box 21 after the robotic arm is removed, in an embodiment of the present application, a self-opening and closing mechanism is provided at the docking port 30, which may include two parts, and the two parts may be connected by devices such as electromagnets to achieve the purpose of automatic opening and closing.

[0068] Accordingly, in the embodiment of the present application, when the robot arm and the self-moving device 3 are in a connected state, the self-opening and closing mechanism is opened, thereby ensuring that the docking member 6 can pass through the self-opening and closing mechanism and be sealed with the docking port 30, thereby enabling the docking member 6 to communicate with the negative pressure mechanism, ensuring that the dust collection pipeline can normally perform dust collection work, etc. Correspondingly, when the robot arm and the self-moving device 3 are in a separated state, the self-opening and closing mechanism is closed, thereby ensuring that the docking port 30 of the dust collection box 21 is in a closed state, thereby enabling the self-moving device 3 itself to use the negative pressure mechanism and the corresponding dust collection mechanism to perform dust collection work.

[0069] As mentioned above, the self-opening and closing mechanism can use electromagnets and other devices to achieve the purpose of opening and closing control. In another embodiment of the present application, elastic members can also be used to enable the self-opening and closing mechanism to have the ability to automatically open and close. Figure 8As shown, the self-opening and closing mechanism includes a first splicing piece 23, a second splicing piece 25, a first elastic reset piece 27 and a second elastic reset piece 28. In the splicing direction of the first splicing piece 23 and the second splicing piece 25, the first splicing piece 23 and the second splicing piece 25 are both slidably installed on the dust collecting box 21, so that the first splicing piece 23 and the second splicing piece 25 have the ability to approach each other for splicing and match, and block the docking port 30, and the first splicing piece 23 and the second splicing piece 25 have the ability to move away from each other to avoid the docking port 30.

[0070] At the same time, the first elastic reset member 27 is elastically matched with the first splicing piece 23, and the second elastic reset member 28 is elastically matched with the second splicing piece 25. Usually, the elastic directions of the first elastic reset member 27 and the second elastic reset member 28 can be parallel to the aforementioned splicing direction, and the first elastic reset member 27 can be squeezed and arranged between the end of the first splicing piece 23 away from the second splicing piece 25 and the corresponding position of the dust collecting box 21, so that the first elastic reset member 27 can provide the first splicing piece 23 with a driving force to move the first splicing piece 23 in the direction close to the second splicing piece 25. Accordingly, the second elastic reset member 28 is extruded and arranged between one end of the second splicing piece 25 away from the first splicing piece 23 and the corresponding position of the dust box 21, so that the second elastic reset member 28 can provide the second splicing piece 25 with a driving force to move the second splicing piece 25 in a direction close to the first splicing piece 23, so that the first splicing piece 23 and the second splicing piece 25 always have a movement tendency to approach each other, and then drive the first splicing piece 23 and the second splicing piece 25 to approach each other when they are not interfered by other devices and have a distance between them, so as to splice and match, thereby blocking the docking interface 30. That is, in the embodiment of the present application, the first elastic reset member 27 and the second elastic reset member 28 are used to drive the first splicing piece 23 and the second splicing piece 25 to splice each other to block the docking interface 30.

[0071] Specifically, the first elastic reset member 27 and the second elastic reset member 28 can both be compression springs, and the number of the two can be at least two, so as to improve the docking tendency of the first splicing piece 23 and the second splicing piece 25, and the splicing reliability of the first splicing piece 23 and the second splicing piece 25. The first splicing piece 23 and the second splicing piece 25 can both be rectangular flat plate-shaped structural members, and both can be made perpendicular to the magnetic pole distribution direction of the magnet, that is, correspondingly, the edges of the first splicing piece 23 and the second splicing piece 25 that are close to each other can both be linear structures, and the splicing sealing effect between the two can be further improved by adding materials such as rubber pads.

[0072] In order to improve the self-starting stability of the self-opening and closing mechanism, in another embodiment of the present application, the first splicing piece 23 and the second splicing piece 25 can be arranged to be inclined as a whole relative to the direction of magnetic pole distribution. More intuitively, the first splicing piece 23 and the second splicing piece 25 are arranged to be recessed toward the splicing center of the two. In this case, when the docking piece 6 passes through the docking port 30 and contacts the first splicing piece 23 and the second splicing piece 25 in a spliced ​​state, the component force generated by the downward pressure provided by the docking piece 6 acting on the first splicing piece 23 and the second splicing piece 25 includes a component force perpendicular to the direction of magnetic pole distribution. Taking the first splicing piece 23 as an example, the direction of the component force is from the second splicing piece 25 to the first splicing piece 23, that is, the component force has the effect of making the first splicing piece 23 retreat relative to the second splicing piece 25, which can greatly reduce the difficulty of the first splicing piece 23 and the second splicing piece 25 being separated by the docking piece 6, thereby improving the self-starting stability of the self-opening and closing mechanism.

[0073] More specifically, in the embodiment of the present application, the first splicing piece 23 and the second splicing piece 25 may include correspondingly connected sliding parts and splicing parts, that is, the first splicing piece 23 includes a sliding part and a splicing part connected to each other, and the second splicing piece 25 also includes a sliding part and a splicing part connected to each other. Among them, each sliding part is slidably matched with the dust box 21 in the splicing direction. Specifically, Figure 8 As shown, the dust box 21 is provided with a slideway 22, which extends along the aforementioned splicing direction, and the sliding part is extended into the slideway 22 and forms a sliding fit relationship with the slideway 22, so that the sliding part can slide relative to the dust box 21. In addition, each splicing part extends obliquely, and one end of each splicing part away from the corresponding sliding part is located on the side of the sliding part away from the mounting seat 12. Intuitively, the free end of the splicing part gradually extends downward.

[0074] Based on the self-moving device disclosed in any of the above embodiments, the present application also discloses a self-moving system, which includes a base station 40 and a self-moving device provided by any of the above embodiments, wherein the base station 40 has a storage space, and the self-moving device can be accommodated in the storage space. Of course, the base station 40 may include a dust extraction mechanism, etc., so that when the self-moving device 3 and / or the mechanical arm in the self-moving device include a dust box 21, the base station 40 can collect dust and garbage in the dust box 21 through the dust extraction system. In addition, the base station 40 may also include a charging mechanism, etc., so that when the self-moving device is located in the storage space, the self-moving device 3 and / or the mechanical arm can be charged by wired or wireless connection.

[0075] As described above, the manipulator may include a power source 9. To this end, in a specific embodiment of the present application, the self-moving device 3 and the manipulator may be separately configured with a power source 9, and the power source of the self-moving device 3 may be wired to the base station 40 through a connector such as a conductive column, so as to charge the power source in the self-moving device 3. As for the power source 9 of the manipulator, since its capacity is usually relatively small, in an embodiment of the present application, the base station 40 may include a base 31 and a wireless power supply module installed on the base 31, and the wireless power supply module is used to charge the power source 9 of the manipulator, which can greatly improve the charging convenience of the manipulator. In addition, the self-moving device 3 and the manipulator and the base station 40 may also use wireless communication to exchange information and transmit control commands to improve the convenience of use of the self-moving system.

[0076] As described above, the self-moving device 3 and the robotic arm in the self-moving device have the ability to be separated from each other. For this reason, in the self-moving system disclosed in the embodiment of the present application, in order to further improve the convenience of using the robotic arm, the magnet in the robotic arm can be an electromagnet, and the connecting component 2 includes an electromagnetic valve 13 connected to the adsorption chamber, so that the coordination relationship between the connecting component 2 and the self-moving device 3 can be controlled by controlling the on-off relationship of the power supply 9 and the input direction of the current.

[0077] Based on the above situation, in the embodiment of the present application, the magnetic device 19 in the self-moving device 3 can be a magnet. Accordingly, in the process of separating the self-moving device 3 and the mechanical arm, the current direction of the magnet in the mechanical arm can be changed so that the magnet of the mechanical arm and the magnetic device 19 in the self-moving device 3 form a mutually repelling magnetic effect. At the same time, the base station 40 can include a substrate 31 and a disassembly magnet 33 installed on the substrate 31. By designing the magnetic pole distribution of the disassembly magnet 33, when one end of the magnetic pole of the magnet of the mechanical arm and the magnetic device 19 in the self-moving device 3 repel each other, the end of the magnetic pole of the magnet of the mechanical arm away from the magnetic device 19 can form a mutually attractive magnetic effect with the disassembly magnet 33, thereby enabling the mechanical arm to be separated from the self-moving device 3 and mutually attracted with the disassembly magnet 33 in the base station 40, completing the work of automatically separating the mechanical arm from the self-moving device 3, and allowing the mechanical arm to be temporarily stored at the base station 40, which can further improve the convenience of using the mechanical arm.

[0078] Specifically, in the embodiment of the present application, the disassembly magnet 33 is located at the upper part of the accommodation space as a whole, so as to ensure that after the self-moving device enters the accommodation space, the disassembly magnet 33 can be conveniently connected with the magnet of the mechanical arm from the side of the magnet in the mechanical arm away from the magnetic device 19. The disassembly magnet 33 can also be an electromagnet. In another embodiment of the present application, the disassembly magnet 33 can be a permanent magnet, so as to reduce the overall cost of the product to a certain extent.

[0079] In order to further improve the stability of the connection relationship between the base station 40 and the robotic arm, when the robotic arm includes multiple connecting components 2, the number of disassembly and assembly magnets 33 can also be multiple. By making the multiple disassembly and assembly magnets 33 correspond one-to-one with the magnets in the multiple connecting components 2, a relatively stable matching relationship can be formed between the base station 40 and the robotic arm.

[0080] As described above, the mechanical arm includes a mounting seat 12, and an arm body 1 is provided on the first side of the mounting seat 12. Generally, the arm body 1 will not be distributed throughout the first side of the mounting seat 12, and further, the first side of the mounting seat 12 generally has a spare surface. Based on this, in another embodiment of the present application, the base station 40 may further include an electrically controlled suction cup 34, that is, the electrically controlled suction cup 34 can control its adsorption according to actual needs. Specifically, the electrically controlled suction cup 34 may also include a soft disk body and an electrically controlled valve. By connecting the electrically controlled valve to the adsorption cavity of the soft disk body, the adsorption of the soft disk body can be controlled by controlling the on-off state of the electrically controlled valve. In this case, the electrically controlled suction cup 34 may be arranged on one side of the disassembly magnet 33, and the electrically controlled suction cup 34 may be used to adsorb and cooperate with the surface of the first side of the mounting seat 12, so that the electrically controlled suction cup 34 may assist the disassembly magnet 33 to form a connection relationship with the mechanical arm, and further, even when the number of the disassembly magnet 33 is only one, the coordination stability between the mechanical arm and the base station 40 may be relatively high.

[0081] As described above, the disassembly and assembly magnet 33 can be arranged at the upper part of the accommodating space. Specifically, a fixed fitting relationship can be formed between the disassembly and assembly magnet 33 and the base 31, and by making the disassembly and assembly magnet 33 slightly higher than the top surface of the magnet of the robotic arm connected to the self-moving device 3, the magnet of the robotic arm can extend to the bottom of the disassembly and assembly magnet 33 and cooperate with the disassembly and assembly magnet 33.

[0082] In another embodiment of the present application, the base station 40 may also include a linear moving mechanism, and the disassembly and assembly magnet 33 is installed at one end of the linear moving mechanism, and the linear moving mechanism is used to drive the disassembly and assembly magnet 33 to move linearly relative to the base 31. In this case, before the self-moving device moves to the storage space, the disassembly and assembly magnet 33 can be driven by the linear moving mechanism to avoid as much as possible to increase the volume of the storage space, thereby preventing the self-moving device from colliding with the disassembly and assembly magnet 33 and affecting the reset of the self-moving device. Accordingly, after the self-moving device moves into place, the disassembly and assembly magnet 33 can be controlled by the linear moving mechanism to move to the position close to the magnet of the mechanical arm, thereby facilitating the cooperation between the disassembly and assembly magnet 33 and the magnet of the mechanical arm to automatically disassemble the mechanical arm.

[0083] In a specific embodiment of the present application, the linear motion mechanism adopts a screw nut mechanism, and the extension direction of the screw can be specifically the height direction. In a specific embodiment of the present application, the base can include a disassembly magnet 33 and an electric control suction cup 34. In this case, the disassembly magnet 33 and the electric control suction cup 34 can be equipped with a linear motion mechanism. Specifically, Fig.12 As shown, the first nut 36 and the second nut 38 are both rotatably mounted on the base 31, and the rotating motor 39 can be used to drive the first nut 36 and the second nut 38 to rotate relative to the base 31. The first screw rod 35 is threadedly connected to the first nut 36, and the second screw rod 37 is threadedly connected to the second nut 38. The disassembly magnet 33 is installed at one end of the first screw rod 35, and the electric control suction cup 34 is installed at one end of the second screw rod 37. Then, under the drive of the rotating motor 39, the first screw rod 35 and the second screw rod 37 can both perform linear reciprocating movement.

[0084] As described above, the assembly and disassembly magnet 33 can be connected to the base 31 through a linear moving mechanism, and in the process of disassembling the robot arm, after the self-moving device moves into position, the linear moving mechanism drives the assembly and disassembly magnet 33 to approach the magnet of the robot arm. Considering that the self-moving device may be affected by factors such as accidents, its docking position is not completely accurate, that is, after the self-moving device stops moving, there may be a slight deviation between the magnet of the robot arm and the assembly and disassembly magnet 33 in the moving direction of the linear moving mechanism, which will have a certain adverse effect on the coordination between the assembly and disassembly magnet 33 and the magnet of the robot arm.

[0085] To this end, in a specific embodiment of the present application, the base station 40 may further include a pre-positioning sleeve 32, which is sleeved outside the disassembly and assembly magnet 33, and at least a portion of the pre-positioning sleeve 32 is located on the side of the disassembly and assembly magnet 33 away from the linear motion mechanism, and the inner wall surface of the pre-positioning sleeve 32 is a flared structure. Specifically, the pre-positioning sleeve 32 can be integrally formed with the second screw rod 37, or the pre-positioning sleeve 32 can be externally connected to one end of the second screw rod 37 by bonding or welding, etc., which is not limited in this article.

[0086] By adopting the above technical solution, in the process of the linear moving mechanism driving the disassembly and assembly magnet 33 to move toward the magnet close to the robotic arm, the pre-positioning sleeve 32 can form a pre-positioning relationship with the magnet and / or the outer periphery of the bracket of the robotic arm in advance, and then under the guidance of the inner wall of the pre-positioning sleeve 32, the position or angle and other parameters of the self-moving device are slightly changed, so that the disassembly and assembly magnet 33 can form a more precise matching relationship with the magnet of the robotic arm, which can further reduce the difficulty of disassembling the robotic arm.

[0087] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0088] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A robotic arm connectable to a self-moving device having a mounting surface, characterized in that: The mechanical arm comprises an arm body, a mounting seat and a connecting assembly, wherein the arm body is mounted on a first side of the mounting seat; The connecting assembly includes a bracket, a suction cup and a magnet. The bracket is fixedly connected to the mounting base. The suction cup is located on the second side of the mounting base. The suction cup is sealed and fixedly connected to the outer periphery of the bracket and forms an adsorption cavity for cooperating with the mounting surface. The magnet is installed on the bracket, and the magnet can be magnetically matched with a magnetic device fixed to the self-moving device.

2. The robotic arm according to claim 1, characterized in that: The number of the connecting components is multiple.

3. The robotic arm according to claim 1, characterized in that: The magnet is an electromagnet, and the connecting assembly further comprises a solenoid valve, which is communicated with the adsorption chamber.

4. The robotic arm according to claim 3, characterized in that: A suction device is also included, and the suction device is communicated with the solenoid valve.

5. The robotic arm according to claim 3, characterized in that: The bracket includes a mounting ring and a receiving portion, the mounting ring is connected to the outer periphery of the receiving portion, the suction cup is sealed and fixedly connected to the outer periphery of the mounting ring, the mounting ring is provided with a through hole, the solenoid valve is connected to the through hole, and the through hole is connected to the adsorption chamber.

6. The robotic arm according to claim 1, characterized in that: The bracket includes a accommodating portion, the accommodating portion has a accommodating groove, a magnetic material piece is buried at the bottom of the accommodating groove, the magnet is installed in the accommodating groove, the magnet includes an inner core and a coil wound around the inner core, and the magnetic material piece and the inner core are detachably fixedly connected by a threaded connector.

7. The robotic arm according to claim 1, characterized in that: The bracket comprises a mounting ring and a receiving portion, the mounting ring is connected to the outer periphery of the receiving portion, and the suction cup is sealed and fixedly connected to the outer periphery of the mounting ring; It also includes a force sensor, which is arranged around the outside of the accommodating portion and is clamped between the mounting seat and the mounting ring edge in the magnetic pole distribution direction of the magnet. The mounting seat and the mounting ring edge are both fixedly connected to the force sensor.

8. The robotic arm according to claim 1, characterized in that: It also includes a dust suction pipeline, one end of which extends to an end of the arm body away from the mounting seat, and the other end of the dust suction pipeline is configured to be connected to the negative pressure mechanism.

9. The robotic arm according to claim 1, characterized in that: Also included is the magnetic device, which can be fixedly connected to the mounting surface of the self-moving device; The bracket comprises a mounting ring and a receiving portion, the mounting ring is connected to the outer periphery of the receiving portion, the suction cup is sealed and fixedly connected to the outer periphery of the mounting ring, the receiving portion has a receiving groove, and the magnet is installed in the receiving groove; In the magnetic pole distribution direction of the magnet, the mounting ring extends from one end of the arm body to the outside of the end surface of the accommodating portion away from the arm body, and the mounting ring is arranged around the outside of the magnetic device.

10. A self-propelled device, characterized in that: It comprises a self-moving device and a robot arm as described in any one of claims 1 to 8, wherein the self-moving device comprises a main body and a magnetic device fixedly connected to the main body, and the connecting component of the robot arm can be installed on the mounting surface of the main body through an adsorption cavity, and can be magnetically matched with the magnetic device through the magnet.

11. The self-moving device according to claim 10, characterized in that: A limiting sink is provided on the mounting surface of the body, a part of the bracket extends into the limiting sink, and the bracket is limitedly matched with the limiting sink in a direction perpendicular to the magnetic pole distribution direction of the magnet.

12. The self-moving device according to claim 11, characterized in that: The main body comprises a self-moving base and a top cover mounted on the self-moving base, the top cover has the mounting surface and the limiting sinking platform, and the magnetic device is buried below the limiting sinking platform in the top cover.

13. The self-moving device according to claim 12, characterized in that: The bracket includes a mounting ring and a receiving portion, the mounting ring is connected to the outer periphery of the receiving portion, the suction cup is sealed and fixedly connected to the outer periphery of the mounting ring, the receiving portion has a receiving groove, the magnet is installed in the receiving groove, a portion of the receiving portion extends into the limiting sink, and in a direction perpendicular to the distribution direction of the magnetic poles, a buffer gap is provided between the outer surface of the receiving portion and the inner surface of the limiting sink.

14. The self-moving device according to claim 10, characterized in that: The main body comprises a negative pressure mechanism and a dust collecting box connected to the negative pressure mechanism, a docking port is provided on a side of the dust collecting box facing the mounting seat, and a self-opening and closing mechanism is provided at the docking port; The mechanical arm comprises a dust suction pipeline and a docking piece, one end of the dust suction pipeline extends to an end of the arm body away from the mounting seat, and the other end of the dust suction pipeline is connected to the docking piece, and a part of the docking piece is located on the second side of the mounting seat; When the robot arm and the self-moving device are in a connected state, the self-opening and closing mechanism is opened, the docking piece is sealed and connected to the docking port, and is communicated with the negative pressure mechanism; when the robot arm and the self-moving device are in a separated state, the self-opening and closing mechanism is closed.

15. The self-moving device according to claim 14, characterized in that: The self-opening and closing mechanism includes a first splicing piece, a second splicing piece, a first elastic reset piece and a second elastic reset piece. In the splicing direction of the first splicing piece and the second splicing piece, the first splicing piece and the second splicing piece are both slidably installed on the dust collecting box, the first elastic reset piece is elastically matched with the first splicing piece, and the second elastic reset piece is elastically matched with the second splicing piece. The first elastic reset piece and the second elastic reset piece are used to drive the first splicing piece and the second splicing piece to splice each other to block the docking port.

16. The self-moving device according to claim 15, characterized in that: The first splicing piece and the second splicing piece each include a correspondingly connected sliding portion and a splicing portion, each of the sliding portions slidably cooperates with the dust box in the splicing direction, each of the splicing portions extends obliquely, and an end of each of the splicing portions away from the corresponding sliding portion is located on a side of the sliding portion away from the mounting seat.

17. The self-moving device according to claim 14, characterized in that: The inner wall of the docking port is provided with a sealing ring.

18. A self-propelled system, characterized in that: It comprises a base station and the self-moving device according to any one of claims 10 to 17, wherein the base station has a storage space for accommodating the self-moving device.

19. The self-propelled system according to claim 18, characterized in that: The magnet is an electromagnet, and the connecting component also includes a solenoid valve, which is connected to the adsorption chamber. The magnetic device is a magnet. The base station includes a base and a disassembly and assembly magnet installed on the base. The disassembly and assembly magnet is used to cooperate with the electromagnet for magnetic attraction to disassemble the robotic arm and the self-moving device.

20. The self-propelled system according to claim 19, characterized in that: The base station further comprises an electrically controlled suction cup, which is arranged on one side of the disassembly and assembly magnet and is used for adsorption and cooperation with the first side of the mounting seat.

21. The self-propelled system according to claim 19, characterized in that: The base station further comprises a linear motion mechanism, the assembly and disassembly magnet is mounted at one end of the linear motion mechanism, and the linear motion mechanism is used to drive the assembly and disassembly magnet to move linearly relative to the base.

22. The self-moving system according to claim 21, characterized in that The base station further comprises a pre-positioning sleeve, which is arranged outside the disassembly and assembly magnet, and at least a part of the pre-positioning sleeve is located on a side of the disassembly and assembly magnet away from the linear motion mechanism, and the inner wall surface of the pre-positioning sleeve is a flared structure.

23. The self-propelled system according to claim 18, characterized in that: The base station includes a base and a wireless power supply module installed on the base, the mechanical arm includes a power supply, and the wireless power supply module is used to charge the power supply.

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