Robotic arm, self-mobile device, and self-mobile system

Abstract

The present application discloses a robotic arm, a self-mobile device, and a self-mobile system, belonging to the technical field of robots. The robotic arm can be connected to the self-mobile device, and the self-mobile device has a mounting surface. The robotic arm includes an arm body, a mounting seat, and a connection component. The arm body is mounted on the first side of the mounting seat. The connection component includes a bracket, a suction cup, and a magnet. The bracket is fixedly connected to the mounting seat. The suction cup is located on the second side of the mounting seat. The suction cup is sealed and fixedly connected to the outer periphery of the bracket, and encloses a suction cavity for cooperating with the mounting surface. The magnet is mounted on the bracket, and the magnet can be magnetically coupled with a magnetic device fixed to the self-mobile device. The above-mentioned robotic arm can solve the problems that the robotic arm equipped in the current sweeping robot occupies the dust collection space or battery space because it cannot be disassembled when integrated inside the device, and the robotic arm cannot be compatible with existing sweeping robot products.

Description

Technical Field

[0001] This application belongs to the technical field of robotics, and particularly relates to a robotic arm, a self-mobile device, and a self-mobile system. Background Art

[0002] With the relatively good convenience characteristics, automatic floor cleaning robots are gradually accepted by more and more users. However, due to the influence of size and working mode, the current floor cleaning robots cannot complete the cleaning work of relatively large-sized garbage such as paper balls and plastic bags, which results in a relatively low degree of automation of the floor cleaning robots. For this reason, some products have started to develop floor cleaning robots with robotic arms to pick up relatively large-sized garbage by using the robotic arms, which greatly improves the degree of automation of the floor cleaning robots.

[0003] However, in the current floor cleaning robots with robotic arms, the robotic arm is usually integrated with the chassis and integrated inside the device and cannot be disassembled. On the one hand, it occupies the internal dust collection space or battery space of the floor cleaning robot, etc. On the other hand, the robotic arm cannot be compatible with existing products. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a robotic arm, a self-mobile device, and a self-mobile system to solve the problems that the robotic arm equipped in the current floor cleaning robot occupies the dust collection space or battery space, etc. because it is integrated inside the device and cannot be disassembled, and the robotic arm cannot be compatible with existing floor cleaning robot products.

[0005] In a first aspect, the embodiments of this application disclose a robotic arm that can be connected to a self-mobile device. The self-mobile device has an installation surface. The robotic arm includes an arm body, a mounting base, and a connection component. The arm body is installed on the first side of the mounting base;

[0006] The connection component 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 encloses an adsorption cavity for cooperating with the installation surface. The magnet is installed on the bracket, and the magnet can be magnetically attracted and matched with a magnetic device fixed to the self-mobile device.

[0007] In a second aspect, the embodiments of this application disclose a self-mobile device, which includes a self-mobile device and the above-mentioned robotic arm. The self-mobile device includes a body and a magnetic device fixedly connected to the body. The connection component of the robotic arm can be installed on the installation surface of the body through the adsorption cavity and can be magnetically attracted and matched with the magnetic device through the magnet.

[0008] In a third aspect, an embodiment of the present application discloses a self-mobile system, which includes a base station and the above-mentioned self-mobile device, and the base station has an accommodation space for accommodating the self-mobile device.

[0009] An embodiment of the present application discloses a robotic arm. The arm body of the robotic arm is installed on the first side of the mounting base, and the bracket in the connecting component is fixedly connected to the mounting base. The suction cup in the connecting component is located on the second side of the mounting base. The suction cup is hermetically and fixedly connected to the outer periphery of the bracket, so that the suction cup and the bracket can enclose a suction cavity. Through the suction cavity, the connecting component can be adsorbed and matched with the mounting surface of the self-mobile device, so that the entire robotic arm can be connected to the self-mobile device. At the same time, in the connecting component, a magnet is installed on the bracket, and the magnet can be magnetically attracted and matched with a magnetic device fixed on the self-mobile device. Under the action of the magnetic device, the connection stability between the connecting component and the self-mobile device can be further improved.

[0010] Moreover, both the suction cup connection and the magnet connection belong to detachable connection methods. Therefore, the assembly relationship between the robotic arm and the self-mobile device has the ability to be detachable. Furthermore, when the robotic arm is needed, the robotic arm can be installed on the self-mobile device. Correspondingly, when the robotic arm is not needed, or when the self-mobile device needs to enter a relatively narrow space for work, the robotic arm can be removed. In addition, since the magnetic device can be a device equipped on the self-mobile device itself, or can be fixedly installed at the corresponding position of the self-mobile device by an external connection method, the robotic arm disclosed in the embodiment of the present application can be adapted to existing self-mobile devices such as floor sweeping robots, without the need to purchase a specific self-mobile device additionally, making the universality of the robotic arm disclosed in the present application relatively good. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0012] Figure 1 is an assembly schematic diagram of the robotic arm and the self-mobile device disclosed in the embodiment of the present application;

[0013] Figure 2 is an assembly schematic diagram of the robotic arm and the self-mobile device in another state disclosed in the embodiment of the present application;

[0014] Figure 3 is a structural schematic diagram of the robotic arm disclosed in the embodiment of the present application in another direction;

[0015] Figure 4 is a cross-sectional schematic diagram of some structures in the robotic arm disclosed in the embodiment of the present application;

[0016] Figure 5 Schematic cross-sectional assembly diagram of the robotic arm and the self-mobile device disclosed in the embodiments of the present application;

[0017] Figure 6 Exploded view of some structures in the robotic arm disclosed in the embodiments of the present application;

[0018] Figure 7 Schematic diagram of the structure of the self-mobile device in the self-mobile device disclosed in the embodiments of the present application;

[0019] Figure 8 Schematic cross-sectional assembly diagram between the docking member and the dust collection box in the self-mobile device disclosed in the embodiments of the present application;

[0020] Figure 9 Schematic diagram of the structure of the self-opening and closing mechanism in the self-mobile device disclosed in the embodiments of the present application;

[0021] Figure 10 Schematic diagram of the structure of the self-mobile system disclosed in the embodiments of the present application;

[0022] Figure 11 Schematic cross-sectional view of some structures in the self-mobile system disclosed in the embodiments of the present application;

[0023] Figure 12 is Figure 11 the enlarged cross-sectional view in;

[0024] Figure 13 Schematic assembly diagram between the robotic arm and a conventional self-mobile device disclosed in the embodiments of the present application.

[0025] Reference numerals:

[0026] 1 - Arm body, 2 - Connection assembly, 3 - Self-mobile device, 4 - Suction device, 5 - Suction cup, 6 - Docking member, 7 - Suction pipeline, 8 - Controller, 9 - Power supply, 10 - Accommodating part, 11 - Force sensor, 12 - Mounting seat, 13 - Solenoid valve, 14 - Mounting ring edge, 15 - Inner core, 16 - Coil, 17 - Magnetic material part, 18 - Top cover, 19 - Magnetic appliance, 20 - Sealing ring, 21 - Dust collection box, 22 - Slideway, 23 - First splicing member, 24 - Dust collection chamber, 25 - Second splicing member, 26 - Quick-connect joint, 27 - First elastic reset member, 28 - Second elastic reset member, 29 - Limit sunk platform, 30 - Docking port, 31 - Substrate, 32 - Pre-positioning sleeve, 33 - Disassembly and installation magnet, 34 - Electric control suction cup, 35 - First lead screw, 36 - First nut, 37 - Second lead screw, 38 - Second nut, 39 - Rotary motor, 40 - Base station. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] The terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0029] The embodiments of the present application disclose a robotic arm that can be connected to a self-mobile device 3. The self-mobile device 3 generally includes a sweeping robot and an Automated Guided Vehicle (AGV), etc., and has the ability of autonomous movement. Of course, in order to ensure that the robotic arm can form a connection relationship with the self-mobile device 3, the self-mobile device 3 usually needs to be provided with a mounting surface so that the connection component 2 in the robotic arm can be adsorbed and matched with the mounting surface through the adsorption cavity. In addition, in order to ensure a more stable connection relationship between the robotic arm and the self-mobile device 3, in the robotic arm disclosed in the embodiments of the present application, it can also be magnetically adsorbed and matched with a magnetic device 19 fixed to the self-mobile device 3. Among them, the magnetic device 19 can include a magnet or a magnetic member. The magnetic member can specifically be formed of magnetic materials such as iron, cobalt, and nickel. And the self-mobile device 3 itself can be equipped with the magnetic device 19, or the magnetic device 19 can be fixedly connected to the self-mobile device 3 by externally connecting the magnetic device 19. For example, the additionally configured magnetic device 19 can be adhesively fixed to the corresponding position of the self-mobile device 3 for installing the robotic arm through an adhesive material such as glue or double-sided tape, so as to ensure that the self-mobile device 3 is provided with a magnetic device 19 fixedly connected thereto. As Figure 1 shown, the robotic arm disclosed in the embodiments of the present application includes an arm body 1, a mounting seat 12, and a connection component 2. Among them, the connection component 2 is used to enable the entire robotic arm to form a stable assembly relationship with the self-mobile device 3.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] like Figure 4As shown, the bracket is fixedly connected to the mounting base 12. Specifically, according to the actual situation of their own materials, the two can be fixedly connected by welding, bonding or other methods. Of course, in some embodiments of the present application, an integrally formed method can also be used to form a structure including the bracket and the mounting base 12 together, which is not limited herein. At the same time, the suction cup 5 is located on the second side of the mounting base 12, and by making the suction cup 5 sealed and fixedly connected to the outer periphery of the bracket, the suction cup 5 and the bracket can enclose an adsorption cavity for cooperating with the mounting surface. That is, in the distribution direction of the first side and the second side of the mounting base 12, at least a part of the suction cup 5 extends beyond the end of the bracket away from the arm body 1, and the suction cup 5 is made of a soft material. Thus, by exhausting the gas in the adsorption cavity formed by the suction cup 5 and the bracket and deforming the suction cup 5, the suction cup 5 forms an adsorption cooperation relationship with the mounting surface of the self-moving device 3, and further enables the bracket to form a connection relationship with the self-moving device 3, achieving the purpose of connecting the robotic arm and the self-moving device 3 to each other.

[0036] 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. Furthermore, in order to improve the stability of the assembly relationship between the connecting component 2 and the self-moving device 3, in the embodiments of the present application, as Figure 4 shown, a magnet is also installed on the bracket. The magnet can specifically be a permanent magnet, and in combination with Figure 5 shown, by enabling the magnet to be magnetically attracted and matched with the magnetic appliance 19 fixed to the self-moving device 3, the assembly stability between the entire robotic arm and the self-moving device 3 is improved.

[0037] As described above, the magnetic appliance 19 can be a device equipped on the self-moving device 3 itself, or can be fixed at the corresponding position on the self-moving device 3 by an external connection method, which can ensure that the magnet in the robotic arm can form a magnetic attraction and matching relationship with the magnetic appliance 19, achieving the purpose of improving the installation stability of the robotic arm. And in this case, the robotic arm disclosed in the embodiments of the present application can be adapted to current products such as floor sweeping robots, improving the applicable range of the robotic arm. In addition, the magnetic appliance 19 can be a magnet or a magnetic part. When the magnetic appliance 19 is a magnet, during the installation or assembly of the magnetic appliance 19, it is necessary to make the magnetic poles of the magnet and the magnetic appliance 19 correspond to ensure that there is an attractive force between the magnet and the magnetic appliance 19 when the suction cup 5 is attracted to the mounting surface of the self-moving device 3.

[0038] An embodiment of the present application discloses a robotic arm. Its arm body 1 is installed on the first side of the mounting base 12, and the bracket in the connection component 2 is fixedly connected to the mounting base 12. The suction cup 5 in the connection component 2 is located on the second side of the mounting base 12. The suction cup 5 is hermetically and fixedly connected to the outer periphery of the bracket, so that the suction cup 5 and the bracket can enclose an adsorption cavity. Through the adsorption cavity, the connection component 2 can be adsorbed and matched with the mounting surface of the self-mobile device 3, so that the entire robotic arm can be connected to the self-mobile device 3. At the same time, in the connection component 2, a magnet is installed on the bracket, and the magnet can be magnetically attracted and matched with the magnetic appliance 19 fixed to the self-mobile device 3. Under the action of the magnetic appliance 19, the connection stability between the connection component 2 and the self-mobile device 3 can be further improved.

[0039] Moreover, both the connection method of the suction cup 5 and the connection method of the magnet belong to detachable connection methods. Therefore, the assembly relationship between the robotic arm and the self-mobile device 3 has the ability to be detachable. Furthermore, when the robotic arm is needed, the robotic arm can be installed on the self-mobile device 3. Correspondingly, when the robotic arm is not needed, or when the self-mobile device 3 needs to enter a relatively narrow space for work, the robotic arm can be removed. In addition, since the magnetic appliance 19 can be a device equipped by the self-mobile device 3 itself, or can be fixedly installed at the corresponding position of the self-mobile device 3 by an external connection method, the robotic arm disclosed in the embodiment of the present application can be adapted to existing self-mobile devices 3 such as floor sweeping robots, without the need to purchase a specific self-mobile device 3 additionally, so that the universality of the robotic arm disclosed in the present application is relatively good.

[0040] As described above, the connection component 2 can enable the mounting base 12 and the self-mobile device 3 to form a relatively stable assembly relationship. In order to further improve the reliability of the assembly relationship between the robotic arm and the self-mobile device 3, in a specific embodiment of the present application, the number of connection components 2 is multiple, so that the mounting base 12 can form an assembly relationship with the self-mobile device 3 through multiple connection components 2 together, which can greatly improve the installation stability of the robotic arm. Of course, the distribution of the multiple connection components 2 on the mounting base 12 can be flexibly determined according to actual situations such as the specific number of the connection components 2, and this is not limited herein. Of course, the structures of the multiple connection components 2 can be the same or not completely the same.

[0041] In a specific embodiment of the present application, such as Figure 1 and Figure 3As shown, the number of the connecting components 2 can be three. The structures of the three connecting components 2 are the same. By making the centers of the three connecting components 2 coplanar and enclosing an acute triangle, a relatively stable and reliable assembly relationship can be formed between the robotic arm and the self-mobile device 3 when the number of the connecting components 2 is relatively small. Of course, in this case, one end of the arm body 1 can be located inside the triangle enclosed by the three connecting components 2, or at least on one side of the triangle, so as to prevent a large deviation between the arm body 1 and the mounting seat 12, which may have an adverse effect on the stability of the connecting components 2.

[0042] As described above, the assembly relationship between the connecting component 2 and the self-mobile device 3 belongs to a type of detachable connection relationship. Correspondingly, during the process of disassembling the robotic arm and the self-mobile device 3, a reverse force can be applied to the bracket manually, and by tilting the outer edge of the suction cup 5, the adsorption state of the adsorption cavity can be destroyed, and the magnetic attraction force between the magnet and the magnetic device 19 can be overcome, so as to separate the connecting component 2 from the self-mobile device 3.

[0043] In another embodiment of the present application, in order to improve the automation degree of the robotic arm, optionally, the magnet is an electromagnet, and the connecting component 2 can further include a solenoid valve 13. By connecting the solenoid valve 13 to the adsorption cavity, during the process of separating the robotic arm from the self-mobile device 3, the solenoid valve 13 can be controlled to open, so that the adsorption cavity can be actively connected to the external atmosphere, thereby enabling the suction cup 5 to be disengaged from the adsorption and cooperation relationship with the mounting surface.

[0044] Correspondingly, when the magnetic device 19 is a magnet, when it is necessary to separate the robotic arm and the self-mobile device 3, the magnetic pole direction of the electromagnet in the robotic arm can be changed to form a mutually repulsive magnetic cooperation relationship between the electromagnet and the magnetic device 19. On the one hand, the magnetic attraction relationship between the electromagnet and the magnetic device 19 is released. On the other hand, it also helps the external gas to enter the adsorption cavity and accelerates the contact speed of the adsorption and cooperation relationship between the suction cup 5 and the mounting surface. When the magnetic device is a magnetic part, the magnetic attraction relationship between the electromagnet and the magnetic device 19 can be released by turning off the electromagnet.

[0045] In addition, the electromagnet may include an inner core 15 and a coil 16. The inner core 15 may be formed of magnetic materials such as iron, cobalt, and nickel. In this case, after the robotic arm and the self-mobile device 3 complete the assembly work, when the magnetic implement 19 is a magnet, the electromagnet can be controlled to power off to reduce the energy consumption of the robotic arm. Since the magnetic implement 19 can still maintain a magnetically attracted state with the inner core 15 of the electromagnet, the connection stability between the connection component 2 and the self-mobile device 3 can still be ensured to be relatively strong. When the magnetic implement 19 uses a magnetic part, in order to ensure that the assembly relationship between the robotic arm and the self-mobile device 3 is relatively stable, the electromagnet can be controlled to be always in the energized state.

[0046] As described above, the robotic arm disclosed in the embodiment of the present application may include a power source 9 and a controller 8. Therefore, in the embodiment of the present application, the electromagnet and the solenoid valve 13 can also be connected to the power source 9, and the electromagnet and the solenoid valve 13 are both connected to the controller 8, so that when it is necessary to disassemble the robotic arm, the electromagnet and the solenoid valve 13 can be controlled by the controller 8. It should be noted that when the suction cup 5 is only provided with the solenoid valve 13, when it is necessary to assemble the robotic arm onto the self-mobile device 3, the solenoid valve 13 can be controlled to be in the closed state. At the same time, by controlling the electromagnet to attract the magnetic implement 19, the gas in the adsorption cavity of the suction cup 5 can be discharged, so that the suction cup 5 forms an adsorption cooperation relationship with the installation surface.

[0047] In order to further improve the vacuum degree of the adsorption cavity, optionally, the robotic arm disclosed in the embodiment of the present application may further include a suction device 4, and the suction device 4 is communicated with the solenoid valve 13. Specifically, the suction device 4 may be a vacuum pump, which can be connected to both the power source 9 and the controller 8 of the robotic arm, and the working state of the suction device 4 is controlled by the controller 8. Furthermore, during the process of assembling the robotic arm and the self-mobile device 3, the suction device 4 can be controlled to work, and the gas in the space between the adsorption cavity and the installation surface can be evacuated, which can make the adsorption cooperation relationship between the suction cup 5 and the installation surface more reliable. Of course, when the vacuum degree in the adsorption cavity meets the requirements, the suction device 4 can be controlled to stop working. Or, the suction device 4 can also be controlled to maintain the suction state, so as to further improve the stability of the connection component 2.

[0048] As described above, the solenoid valve 13 is communicated with the adsorption cavity. 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 communicated with the adsorption cavity. 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, and the bracket is a rigid structural member, which makes the setting of the solenoid valve 13 not affect the gas evacuation process in the adsorption cavity and the deformation process of the suction cup 5.

[0049] Specifically, asFigure 4 As shown, the bracket may include a mounting ring edge 14 and a receiving portion 10. Among them, the receiving portion 10 is located within the mounting ring edge 14, that is, the mounting ring edge 14 is circumferentially connected to the outer periphery of the receiving portion 10, making the bracket form an integral structure. Of course, in the embodiments of the present application, the mounting ring edge 14 and the receiving portion 10 may still be formed by an integrally molded manner, which is not limited herein.

[0050] 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, so as to ensure that the suction cup 5 generates a certain deformation and forms a reliable adsorption cooperation relationship with the mounting surface of the self - moving device 3. Regarding the positional relationship between the end faces of the receiving portion 10 and the mounting ring edge 14 facing the self - moving device 3 respectively, it can be flexibly selected according to the actual situation, which is not limited herein.

[0051] In a specific embodiment of the present application, in the direction of the magnetic pole distribution of the magnet, the end faces of the receiving portion 10 and the mounting ring edge 14 facing the self - moving device 3 are flush, that is, the end faces of the receiving portion 10 and the mounting ring edge 14 facing away from the arm body 1 are flush.

[0052] In another embodiment of the present application, the robotic arm includes the above - mentioned magnetic appliance 19, that is, when the robotic arm leaves the factory, it is equipped with the magnetic appliance 19 so that the user can install the magnetic appliance 19 on the existing self - moving device 3. Specifically, as described above, through bonding or other means, the magnetic appliance 19 can be fixedly connected to the mounting surface of the self - moving device 3. In this case, since the magnetic appliance 19 is provided on the mounting surface, the area where the magnetic appliance 19 is provided on the mounting surface protrudes from other areas. Therefore, in the embodiments of the present application, as Figure 13 shown, in the direction of the magnetic pole distribution of the magnet, the end of the mounting ring edge 14 facing away from the arm body 1 can extend beyond the end face of the receiving portion 10 facing away from the arm body 1. Intuitively, relative to the receiving portion 10, the lower edge of the mounting ring edge 14 is set lower. In this case, by surrounding the magnetic appliance 19 with the mounting ring edge 14, while the magnetic cooperation relationship between the magnetic appliance 19 and the receiving portion 10 is relatively better, the distance between the mounting ring edge 14 and the mounting surface can be relatively smaller, even 0, which makes the cooperation stability and the anti - external - force buffering ability between the suction cup 5 and the mounting surface relatively stronger.

[0053] More specifically, in the distribution direction of the above-mentioned magnetic poles, the dimension of the part where the mounting ring edge 14 extends beyond the end face of the accommodating part 10 is related to the thickness dimension of the magnetic appliance 19. Specifically, the dimensions of the two can be made equal or substantially equal. In this case, when the magnet installed in the accommodating part 10 is magnetically attracted to the magnetic appliance 19, the lower edge of the mounting ring edge 14 can just contact the mounting surface, and there is basically no mutual acting force, which makes the anti-collision ability of the entire connecting assembly 2 relatively higher, thereby greatly reducing the probability and amplitude of the connecting assembly 2 generating lateral displacement.

[0054] Based on the bracket with the above structure, during the assembly process of the connecting assembly 2, the suction cup 5 can be hermetically and fixedly connected to the outer periphery of the mounting ring edge 14. Specifically, the two can adopt the way of rubber coating connection to form a sealed connection relationship while forming a fixed connection relationship. Correspondingly, in this case, the components of the bracket that form the adsorption cavity with the suction cup 5 together include the mounting ring edge 14 and the accommodating part 10. That is, in the embodiment of the present application, the accommodating part 10 is a bottomed structure to ensure that the formed adsorption cavity has only one opening at the suction cup 5.

[0055] In the embodiment of the present application, by providing a perforation on the mounting ring edge 14, the perforation communicates with the adsorption cavity. Furthermore, by installing the solenoid valve 13 at the perforation, the solenoid valve 13 can communicate with the perforation, and then the solenoid valve 13 forms a communication relationship with the adsorption cavity through the perforation. Of course, in the case where the robotic arm includes the suction device 4, the suction device 4 can communicate with the adsorption cavity through the solenoid valve 13 and the perforation to perform a vacuum pumping operation on the adsorption cavity. And, in order to facilitate the installation work of the solenoid valve 13, a protruding tubular structure can be provided on the outer edge of the mounting ring edge 14. The tubular structure communicates with 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 beyond the suction cup 5, a through hole can be provided at the position corresponding to the tubular structure in the part of the suction cup 5 that surrounds the mounting ring edge 14, so that the tubular structure can extend out from the through hole and be connected to the solenoid valve 13.

[0056] In addition, as mentioned in the above embodiment, the number of the connecting assemblies 2 can be multiple. In this case, perforations can be provided on the brackets of each of the multiple connecting assemblies 2, and solenoid valves 13 can be installed at the multiple perforations. Optionally, the number of the suction devices 4 is also multiple, and they correspond to the solenoid valves 13 and the adsorption cavities one by one. In order to minimize the number of device settings and reduce costs, in another embodiment of the present application, the number of the suction devices 4 can be one, and the multiple solenoid valves 13 are connected to the same suction device 4 through the suction pipeline 7, and then one suction device 4 is used to perform the vacuum pumping work for the adsorption cavities of the multiple suction cups 5, which can also reduce the control difficulty.

[0057] As described above, in order to reduce the difficulty of disassembling and assembling the robotic arm, the magnet of the robotic arm can be an electromagnet. And in order to enhance the magnetic ability of the electromagnet, the electromagnet can include an inner core 15 and a coil 16 wound outside the inner core 15. The coil 16 is connected to a power source 9, and a magnetic effect can be generated in the energized state, and then a magnetic attraction cooperation relationship is formed with a magnetic device 19 fixed on the movable device.

[0058] In a specific embodiment of the present application, the electromagnet can be fixedly installed on the bracket by means of 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 edge 14. Among them, the receiving portion 10 has a receiving groove. Correspondingly, the magnet can be installed in the receiving groove. By forming a fixed connection relationship such as bonding between the electromagnet and the bottom of the receiving groove, the stability of the assembly relationship between the electromagnet and the bracket can be further improved.

[0059] In another embodiment of the present application, in order to reduce the connection difficulty between 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. The magnetic material piece 17 is a device formed by magnetic materials such as iron, cobalt, and nickel. The bracket can usually be formed of materials such as plastic. Therefore, during the injection molding process of the bracket, the magnetic material piece 17 can be integrally injection molded and formed within the bottom of the receiving portion 10 of the bracket. Correspondingly, the electromagnet can be installed in the receiving groove from the opening of the receiving groove. At the same time, by installing a threaded connector on the other side of the receiving portion 10 away from its opening, the magnetic material piece 17 and the inner core 15 of the electromagnet can form a detachable fixed connection relationship 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 where the magnetic material piece 17 is away from the receiving groove, and threaded holes are provided in both the magnetic material piece 17 and the inner core 15.

[0060] In the case of adopting the above technical solutions, on the one hand, while reducing the assembly difficulty between 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 conduction structure to make the magnetic interaction effect between the electromagnet and the magnetic device 19 more significant.

[0061] As described above, corresponding actuators can be installed at the end of the arm body 1 away from the mounting seat 12. To control the working condition of the robotic arm, generally, a force sensor 11 can be installed in the robotic arm. Optionally, the force sensor is installed at the end of the arm body 1 away from the mounting seat 12 to detect information about external forces using the force sensor. 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, a force sensor may not be installed at the end of the arm body 1.

[0062] Specifically, as described above, the bracket may include a mounting ring edge 14 and a receiving portion 10. Therefore, in the embodiment of the present application, the force sensor 11 can be disposed around the outside of the receiving portion 10, and in the magnetic pole distribution direction of the magnet, the force sensor 11 is clamped between the mounting seat 12 and the mounting ring edge 14. At the same time, the mounting seat 12 and the mounting ring edge 14 can both be fixedly connected to the force sensor 11. Since the arm body 1 is mounted 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.

[0063] Of course, in the embodiment of the present application, to ensure that the force sensor 11 can be normally installed, in the magnetic pole distribution direction of the magnet, one end of the receiving portion 10 needs to extend beyond the end face of the mounting ring edge 14 facing the arm body 1. Intuitively, 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 shown, threaded holes can 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 hole on the outer side of the upper surface of the force sensor 11 through a connecting member such as a screw, and the mounting ring edge 14 is fixedly connected to the threaded hole on the inner side of the lower surface of the force sensor 11 through a screw.

[0064] In addition, in the above embodiment, the number of the connecting components 2 can be multiple. In this case, each connecting component 2 can be correspondingly provided with the above-mentioned force sensor 11. The multiple force sensors 11 are all 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. Of course, it is also related to the respective positions of each force sensor 11 and the mounting position of the arm body 1 on the mounting seat 12.

[0065] In addition, the force sensor installed at the end of the arm body 1 is generally a six-axis force sensor. However, in the above-mentioned embodiments of the present application, when the number of connection components 2 is multiple, and each connection component 2 is correspondingly provided with the above-mentioned force sensor 11, each force sensor 11 can be a three-axis force sensor, and the specific situation of the force received by the arm body 1 is determined based on the principle of force synthesis, which can greatly reduce the cost of the force sensor.

[0066] As described above, devices such as cameras can be integrated at the end of the arm body 1. In a specific embodiment of the present application, the robotic arm may further 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 base 12, that is, the dust suction pipeline extends to the end of the arm body 1, so that the arm body 1 can move to areas such as the desktop to perform dust suction and other operations, which enables the robotic arm to have a dust suction function. Of course, when the robotic arm includes a dust suction pipeline, the other end of the dust suction pipeline also needs to be configured to communicate with a negative pressure mechanism. Optionally, the robotic arm further includes a negative pressure mechanism, and the negative pressure mechanism is communicated with one end of the dust suction pipeline. Under the action of the negative pressure mechanism, the robotic arm can perform dust suction work independently. As described above, the robotic arm disclosed in the embodiments of the present application can be installed on a self-mobile device 3 such as a sweeping robot. Therefore, in other embodiments of the present application, the dust suction pipeline of the robotic arm can also be communicated with the negative pressure mechanism of the self-mobile device 3, which can reduce the number of devices in the robotic arm and thus reduce the cost of the entire robotic arm.

[0067] Based on the above embodiments, the present application also discloses a self-mobile device, which includes a self-mobile device 3 and a robotic arm. It should be noted that the robotic arm in the self-mobile device disclosed in the embodiments of the present application does not include a magnetic device 19.

[0068] Among them, the self-mobile device 3 includes a magnetic device 19 on the body, and the magnetic device 19 is fixedly connected to the body. The connection component 2 of the robotic arm can be installed on the mounting surface of the body through an adsorption cavity formed by devices such as a suction cup 5. At the same time, the connection component 2 of the robotic arm can also be magnetically coupled with the magnetic device 19 through a magnet, so as to form a relatively stable assembly relationship between the robotic arm and the self-mobile device 3. Correspondingly, they also have the ability to be disassembled, so that when the robotic arm is not needed or the self-mobile device 3 needs to work in a relatively narrow space area, etc., the robotic arm can be removed and separated from the self-mobile device 3.

[0069] As described above, an assembly relationship is formed between the robotic arm and the self - moving device 3 through two connection methods: vacuum adsorption and magnetic adsorption. Since in the direction perpendicular to the connection direction, neither of the above - mentioned two connection methods can make the robotic arm and the self - moving device 3 form a relatively fixed relationship. Therefore, further, in the self - moving device disclosed in the embodiments of the present application, a limiting sunk - table 29 is provided on the installation surface of the main body. A part of the bracket can extend into the limiting sunk - table 29, and in the direction perpendicular to the magnetic - pole distribution direction of the magnet, the bracket is in limiting cooperation with the limiting sunk - table 29. In this case, the relative lateral movement between the connection assembly 2 and the self - moving device 3 can be restricted, thereby further improving the assembly stability between the robotic arm and the self - moving device 3.

[0070] Specifically, the outer surface of the bracket is an annular structure. Therefore, the inner surface of the limiting sunk - table 29 can also be designed 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 sunk - table 29 can both be circular - ring structures, which facilitates the processing of the bracket and the limiting sunk - table 29. And by making the size of the inner surface of the limiting sunk - table 29 basically equivalent to the size of the outer surface of the bracket, a part of the bracket can extend into the limiting sunk - table 29 and be mutually limited with the limiting sunk - table 29 in the direction perpendicular to the magnetic - pole distribution direction.

[0071] In another embodiment of the present application, in the direction perpendicular to the magnetic - pole distribution direction, the size of the inner surface of the limiting sunk - table 29 can also be 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 limiting sunk - table 29, a buffer gap can be formed between the outer surface of the bracket and the inner surface of the limiting sunk - table 29, that is, the bracket can perform a slight lateral movement action within the limiting sunk - table 29. In this case, when the self - moving device 3 collides due to an accident or other reasons, 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 limiting sunk - table 29 (i.e., the robotic arm and the self - moving device 3), which has a greater adverse impact on the connection stability of the connection assembly 2.

[0072] As described above, the bracket can include a receiving portion 10 and a mounting ring edge 14. Therefore, in another embodiment of the present application, a part of the receiving portion 10 of the bracket can extend into the limiting sunk - table 29, and the mounting ring edge 14 is still located above the installation surface. Of course, the mounting ring edge 14 can be in contact with the installation surface. In this case, the size of the limiting sunk - table 29 can be reduced, and the visual effect of the limiting sunk - table 29 on the self - moving device 3 can be minimized, improving the appearance performance of the self - moving device 3.

[0073] Based on this, in the embodiments of the present application, as Figure 4As shown, in the distribution direction of the magnetic poles, the receiving portion 10 can extend towards the end of the self - moving device 3 beyond the end face of the mounting ring edge 14 towards the end of the self - moving device 3. That is, relative to the lower edge of the mounting ring edge 14, the lower surface of the receiving portion 10 is set lower. Correspondingly, by designing the respective dimensions of the mounting ring edge 14 and the receiving portion 10, when a part of the receiving portion 10 extends into the limiting sunk - table 29, the mounting ring edge 14 can be in contact with the mounting surface of the body, so as to improve the adsorption effect of the suction cup 5.

[0074] As mentioned in the above - mentioned embodiment, the inner surface of the limiting sunk - table 29 can be an annular structure. In another embodiment of the present application, as Figure 4 shown, the inner surface of the limiting sunk - table 29 and the outer surface of the receiving portion 10 can both be in the shape of the side surface of a frustum of a cone. This enables the inner surface of the limiting sunk - table 29 to provide a certain pre - positioning and guiding effect for the installation of the receiving portion 10, thereby greatly reducing the assembly difficulty between the robotic arm and the self - moving device 3, and greatly improving the connection accuracy between the two.

[0075] When the bracket is in mutual cooperation with the limiting sunk - table 29 through the receiving portion 10, in the direction perpendicular to the magnetic pole distribution direction, the size of the inner surface of the limiting sunk - table 29 can also be slightly larger than the size of the outer surface of the receiving portion 10 in the corresponding direction. Thus, when the receiving portion 10 and the limiting sunk - table 29 are in mutual cooperation, a buffer gap can be formed between the outer surface of the receiving portion 10 and the inner surface of the limiting sunk - table 29.

[0076] As described above, the self - moving device 3 includes a magnetic appliance 19. When the body is provided with a limiting sunk - table 29, the magnetic appliance 19 can be fixedly installed on the bottom surface of the limiting sunk - table 29. Thus, when the bracket and the limiting sunk - table 29 are in mutual cooperation, the magnet installed on the bracket can form a relatively reliable magnetic attraction relationship with the magnetic appliance 19.

[0077] In order to prevent repeated disassembly and assembly of the robotic arm, which may affect the connection reliability between the magnetic appliance 19 and the body. In another embodiment of the present application, the body can include a self - moving base and a top cover 18. Among them, the self - moving base includes devices such as wheels and has the ability of autonomous movement. 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 sunk - table 29 recessed on the mounting surface. In the embodiment of the present application, as Figure 5As shown, the magnetic device 19 can be embedded below the limiting sunk platform 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. During the process of forming the top cover 18, the magnetic device 19 is embedded at the corresponding position in the top cover 18, which ensures that the installation stability of the magnetic device 19 is not affected by the repeated disassembly and assembly of the robotic arm and the self - moving device 3. Of course, parameters such as the distance between the magnetic device 19 and the limiting sunk platform 29 can be flexibly selected according to the actual situation, and this is not limited in this article.

[0078] In the robotic arm disclosed in the above - mentioned embodiment, the robotic arm can include a dust - suction pipeline, and the dust - suction pipeline can provide a normal dust - suction function by being connected to a negative - pressure mechanism. Based on this, in the embodiment of the present application, the body of the self - moving device 3 can include a negative - pressure mechanism, and the body also includes a dust - collection box 21. The dust - collection box 21 has a dust - collection cavity 24, and the dust - collection box 21 is connected to the negative - pressure mechanism through the dust - collection cavity 24. Of course, a corresponding dust - suction channel can also be provided in the body, and the dust - suction channel is connected to the dust - collection box 21, so that the self - moving device 3 also has the ability to suck dust.

[0079] When the body is provided with a dust - collection box 21 and a negative - pressure mechanism, the dust - suction pipeline of the robotic arm can be connected to the negative - pressure mechanism in the self - moving device 3. Thus, there is no need to separately configure a negative - pressure mechanism and a dust - collection mechanism for the robotic arm. At the same time, it is also convenient for the cleaning work of the dust - collection box 21. For this purpose, a docking port 30 can be provided on one side of the dust - collection box 21 facing the mounting seat 12, and the robotic arm also includes a docking member 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 member 6. The docking member 6 can be hermetically 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 - collection box.

[0080] As described above, devices such as a suction cup 5 are provided on the second side of the mounting seat 12. That is, there is also a certain distance between the second side of the mounting seat 12 and the self - moving device 3. Therefore, in the embodiment of the present application, as Figure 8As shown, a part of the docking member 6 can be located on the second side of the mounting base 12, so that the docking member 6 can be connected to the docking port 30 of the dust collection box 21. At the same time, a sealing ring 20 can be provided on the outer periphery of the docking member 6 to form a sealed connection relationship between the two. 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. And, in order to further improve the sealing effect between the two, the outer surface of the docking member 6 can be in the shape of a frustum of a cone, and in the part of the docking member 6 located on the second side of the mounting base 12, the diameter of the end close to the mounting base 12 is greater than the diameter of the end of the docking member 6 far from the mounting base 12. This can also reduce the mating difficulty 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.

[0081] Of course, the dust suction pipeline can be sleeved outside the outer surface of the docking member 6. In another embodiment of the present application, as Figure 8 shown, the dust suction pipeline and the docking member 6 can be connected through a quick-connect joint 26, so that the dust suction pipeline and the docking member 6 can form a relatively reliable fixed and sealed connection relationship. Specifically, the quick-connect joint 26 is a rotatable and sealable joint.

[0082] In addition, since the robotic arm has the ability to separate from the self-moving device 3, in order to prevent the self-moving device 3 from being unable to perform normal dust suction work due to the docking port 30 provided on the dust collection box 21 after the robotic arm is removed, in the embodiment of the present application, a self-opening and closing mechanism is provided at the docking port 30, which can include two parts, and the two parts can achieve the purpose of automatic opening and closing through devices such as electromagnets.

[0083] Correspondingly, in the embodiment of the present application, when the robotic arm and the self-moving device 3 are in a connected state, the self-opening and closing mechanism is opened, so as to ensure that the docking member 6 can pass through the self-opening and closing mechanism and be hermetically connected to the docking port 30, and further enable the docking member 6 to communicate with the negative pressure mechanism, ensuring that the dust suction pipeline can perform normal dust suction work, etc. Correspondingly, when the robotic arm and the self-moving device 3 are in a separated state, the self-opening and closing mechanism is closed, so as to ensure that the docking port 30 of the dust collection box 21 is in a closed state, and further enable the self-moving device 3 itself to use the negative pressure mechanism and the corresponding dust suction mechanism to perform dust suction work.

[0084] As above, the self-opening and closing mechanism can use devices such as electromagnets to achieve the purpose of opening and closing control. In another embodiment of the present application, an elastic member can also be used to enable the self-opening and closing mechanism to have the ability of automatic opening and closing. Specifically, as Figure 8As shown, the self-opening and closing mechanism includes a first splicing member 23, a second splicing member 25, a first elastic reset member 27, and a second elastic reset member 28. In the splicing direction of the first splicing member 23 and the second splicing member 25, both the first splicing member 23 and the second splicing member 25 are slidably installed in the dust collection box 21, so that the first splicing member 23 and the second splicing member 25 are capable of approaching each other for splicing cooperation and blocking the docking port 30, and the first splicing member 23 and the second splicing member 25 are capable of moving away from each other to avoid the docking port 30.

[0085] At the same time, the first elastic reset member 27 is elastically engaged with the first splicing member 23, and the second elastic reset member 28 is elastically engaged with the second splicing member 25. Generally, 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 pressed between one end of the first splicing member 23 away from the second splicing member 25 and the corresponding position of the dust collection box 21, so that the first elastic reset member 27 can provide a driving force for the first splicing member 23 to move the first splicing member 23 in the direction close to the second splicing member 25; correspondingly, the second elastic reset member 28 is pressed between one end of the second splicing member 25 away from the first splicing member 23 and the corresponding position of the dust collection box 21, so that the second elastic reset member 28 can provide a driving force for the second splicing member 25 to move the second splicing member 25 in the direction close to the first splicing member 23, so that the first splicing member 23 and the second splicing member 25 always have a tendency to approach each other. Furthermore, when the two are not interfered by other devices and have a distance, the first splicing member 23 and the second splicing member 25 are driven to approach each other for splicing cooperation to block the docking port 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 member 23 and the second splicing member 25 to splice with each other to block the docking port 30.

[0086] Specifically, both the first elastic reset member 27 and the second elastic reset member 28 can be compression springs, and the number of the two can be at least two to enhance the docking tendency of the first splicing member 23 and the second splicing member 25, and the splicing reliability of the first splicing member 23 and the second splicing member 25. Both the first splicing member 23 and the second splicing member 25 can be rectangular flat structural members, and both of them can be perpendicular to the magnetic pole distribution direction of the magnet. That is, correspondingly, the edges of the first splicing member 23 and the second splicing member 25 that are close to each other can be linear structures, and the splicing sealing effect between the two can be further enhanced by adding materials such as rubber pads.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] As described above, the robotic arm may include a power source 9. For this purpose, in a specific embodiment of the present application, both the self - moving device 3 and the robotic arm may be separately equipped 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 connecting member such as a conductive post to charge the power source in the self - moving device 3. For the power source 9 of the robotic arm, since its capacity is usually relatively small, in the embodiment of the present application, the base station 40 may include a base body 31 and a wireless power supply module installed on the base body 31, and the wireless power supply module is used to charge the power source 9 of the robotic arm, which can greatly improve the charging convenience of the robotic arm. In addition, the self - moving device 3 and the robotic arm may also use wireless communication to interact information and transmit control commands with the base station 40 to improve the usability of the self - moving system.

[0091] As described above, the self - moving device 3 and the robotic arm in the self - moving device have the ability to be disassembled from each other. For this purpose, in the self - moving system disclosed in the embodiment of the present application, in order to further improve the usability of the robotic arm, the magnet in the robotic arm can be an electromagnet, and the connecting component 2 can include a solenoid valve 13 communicated with the adsorption cavity, so that the cooperation relationship between the connecting component 2 and the self - moving device 3 can be controlled by controlling the on - off relationship of the power source 9 and the input direction of the current.

[0092] 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. Correspondingly, during the process of disassembling the self - moving device 3 and the robotic arm, by changing the current direction of the magnet in the robotic arm, the magnet in the robotic arm and the magnetic device 19 in the self - moving device 3 can form a mutually repulsive magnetic effect. At the same time, the base station 40 can include a base body 31 and a disassembly and assembly magnet 33 installed on the base body 31. By designing the pole distribution of the disassembly and assembly magnet 33, when one end pole of the magnet in the robotic arm repels the magnetic device 19 in the self - moving device 3, the pole of the magnet in the robotic arm far from the magnetic device 19 can form a mutually attractive magnetic effect with the disassembly and assembly magnet 33, so that the robotic arm can be separated from the self - moving device 3 and attracted to the disassembly and assembly magnet 33 in the base station 40, completing the automatic separation of the robotic arm from the self - moving device 3 and temporarily storing the robotic arm at the base station 40, which can further improve the usability of the robotic arm.

[0093] Specifically, in the embodiment of the present application, the disassembly and assembly magnet 33 is located in the upper part of the accommodation space as a whole to ensure that after the self - moving device enters the accommodation space, the disassembly and assembly magnet 33 can more conveniently complete the connection work with the magnet in the robotic arm from the side of the magnet in the robotic arm facing away from the magnetic device 19. The disassembly and assembly magnet 33 can also be an electromagnet. In another embodiment of the present application, the disassembly and assembly magnet 33 can be a permanent magnet to reduce the overall cost of the product to a certain extent.

[0094] 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 a plurality of connection components 2, the number of dismountable magnets 33 can also be made plural. By making the plurality of dismountable magnets 33 correspond one by one to the magnets in the plurality of connection components 2, a relatively stable cooperation relationship can be formed between the base station 40 and the robotic arm.

[0095] As described above, the robotic arm includes a mounting base 12, and an arm body 1 is provided on the first side of the mounting base 12. Generally, the arm body 1 does not cover the entire first side of the mounting base 12. Furthermore, the first side of the mounting base 12 usually still has a vacant surface. Based on this, in another embodiment of the present application, the base station 40 can further include an electric control suction cup 34, that is, the electric control suction cup 34 can control its suction situation according to actual needs. Specifically, the electric control suction cup 34 can also include a soft disk body and an electric control valve. By connecting the electric control valve to the suction cavity of the soft disk body, the suction situation of the soft disk body can be controlled by controlling the on-off state of the electric control valve. In this case, the electric control suction cup 34 can be arranged on one side of the dismountable magnet 33, and the electric control suction cup 34 is used to adsorb and cooperate with the surface of the first side of the mounting base 12, so that the electric control suction cup 34 can assist the dismountable magnet 33 to form a connection relationship with the robotic arm together. Furthermore, even when the number of dismountable magnets 33 is only one, the cooperation stability between the robotic arm and the base station 40 can be relatively high.

[0096] As described above, the dismountable magnet 33 can be arranged at the upper part of the accommodating space. Specifically, a fixed cooperation relationship can be formed between the dismountable magnet 33 and the base body 31, and by making the dismountable 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 below the dismountable magnet 33 and cooperate with the dismountable magnet 33.

[0097] In another embodiment of the present application, the base station 40 can further include a linear movement mechanism, and the dismountable magnet 33 is installed at one end of the linear movement mechanism. The linear movement mechanism is used to drive the dismountable magnet 33 to move linearly relative to the base body 31. In this case, before the self-moving device moves to the accommodating space, the dismountable magnet 33 can be driven by the linear movement mechanism to avoid as much as possible first, so as to increase the volume of the accommodating space, thereby preventing the self-moving device from colliding with the dismountable magnet 33 and affecting the reset of the self-moving device. Correspondingly, after the self-moving device moves in place, the linear movement mechanism can be used to control the dismountable magnet 33 to move towards the position where the magnet of the robotic arm is located, so as to facilitate the cooperation between the dismountable magnet 33 and the magnet of the robotic arm to perform the work of automatically disassembling the robotic arm.

[0098] 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, Figure 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] It should be noted that in this document, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising that 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, but may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0103] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Those of ordinary skill in the art, under the inspiration of the present application and without departing from the spirit of the present application and the scope protected by the claims, can still make many forms, all of which fall within the protection scope of the present application.

Claims

1. A self-propelled system, characterized in that: The self-moving device comprises a base station and a self-moving device, wherein the self-moving device comprises a self-moving device and a mechanical arm, the base station has a storage space for accommodating the self-moving device, the self-moving device comprises a body and a magnetic device fixedly connected to the body, the magnetic device is a magnet, the mechanical arm comprises an arm body, a mounting seat and a connecting assembly, and the arm body is mounted on a first side of the mounting seat; The connection assembly includes a bracket, a suction cup, a solenoid valve and a magnet. The bracket is fixedly connected to the mounting seat. The suction cup is located on the second side of the mounting seat. The suction cup is sealed and fixedly connected to the outer periphery of the bracket and encloses an adsorption cavity for matching with the mounting surface. The solenoid valve is connected to the adsorption cavity. The magnet is installed on the bracket. The magnet is an electromagnet and can be magnetically matched with a magnetic device fixed to the self-moving device. The connecting assembly of the robot arm can be installed on the mounting surface of the body through the adsorption cavity, and can be magnetically matched with the magnetic device through the magnet; The base station includes a base body and a disassembly and assembly magnet installed on the base body, and the disassembly and assembly magnet is used to cooperate with the electromagnet by magnetic attraction to disassemble the mechanical arm and the self-moving device.

2. The self-propelled system according to claim 1, characterized in that: The number of the connecting components is multiple.

3. The self-propelled system 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 self-moving system 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 self-moving system 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 self-propelled system 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 self-propelled system 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 self-propelled system 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 self-propelled system according to claim 1, 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.

10. The self-propelled system according to claim 9, 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.

11. The self-propelled system according to claim 10, 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.

12. The self-propelled system according to claim 1, 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.

13. The self-moving system according to claim 12, 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.

14. The self-propelled system according to claim 13, 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.

15. The self-moving system according to claim 12, characterized in that: The inner wall of the docking port is provided with a sealing ring.

16. The self-propelled system according to claim 1, 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.

17. The self-propelled system according to claim 1, 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.

18. The self-moving system according to claim 17, 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.

19. The self-propelled system according to claim 1, 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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