Manipulator, mechanical arm and cleaning equipment

Abstract

The invention discloses a manipulator, a mechanical arm and cleaning equipment. The manipulator comprises a driving part, a transmission mechanism, two clamping arms and an elastic part, the driving part is connected with the two clamping arms through the transmission mechanism so as to drive the two clamping arms to be close to or away from each other, and at least one clamping arm is movably connected with the transmission mechanism through the elastic part. And the elastic piece is configured to apply an acting force close to the other clamping arm to the connected clamping arm. Therefore, under the state that the manipulator keeps clamping the object, the clamping arms connected with the elastic piece are reversely pulled, and the elastic piece deforms to enable the clamping arms connected with the elastic piece to move relative to the transmission mechanism so as to take out the object between the two clamping arms; the problem that an object clamped by a mechanical arm cannot be taken out after the mechanical arm is accidentally powered off in the prior art is solved, and the use experience of a user is improved.

Description

Technical Field

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

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning equipment, such as smart sweeping robots, have been continuously integrated into our daily lives. In order to better achieve the cleaning function, current cleaning equipment will add a robotic arm to achieve the grabbing or moving of obstacles, objects, and garbage.

[0003] Among them, the manipulator at the end of the traditional robotic arm will remain in the state of clamping the object after grabbing the object if the cleaning equipment accidentally loses power, making it inconvenient for the user to remove the clamped object. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. This section of the application does not intend to limit the key features and essential technical features of the claimed technical solution, nor does it intend to determine the scope of protection of the claimed technical solution.

[0005] An embodiment of the first aspect of the present application provides a robot arm, including: a driving member, a transmission mechanism, two clamping arms and an elastic member, wherein the driving member is connected to the two clamping arms through the transmission mechanism to drive the two clamping arms to move closer to or away from each other, at least one clamping arm is movably connected to the transmission mechanism through an elastic member, and the elastic member is configured to apply a force to the connected clamping arm to move it closer to the other clamping arm.

[0006] Furthermore, the clamping arm is rotatably connected to the transmission mechanism, and a limiting structure is provided between the clamping arm and the transmission mechanism, and the limiting structure is used to limit the rotation angle of the clamping arm relative to the transmission mechanism.

[0007] Furthermore, the limiting structure is used to limit the movement of the clamping arm between the first position and the second position relative to the transmission mechanism; the clamping arm is configured to switch from the first position to the second position under the action of an external force, and the clamping arm is configured to switch from the second position to the first position under the action of an elastic member.

[0008] Furthermore, the transmission mechanism includes a worm and two worm wheels meshing with the worm, the worm is connected to the driving member, the two worm wheels correspond to the two clamping arms and are distributed on both sides of the worm, the corresponding worm wheels and the clamping arms are connected through a rotating shaft, the elastic member corresponds to the clamping arm, the two ends of the elastic member are connected to the corresponding clamping arms and worm wheels, and the limiting structure is arranged between the corresponding clamping arms and the worm wheels.

[0009] Furthermore, the limiting structure includes a limiting groove and a positioning protrusion, one of the limiting groove and the positioning protrusion is set on the worm gear, and the other is set on the clamping arm. The positioning protrusion is located in the limiting groove and can move in the limiting groove to enable the clamping arm to switch between the first position and the second position.

[0010] Furthermore, the elastic member is a torsion spring, which is arranged at the rotating shaft, the first end of the torsion spring is connected to the worm gear, and the second end of the torsion spring is connected to the clamping arm; or the elastic member is a spring, the first end of the spring is connected to the worm gear, and the second end of the spring is connected to the clamping arm; or the elastic member is a tension spring, the first end of the tension spring is connected to the worm gear, and the second end of the tension spring is connected to the clamping arm.

[0011] Furthermore, the elastic member is a torsion spring, the worm wheel is provided with a first slot, the clamping arm is provided with a second slot, the first torsion arm of the torsion spring is confined in the first slot, and the second torsion arm of the torsion spring is confined in the second slot.

[0012] Furthermore, when the clamping arm switches between the first position and the second position, the angle between the first clamping slot and the second clamping slot is smaller than the angle between the first torsion arm and the second torsion arm when the torsion spring is in a free state.

[0013] Furthermore, the torsion spring is accommodated in an accommodating space defined by the worm gear and the clamping arm; wherein, the worm gear is provided with a first accommodating groove, the first accommodating groove is connected to the first clamping groove, and is used to accommodate part of the torsion spring; the clamping arm is provided with a second accommodating groove, the second accommodating groove is connected to the second clamping groove, and is used to accommodate part of the torsion spring.

[0014] Furthermore, the limiting structure is located between the first clamping slot and the second clamping slot; and the worm wheel is provided with a tooth portion meshing with the worm in the circumferential direction of a portion away from the first clamping slot and the limiting structure.

[0015] Furthermore, the driving member is provided with an overcurrent self-locking device, and the transmission mechanism is provided with a self-locking structure. When the overcurrent self-locking device works to make the self-locking structure self-lock, the angle range of rotation of the clamping arm relative to the transmission mechanism is 7° to 10°.

[0016] Furthermore, the manipulator further comprises: an action member and a position switch, wherein the action member is used to change the action state with the position switch when the clamping arm is in the extreme position, so that the position switch sends a position signal.

[0017] Furthermore, the manipulator also includes: a shell, a driving part and a transmission mechanism installed inside the shell, a clamping arm passing through the shell and rotatable relative to the shell, one of the position switch and the action part is fixed relative to the shell, and the other is at least linked to the clamping arm in the extreme position.

[0018] Furthermore, the position switch is fixed on the shell, and the active part includes a rotating end rotatably connected to the shell, and a first leg and a second leg spaced apart on the circumferential side of the rotating end. The first leg is in contact with the position switch or is located near the position switch, and the second leg faces the clamping arm. The clamping arm pushes the second leg to rotate during the rotation toward the extreme position, thereby driving the first leg to press the position switch.

[0019] Furthermore, a avoidance groove is provided on the peripheral side of the clamping arm close to the position switch, and the second leg extends into the avoidance groove. When the clamping arm rotates to the extreme position, the groove wall of the avoidance groove is configured to abut against the second leg.

[0020] An embodiment of the second aspect of the present application provides a robotic arm, comprising: the robotic arm of any one of the first aspects.

[0021] An embodiment of the third aspect of the present application provides a self-moving cleaning device, including: a main body, and the robotic arm of the second aspect.

[0022] The present application provides a manipulator and cleaning equipment, wherein the manipulator includes a driving member, a transmission mechanism, two clamping arms, and an elastic member. The driving member is connected to the two clamping arms through the transmission mechanism, driving the two clamping arms to move closer to or farther from each other, thereby enabling the manipulator to grasp or release an object. At least one clamping arm is movably connected to the transmission mechanism through an elastic member, so that the clamping arm connected to the elastic member can move relative to the transmission mechanism. Thus, when the manipulator holds an object, the clamping arm connected to the elastic member is bent in the opposite direction, and the deformation of the elastic member enables the clamping arm connected to the elastic member to move relative to the transmission mechanism to remove the object between the two clamping arms. This avoids the problem in the related art that the manipulator cannot remove the object clamped by the manipulator after an unexpected power outage, thereby improving the user experience, greatly improving the convenience of removing the object clamped by the manipulator after a power outage, and improving user satisfaction.

[0023] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. Throughout the drawings, the same reference numerals are used to denote the same components.

[0025] Figure 1A schematic structural diagram of a manipulator provided in an embodiment of the present application is shown;

[0026] Figure 2 A schematic structural diagram of a manipulator in an initial position according to an embodiment of the present application is shown;

[0027] Figure 3 A schematic structural diagram of a manipulator in an extreme position provided by an embodiment of the present application is shown from one perspective;

[0028] Figure 4 An exploded schematic diagram showing a partial structure of a manipulator provided in an embodiment of the present application is shown;

[0029] Figure 5 A structural schematic diagram showing a partial structure of a manipulator provided by an embodiment of the present application from one perspective;

[0030] Figure 6 The structure of the worm gear provided in the embodiment of the present application is shown;

[0031] Figure 7 The structure of the robot arm provided by the embodiment of the present application is shown;

[0032] Figure 8 A schematic structural diagram of a manipulator in a clamping state provided by an embodiment of the present application is shown from one perspective;

[0033] Figure 9 A partial structural perspective view of a manipulator in a clamping state provided by an embodiment of the present application is shown;

[0034] Figure 10 A schematic structural diagram of a manipulator in an external force-opening state provided by an embodiment of the present application is shown from one perspective;

[0035] Figure 11 A partial structural perspective view of a manipulator in an external force-opening state provided by an embodiment of the present application is shown;

[0036] Figure 12 A structural schematic diagram showing a partial structure of a manipulator provided by another embodiment of the present application from one perspective;

[0037] Figure 13 Shown Figure 12 A partial enlarged schematic diagram of point A of the illustrated embodiment.

[0038] in, Figures 1 to 13 The corresponding relationship between the reference numerals and component names is as follows:

[0039] 100 Manipulator, 110 Driving member, 120 Transmission mechanism, 121 Worm, 122 Worm wheel, 1221 First engaging slot, 1222 First accommodating slot, 1223 Tooth portion, 130 Clamping arm, 131 Second engaging slot, 132 Second accommodating slot, 133 Avoiding slot, 140 Torsion spring, 141 First torsion arm, 142 Second torsion arm, 150 Limiting structure, 151 Limiting slot, 1511 First side wall, 1512 Second side wall, 152 Positioning protrusion, 160 Rotating shaft, 170 Actuator, 171 Rotating end, 172 First support leg, 173 Second support leg, 180 Position switch, 190 Housing, 200 Object to be clamped. DETAILED DESCRIPTION

[0040] In the following description, a number of specific details are given to provide a more thorough understanding of the technical solutions provided by this application. However, it is obvious to those skilled in the art that the technical solutions provided by this application can be implemented without one or more of these details.

[0041] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0042] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0043] like Figures 1 to 13 As shown, the embodiment of the first aspect of the present application provides a manipulator 100, the embodiment of the second aspect of the present application provides a manipulator arm, and the embodiment of the third aspect of the present application provides a cleaning device. The manipulator 100 is applied to the manipulator arm, and the manipulator arm is applied to the cleaning device. The cleaning device can be a sweeping robot, a sweeping and mopping machine, or other cleaning robots that meet the requirements.

[0044] The cleaning device includes, but is not limited to, a main body, a drive system, and a cleaning system. These systems coordinate with each other to enable the cleaning device to move autonomously to perform its cleaning function. The functional components that constitute these systems are integrated within the main body. It is understood that the cleaning device may be a self-propelled cleaning device. A self-propelled cleaning device is a device that automatically performs cleaning operations within a specific area without user intervention.

[0045] Furthermore, the robotic arm is applied to the cleaning equipment, such as the robotic arm is connected to the main body of the cleaning equipment, so as to use the robotic arm 100 at the end of the robotic arm to grasp or move obstacles, objects, and garbage near the cleaning equipment, so as to better realize the autonomous cleaning function.

[0046] Conventional robotic arms typically utilize a small motor with a high-speed reduction gearbox to reduce weight, due to their low speed and high clamping torque requirements. This makes the gripping arm difficult for the user to manually reverse. Consequently, if the robotic arm or cleaning equipment experiences a power outage after grasping an object, the gripper will remain in its grip, making it difficult for the user to remove the object.

[0047] In view of this, if Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 8 and Figure 9 As shown, an embodiment of the first aspect of the present application provides a manipulator 100, including: a driving member 110, a transmission mechanism 120, two clamping arms 130 and an elastic member 140. The driving member 110 is connected to the two clamping arms 130 through the transmission mechanism 120 to drive the two clamping arms 130 to move closer to or away from each other. At least one clamping arm 130 is movably connected to the transmission mechanism 120 through the elastic member 140, and the elastic member 140 is configured to apply a force to the connected clamping arm 130 to move closer to the other clamping arm 130.

[0048] In the manipulator 100 provided in the embodiment of the present application, the driving member 110 is connected to the two clamping arms 130 through the transmission mechanism 120, driving the two clamping arms 130 to move closer to or away from each other, thereby enabling the manipulator 100 to grasp or release an object. At least one clamping arm 130 is movably connected to the transmission mechanism 120 via an elastic member 140, so that the clamping arm 130 connected to the elastic member 140 can move relative to the transmission mechanism 120. Thus, when the manipulator 100 maintains the object in the state of clamping, the clamping arm 130 connected to the elastic member 140 is bent in the opposite direction. The deformation of the elastic member 140 enables the clamping arm 130 connected to the elastic member 140 to move relative to the transmission mechanism 120 to remove the object between the two clamping arms 130. This avoids the problem in the related art that the manipulator 100 or cleaning equipment cannot remove the object clamped by the manipulator 100 after an unexpected power outage, thereby improving the user experience, greatly improving the convenience of removing the object clamped by the manipulator 100 after a power outage, and improving user satisfaction. in, Figure 2 The two gripping arms 130 of the manipulator 100 shown are brought close to each other so that the manipulator 100 remains in its initial state. Figure 3 The two gripping arms 130 of the manipulator 100 are moved away from each other so that the manipulator 100 is in an open state. It can be understood that Figure 3 The two clamping arms 130 are shown in an extended extreme position. Figure 8 The two gripping arms 130 of the manipulator 100 are shown in a state of gripping an object. Figure 10 The two gripping arms 130 of the robot 100 are shown in an externally-forced open state.

[0049] Among them, at least one clamping arm 130 is movably connected to the transmission mechanism 120 through an elastic member 140, and it can be that a clamping arm 130 is movably connected to the transmission mechanism 120 through an elastic member 140. In this way, by reversely bending a clamping arm 130 connected to the elastic member 140, the object clamped by the manipulator 100 can be taken out after power is cut off. The operation is simple, the use is convenient, and it is conducive to reducing production costs.

[0050] Alternatively, both clamping arms 130 may be movably connected to the transmission mechanism 120 via an elastic member 140. In this way, by moving the two clamping arms 130 connected to the elastic member 140 in opposite directions, the object clamped by the manipulator 100 can be removed after power is turned off. This arrangement is simple to operate and convenient to use. Compared with a single clamping arm 130 movably connected to the transmission mechanism 120 via an elastic member 140, this arrangement can increase the relative range of motion of the two clamping arms 130 when the manipulator 100 is clamping an object, reduce the problem of irregular objects getting stuck in the clamping arms 130 during the process of removing them from the manipulator 100 in a clamped state, and thus can quickly, smoothly, and conveniently remove objects clamped by the manipulator 100, and can expand the scope of use, making it suitable for popularization and application.

[0051] The elastic member 140 is configured to apply a force to the connected clamping arms 130, forcing them to move closer to each other. This means that the elastic member 140 acts on the clamping arms 130, causing them to have an initial abutting force F1. This configuration ensures that when the manipulator 100 is in the clamping state, the force of the elastic member 140 forces the two clamping arms 130 to move closer together, providing the clamping arms 130 with sufficient torque to ensure that an object can be reliably and stably clamped between the two clamping arms 130.

[0052] Furthermore, the transmission mechanism 120 is provided with a self-locking structure, that is, the transmission mechanism 120 is configured to have a self-locking function. Thus, after the driving member 110 is powered off, the transmission mechanism 120 stops working, and the clamping arm 130 can reliably and stably maintain the current state to improve the stability and accuracy of the manipulator 100 in clamping objects.

[0053] Among them, the driving member 110 is provided with an overcurrent self-locking device. For example, the driving member 110 is a motor, and the motor is provided with an overcurrent self-locking device, that is, the motor has an overcurrent protection function. In the process of the motor driving the clamping arms 130 from opening to closing through the transmission mechanism 120, when encountering the object 200 to be clamped, the two clamping arms 130 will clamp the object 200 to be clamped, causing the motor to stall. At this time, the overcurrent self-locking device of the motor works, that is, due to the overcurrent protection function of the motor, the motor detects overcurrent and stops rotating. At this time, the self-locking structure of the transmission mechanism 120 is in a self-locking state, so that under the self-locking function of the transmission mechanism 120, the driving member 110 maintains the clamping force F on the object 200 to be clamped through the clamping arms 130, so as to achieve a reliable and stable clamping operation on the clamped object 200. It can be understood that the clamping force F applied by the driving member 110 to the clamped object 200 through the clamping arm 130 can be less than or equal to the initial clamping force F1 applied by the elastic member 140 to the clamping arm 130, so that the clamping arm 130 can achieve a reliable and stable clamping operation on the clamped object 200 without rotating relative to the transmission mechanism 120, or the clamping force F applied by the driving member 110 to the clamped object 200 through the clamping arm 130 can be slightly greater than the initial clamping force F1 applied by the elastic member 140 to the clamping arm 130, so that the clamping arm 130 can still maintain a reliable and stable clamping operation on the clamped object 200 when it rotates a small angle relative to the transmission mechanism 120. It is understood that when the clamping arms 130 are clamped to the object 200, and when the clamping arms 130 are rotated in an opening direction by an external force, i.e., when the clamping arms 130 rotate away from each other, and when the external force is greater than the initial abutting force F1 of the elastic member 140 on the clamping arms 130, the clamping arms 130 open and the object is released. Furthermore, the drive member 110 is provided with an overcurrent self-locking device, and the transmission mechanism 120 is provided with a self-locking structure. When the overcurrent self-locking device is activated and the self-locking structure is self-locked, the clamping arms 130 can rotate relative to the transmission mechanism 120 within an angle range of 7° to 10°.

[0054] That is to say, when the clamping arm 130 clamps the clamped object 200, the overcurrent self-locking device of the driving member 110 is activated. For example, when the motor stops rotating due to overcurrent protection, the self-locking structure of the transmission mechanism 120 is in a self-locking state. For example, the transmission mechanism 120 includes a worm gear 122 and a worm 121, and a self-locking function is configured between the worm 121 and the worm gear 122. Therefore, after the driving member 110 is powered off, the transmission mechanism 120 stops working, and the clamping arm 130 can reliably and stably maintain the current state to reliably and stably clamp the clamped object 200. At this time, the angle range of rotation of the clamping arm 130 relative to the transmission mechanism 120 is 7° to 10°, that is, when the clamping arm 130 is clamping an object, the angle range of rotation of the clamping arm 130 relative to the transmission mechanism 120 under the action of external force can be 7° to 10°, that is, the angle range of rotation of each clamping arm 130 in the direction away from each other is 7° to 10°, so as to ensure that the distance between the two clamping arms 130 is large enough under the action of external force, so as to provide sufficient movement space for the clamped object 200 to smoothly separate from the clamping arm 130, thereby improving the smoothness of the clamped object 200 separating from the clamping arm 130.

[0055] Specifically, when the overcurrent self-locking device of the driving member 110 operates to self-lock the self-locking structure of the transmission mechanism 120, the angle of rotation of the clamping arm 130 relative to the transmission mechanism 120 can be 7°, 8°, 9°, 10°, or other angles. It can be understood that when the angle range of rotation of the clamping arm 130 relative to the transmission mechanism 120 is 10°, it can be understood that the clamping force F exerted by the driving member 110 on the clamped object 200 through the clamping arm 130 causes the clamping arm 130 to not rotate relative to the transmission mechanism 120. When the angle range of rotation of the clamping arm 130 relative to the transmission mechanism 120 is 7°, it can be understood that the clamping force F exerted by the driving member 110 on the clamped object 200 through the clamping arm 130 causes the clamping arm 130 to rotate relative to the transmission mechanism 120 by an angle of 10°-7°=3°.

[0056] like Figure 4 、 Figure 9 and Figure 11As shown, in some possible embodiments provided in the present application, the clamping arm 130 is rotatably connected to the transmission mechanism 120, and a limiting structure 150 is provided between the clamping arm 130 and the transmission mechanism 120. The limiting structure 150 is used to limit the rotation angle of the clamping arm 130 relative to the transmission mechanism 120. Since the elastic member 140 is configured to apply a force close to the other clamping arm 130 to the connected clamping arm 130, the setting of the limiting structure 150 enables the clamping arm 130 to rotate within a preset angle range relative to the transmission mechanism 120, so that when the clamping arm 130 is in a free state, it can ensure that the clamping arm 130 connected to the elastic member 140 has a movement tendency close to the other clamping arm 130, so as to ensure that the clamping arm 130 has sufficient torque, so that the object can be reliably and stably clamped between the two clamping arms 130. When the clamping arm 130 is bent in the opposite direction, the object clamped by the manipulator 100 can be taken out quickly, smoothly and conveniently. The operation is simple and easy to use.

[0057] Specifically, the preset angle can be 5° to 15°, such as 5°, 10°, 15°, or other angles. That is, under the action of an external force, the angle at which the clamping arm 130 rotates relative to the transmission mechanism 120 can be 5°, 10°, 15°, or other angles. Furthermore, based on the specific value of the preset angle, the range of the angle at which the clamping arm 130 rotates relative to the transmission mechanism 120 when the overcurrent self-locking device of the driving member 110 is activated to self-lock the self-locking structure of the transmission mechanism 120 can be reasonably set to improve the smoothness of the clamped object 200 being released from the clamping arm 130.

[0058] like Figure 9 and Figure 11 As shown, in some possible embodiments provided by the present application, the limiting structure 150 is used to limit the movement of the clamping arm 130 between the first position and the second position relative to the transmission mechanism 120, wherein the same clamping arm 130 is closer to another clamping arm 130 in the first position than in the second position, and the clamping arm 130 is configured to switch from the first position to the second position under the action of an external force, and the clamping arm 130 is configured to switch from the second position to the first position under the action of the elastic member 140. Figure 9 The clamping arm 130 is shown in the first position, at which time the manipulator 100 is in a state of clamping an object. Figure 11 The gripping arm 130 is shown in the second position, where the manipulator 100 is in an externally-forced open state.

[0059] That is to say, if Figure 9As shown, when the manipulator 100 maintains a clamping state, the clamping arm 130 is in the first position under the action of the elastic member 140 and the limiting structure 150. Compared with the clamping arm 130 in the second position, the clamping arm 130 in the first position is closer to the other clamping arm 130. At this time, the elastic member 140 makes the clamping arm 130 have a movement tendency to approach the other clamping arm 130 to ensure that the clamping arm 130 has sufficient torque so that the object can be reliably and stably clamped between the two clamping arms 130. If in this state, the manipulator 100 or the cleaning equipment is powered off, causing the driving member 110 to be powered off, it is impossible to drive the clamping arms 130 away from each other through the transmission mechanism 120 to remove the clamped object from the manipulator 100, as shown in FIG. Figure 11 As shown, the user can bend the clamping arms 130 in the opposite direction to move the clamping arms 130 away from each other, so that the clamping arms 130 overcome the elastic force of the elastic member 140 under the action of external force and move from the first position to the second position. As a result, the object clamped by the manipulator 100 can be conveniently taken out from between the two clamping arms 130, which is simple to operate and easy to use.

[0060] It can be understood that when the clamping arm 130 overcomes the elastic force of the elastic member 140 and moves from the first position to the second position under the action of external force, the elastic member 140 stores energy. Therefore, when the external force disappears, the elastic member 140 releases energy to switch the clamping arm 130 from the second position to the first position and maintain it in the first position, thereby resetting the clamping arm 130 to ensure that the clamping arm 130 has sufficient torque.

[0061] Among them, Figure 9 As shown, when the clamping arm 130 is in the first position, it can be understood that the clamping arm 130 is in an initial position relative to the transmission mechanism 120. At this time, the clamping arm 130 has not rotated relative to the transmission mechanism 120. When the clamping arm 130 is in the second position, it can be understood that the clamping arm 130 is in an active position relative to the transmission mechanism 120. At this time, the rotation angle of the clamping arm 130 relative to the transmission mechanism 120 can be the preset angle.

[0062] like Figure 4 and Figure 5As shown, in some possible embodiments provided by the present application, the transmission mechanism 120 includes a worm 121 and two worm wheels 122 meshing with the worm 121, the worm 121 is connected to the driving member 110, and the two worm wheels 122 correspond to the two clamping arms 130 and are distributed on both sides of the worm 121. The corresponding worm wheels 122 are connected to the clamping arms 130, so that when the driving member 110 works, the worm wheel 122 and worm 121 mechanism can drive the two clamping arms 130 to move closer to or away from each other, so as to realize the operation of the manipulator 100 to grasp or release an object. Among them, the worm wheel 122 and worm 121 transmission can ensure that the transmission mechanism 120 has a large reduction ratio. When the power of the driving member 110 is small, the movement speed of the clamping arm 130 is low and has sufficient clamping torque, thereby improving the stability and accuracy of the manipulator 100 in clamping objects. At the same time, it can reduce the weight of the manipulator 100 and facilitate operation.

[0063] The worm gear 122 and the clamping arm 130 are connected via the rotating shaft 160 and the elastic member 140, that is, the rotation of the worm gear 122 can drive the clamping arm 130 to rotate synchronously. The elastic member 140 corresponds to the clamping arm 130, that is, there are two elastic members 140, and the two ends of the elastic member 140 are connected to the corresponding clamping arm 130 and the worm gear 122, so that each clamping arm 130 can rotate relative to the corresponding worm gear 122. Therefore, when the manipulator 100 is clamping an object, by bending the two clamping arms 130 in opposite directions, the relative range of movement of the two clamping arms 130 can be increased, thereby enabling the object clamped by the manipulator 100 to be removed quickly, smoothly and conveniently, and expanding the scope of use.

[0064] By setting the limiting structure 150 between the corresponding clamping arm 130 and the worm gear 122, the limiting structure 150 can limit the rotation angle of the clamping arm 130 relative to the corresponding worm gear 122 to ensure that the clamping arm 130 has sufficient torque, so that the object can be reliably and stably clamped between the two clamping arms 130, and ensure that the object clamped by the manipulator 100 can be easily and quickly removed from the manipulator 100.

[0065] Furthermore, the transmission mechanism 120 is configured to have a self-locking function, such as a self-locking function is configured between the worm 121 and the worm wheel 122. Thus, after the driving member 110 is powered off, the transmission mechanism 120 stops working, and the clamping arm 130 can reliably and stably maintain its current state to improve the stability and accuracy of the manipulator 100 in clamping objects.

[0066] like Figure 4 、 Figure 5 、 Figure 6 and Figure 7As shown, in some possible embodiments provided by the present application, the limiting structure 150 includes a limiting groove 151 and a positioning protrusion 152. One of the limiting groove 151 and the positioning protrusion 152 is set on the worm gear 122, and the other is set on the clamping arm 130. The positioning protrusion 152 is located in the limiting groove 151 and can move in the limiting groove 151 to switch the clamping arm 130 between the first position and the second position. The limiting groove 151 and the positioning protrusion 152 are easy to process and easy to implement.

[0067] Specifically, if Figure 6 and Figure 7 As shown, the limiting groove 151 can be provided on the worm gear 122 , and the positioning protrusion 152 can be located on the clamping arm 130 , or the limiting groove 151 can be provided on the clamping arm 130 , and the positioning protrusion 152 can be located on the worm gear 122 .

[0068] Among them, Figure 6 、 Figure 9 and Figure 11 As shown, the limiting groove 151 includes a first side wall 1511 and a second side wall 1512 along the rotation direction of the clamping arm 130 relative to the worm gear 122. The first side wall 1511 is close to the other clamping arm 130, and the second side wall 1512 is away from the other clamping arm 130. Under normal circumstances, as shown in FIG. Figure 9 As shown, under the action of the elastic member 140, the clamping arm 130 makes the positioning protrusion 152 abut against the first side wall 1511 of the limiting groove 151. At this time, the clamping arm 130 is located in the first position. Figure 11 As shown, when the clamping arm 130 moves away from the other clamping arm 130 under the action of an external force, and when the positioning protrusion 152 abuts the second side wall 1512 of the limiting groove 151, the clamping arm 130 is in the second position. In other words, under the action of the limiting structure 150, the clamping arm 130 moves between the first side wall 1511 and the second side wall 1512 in the limiting groove 151. Specifically, the rotation angle of the clamping arm 130 between the first side wall 1511 and the second side wall 1512 can be a preset angle, such as 5° to 15°.

[0069] Specifically, if Figure 8 and Figure 9As shown, under the action of the elastic member 140, when the transmission mechanism 120 is fixed, the clamping arm 130 will move in the direction close to each other until it abuts against the first side wall 1511 of the limiting groove 151, and there is an initial clamping force F1. When the clamping arm 130 is subjected to an external force in a direction away from each other, when the external force is greater than F1 (such as F1 is 8N), the elastic member 140 will be further compressed and twisted, and the clamping arm 130 will begin to rotate in a direction away from each other, forming an open state. When the external force is greater than or equal to F2 (such as F2 is 12N), the clamping arm 130 abuts against the second side wall 1512. At this time, the clamping arm 130 reaches the maximum angle of opening (relative to the worm gear), as shown in FIG. Figure 10 and Figure 11 shown.

[0070] like Figure 4 、 Figure 5 As shown, in some possible embodiments provided by the present application, the elastic member 140 is a torsion spring, which is disposed at the rotating shaft 160 of the worm gear 122. The first end of the torsion spring is connected to the worm gear 122, and the second end of the torsion spring is connected to the clamping arm 130. The rotating shaft 160 connects the worm gear 122 and the clamping arm 130. The torsion spring can be coaxially disposed with the rotating shaft 160, that is, the torsion spring is located on the outer circumference of the rotating shaft 160. The first end of the torsion spring is connected to the worm gear 122, and the second end of the torsion spring is connected to the clamping arm 130. This allows the torsion spring to stably provide elastic force, enabling the clamping arm 130 to switch from the second position to the first position and remain in the first position.

[0071] In other possible embodiments provided in the present application, the elastic member 140 is a spring, the first end of the spring is connected to the worm gear 122, and the second end of the spring is connected to the clamping arm 130. The spring can stably provide elastic force so that the clamping arm 130 can switch from the second position to the first position and remain in the first position.

[0072] In some other possible embodiments provided in the present application, the elastic member 140 is a tension spring, the first end of the tension spring is connected to the worm gear 122, and the second end of the tension spring is connected to the clamping arm 130. The tension spring can stably provide elastic force, so that the clamping arm 130 can switch from the second position to the first position and remain in the first position.

[0073] Therefore, the type of elastic member 140 can be reasonably selected according to structural requirements and installation position. It can be understood that the elastic member 140 can also be an elastic component other than a torsion spring, a spring, and a tension spring, which can provide elastic force to enable the clamping arm 130 to switch from the second position to the first position and maintain it in the first position.

[0074] like Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, in some possible embodiments provided by the present application, the elastic member 140 is a torsion spring, the worm gear 122 is provided with a first engaging slot 1221, the clamping arm 130 is provided with a second engaging slot 131, the first torsion arm 141 of the torsion spring is confined within the first engaging slot 1221, and the second torsion arm 142 of the torsion spring is confined within the second engaging slot 131. Thus, the torsion spring is installed through the first engaging slot 1221 and the second engaging slot 131, and the torsion spring is used to achieve a movable connection between the worm gear 122 and the clamping arm 130, resulting in a simple structure and easy installation.

[0075] Specifically, the first torsion arm 141 of the torsion spring can be inserted into the first slot 1221, clamped in the first slot 1221, or bonded to the first slot 1221 through an adhesive, and the second torsion arm 142 of the torsion spring can be inserted into the second slot 131, clamped in the second slot 131, or bonded to the second slot 131 through an adhesive.

[0076] Among them, the torsion spring can be a compressed torsion spring. Under the action of the limiting structure 150, the first torsion arm 141 and the second torsion arm 142 of the torsion spring are subjected to force and are respectively limited in the first slot 1221 and the second slot 131, thereby ensuring that the torsion spring can enable the clamping arm 130 to switch from the second position to the first position and maintain it in the first position.

[0077] In some possible embodiments provided herein, when the clamping arm 130 switches between the first position and the second position, the angle between the first engaging slot 1221 and the second engaging slot 131 is smaller than the angle between the first torsion arm 141 and the second torsion arm 142 when the torsion spring is in a free state. Thus, by properly positioning the first engaging slot 1221 and the second engaging slot 131, the torsion spring is placed in a compressed state under the action of the limiting structure 150. That is, the first torsion arm 141 and the second torsion arm 142 of the torsion spring are subjected to force and are respectively confined within the first engaging slot 1221 and the second engaging slot 131. This ensures that the torsion spring can switch the clamping arm 130 from the second position to the first position and maintain it in the first position.

[0078] like Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, in some possible embodiments provided in the present application, the torsion spring is accommodated in the accommodating space defined by the worm gear 122 and the clamping arm 130, thereby making the structure among the worm gear 122, the torsion spring and the clamping arm 130 compact, which can meet the design requirements of the manipulator 100 having a compact structure and a small size, and further meet the design requirements of the manipulator having a compact structure and a small size, and meet the design requirements of the cleaning equipment having a compact structure and a small size.

[0079] Among them, Figure 6As shown, the worm wheel 122 is provided with a first receiving groove 1222, which is communicated with the first clamping groove 1221 and is used to accommodate part of the torsion spring. Figure 7 As shown, the clamping arm 130 is provided with a second receiving slot 132, which is connected to the second clamping slot 131 and is used to accommodate a portion of the torsion spring. In other words, the first torsion arm 141 of the torsion spring is accommodated in the first clamping slot 1221, the second torsion arm 142 of the torsion arm is accommodated in the second clamping slot 131, and the remaining portion of the torsion arm is accommodated in the space formed by the first receiving slot 1222 and the second receiving slot 132. As a result, the torsion arm can be relatively compactly accommodated in the accommodation space defined by the worm gear 122 and the clamping arm 130, and the worm gear 122 and the clamping arm 130 are movably connected. The structure is simple and can meet the design requirements of a compact structure and small size of the manipulator 100.

[0080] like Figure 4 Figure 5 、 Figure 6 and Figure 7 As shown, in some possible embodiments provided in the present application, the limiting structure 150 is located between the first slot 1221 and the second slot 131; the worm wheel 122 is provided with a tooth portion 1223 meshing with the worm 121 on the circumference of the part away from the first slot 1221 and the limiting structure 150, that is, the tooth portion 1223 meshing with the worm 121 is not arranged on the entire circumference of the worm wheel 122, but the tooth portion 1223 meshing with the worm 121 and the limiting structure 150 connected to the clamping arm 130 and the elastic member 140 are distributed at different circumferential positions of the worm wheel 122, thereby making the first slot 1221, the limiting structure 150 and the tooth portion 1223 combined. Compared with the arrangement of the tooth portion 1223 on the entire circumference of the worm wheel 122, this arrangement is beneficial to improving the overall strength of the worm wheel 122, thereby improving the service life of the worm wheel 122.

[0081] Further, if Figure 6 As shown, the limiting groove 151 of the limiting structure 150 is opened on the worm wheel 122, and the positioning protrusion 152 is located on the clamping arm 130. Thus, a tooth portion 1223 is set on a circumferential portion of the worm wheel 122, and a first clamping groove 1221 and a limiting groove 151 are opened on the surface opposite to the clamping arm 130 on the part of the worm wheel 122 away from the tooth portion 1223 to ensure that the first clamping groove 1221 can be reliably connected to the elastic member 140, and the limiting groove 151 can be reliably matched with the positioning protrusion 152 on the clamping arm 130.

[0082] like Figure 12 and Figure 13As shown, in some possible embodiments provided in the present application, the manipulator 100 further includes: an action member 170 and a position switch 180. The action member 170 is used to change the action state with the position switch 180 when the clamping arm 130 is in the extreme position, so that the position switch 180 sends a position signal.

[0083] Among them, Figure 3 As shown, the extreme position of the clamping arms 130 can be understood as the extreme position where the driving member 110 drives the two clamping arms 130 away from each other through the transmission mechanism 120. It is understood that when in the extreme position, the opening angle between the two clamping arms 130 can be less than or equal to 180°. For example, when in the extreme position, the angle between the two clamping arms 130 can be 150°, 170°, 180°, or other angles. It is understood that in other examples, the opening angle between the two clamping arms 130 when in the extreme position can also be greater than 180°.

[0084] Among them, Figure 3 、 Figure 12 and Figure 13 As shown, when the clamping arm 130 is in the extreme position, if the driving member 110 drives the two clamping arms 130 to continue to move away from each other through the transmission mechanism 120, it is easy for the clamping arm 130 to collide with other parts of the manipulator 100 and be damaged. Therefore, by setting the action member 170 and the position switch 180, when the clamping arm 130 is in the extreme position, the action member 170 changes the action state with the position switch 180, so that the position switch 180 sends an in-position signal, and the driving member 110 stops rotating according to the in-position signal of the position switch 180, which can avoid the clamping arms 130 in the extreme position from continuing to move away from each other and colliding with other parts of the manipulator 100 and being damaged, thereby improving the service life of the clamping arm 130 and improving the overall reliability of the manipulator 100.

[0085] The position switch 180 may be a photoelectric switch, a mechanical switch, or other detection mechanism that meets the requirements. The action states of the actuator 170 and the position switch 180 may include contact and non-contact, blocking and non-blocking, etc. For example, when the position switch 180 is a mechanical switch, the action states of the actuator 170 and the position switch 180 may be contact and non-contact; when the position switch 180 is not a photoelectric switch, the action states of the actuator 170 and the position switch 180 may be blocking and non-blocking.

[0086] like Figure 1 and Figure 12As shown, in some possible embodiments provided in the present application, the manipulator 100 also includes: a shell 190, a driving member 110 and a transmission mechanism 120 are installed inside the shell 190, and the clamping arm 130 is passed through the shell 190 and can rotate relative to the shell 190. Thus, the shell 190 can provide good protection for the driving member 110 and the transmission mechanism 120, reduce the possibility of foreign objects colliding with the driving member 110 and the transmission mechanism 120, reduce the possibility of impurities contaminating the driving member 110 and the transmission mechanism 120, extend the service life of the driving member 110 and the transmission mechanism 120, and improve the reliability of the driving member 110 and the transmission mechanism 120.

[0087] Among them, one of the position switch 180 and the action member 170 is fixed relative to the housing 190, and the other is at least linked to the clamping arm 130 in the extreme position. Thus, it can ensure that when the clamping arm 130 is in the extreme position, it drives the action member 170 to change the action state of the action member 170 and the position switch 180, so that the position switch 180 sends a position signal.

[0088] Among them, Figure 12 and Figure 13 As shown, the position switch 180 may be fixed relative to the housing 190, and the action member 170 may be linked at least to the clamping arm 130 in the extreme position; or, the action member 170 may be fixed relative to the housing 190, and the position switch 180 may be linked at least to the clamping arm 130 in the extreme position.

[0089] Among them, one of the position switch 180 and the active member 170 is fixed relative to the shell 190. It can be understood that one of the position switch 180 and the active member 170 is connected to the shell 190 and fixed on the shell 190, or one of the position switch 180 and the active member 170 is connected to the driving member 110 and the transmission mechanism 120 fixed relative to the shell 190, thereby achieving fixation relative to the shell 190.

[0090] Among them, the position switch 180 and the other one of the active member 170 are at least linked with the clamping arm 130 in the extreme position. The clamping arm 130 in the extreme position can drive the position switch 180 and the other one of the active member 170 to move, so as to change the action state of the active member 170 and the position switch 180; or, the movement of the clamping arm 130 can drive the position switch 180 and the other one of the active member 170 to move, and when in the extreme position, the active member 170 changes the action state of the active member 170 and the position switch 180.

[0091] like Figure 12 and Figure 13As shown, in some possible embodiments provided in the present application, the position switch 180 is fixed on the housing 190, and the active member 170 includes a rotating end 171 rotatably connected to the housing 190, and a first leg 172 and a second leg 173 spaced apart around the rotating end 171. The first leg 172 is in contact with the position switch 180 or is located near the position switch 180, and the second leg 173 faces the clamping arm 130. During the rotation of the clamping arm 130 toward the extreme position, the second leg 173 is pushed to rotate, thereby driving the first leg 172 to press the position switch 180.

[0092] The fact that the first leg 172 of the actuator 170 is in contact with or near the position switch 180 indicates that when the actuator 170 is in its initial or free state, that is, when the actuator 170 is not subjected to any external force, i.e., when the clamping arm 130 has not reached its limit position, the first leg 172 will not trigger the position switch 180. In this case, the first leg 172 may be in contact with the position switch 180, or the first leg 172 may be located near the position switch 180 and separated from the position switch. It is understood that an elastic structure may be connected between the actuator 170 and the housing 190 to ensure that the first leg 172 is in contact with the position switch 180 in the initial or free state and does not trigger the position switch 180 to send a position signal.

[0093] Among them, the second leg 173 is facing the clamping arm 130, and the clamping arm 130 will push the second leg 173 to rotate during the rotation toward the extreme position, so as to drive the first leg 172 to rotate and press the position switch 180. Thus, the clamping arm 130 rotating toward the extreme position is linked with the second leg 173, so that the first leg 172 and the position switch 180 are switched from a contact or separation state to a pressing state, thereby changing the action state of the action member 170 and the position switch 180, triggering the action of the position switch 180, and causing the position switch 180 to send a position signal.

[0094] Among them, Figure 13 As shown, the housing 190 may be provided with a guide post or connected to a connecting shaft. The rotating end 171 of the actuator 170 is a collar, and the first leg 172 and the second leg 173 are spaced apart around the collar. The collar is sleeved on the guide post or connecting shaft. One end of the elastic structure is connected to the actuator 170, and the other end of the elastic structure is connected to the housing 190. When the actuator 170 is in the initial state, the first leg 172 contacts the position switch 180 and does not press the position switch 180 to send a position signal. The elastic structure may be a spring, a torsion spring, a tension spring, or other structure.

[0095] The position switch 180 can be connected to the housing 190 by at least one of a bolt structure, a clamping structure, a mortise and tenon structure, and an adhesive bonding method. Specifically, the position switch 180 can be fixed inside the housing 190 so that the housing 190 protects the position switch 180, thereby extending the service life of the position switch 180 and improving the overall reliability of the manipulator 100.

[0096] like Figure 13 As shown, in some possible embodiments provided in the present application, a avoidance groove 133 is provided on the peripheral side of the clamping arm 130 near the position switch 180, and the second support leg 173 extends into the avoidance groove 133. During the rotation of the clamping arm 130 toward the extreme position, the groove wall of the avoidance groove 133 is configured to abut against the second support leg 173.

[0097] That is, when the clamping arm 130 of the manipulator 100 rotates from the clamped state to the open state and then to the open limit position, the wall of the avoidance groove 133 will first abut against the second leg 173, and then push the second leg 173 to rotate, thereby driving the first leg 172 to rotate. When the clamping arm 130 is opened to the limit position, the second leg 173 drives the first leg 172 to rotate, causing the first leg 172 to press the position switch 180, and causing the position switch 180 to send a position signal. Therefore, by providing the avoidance groove 133 on the clamping arm 130, the structure of the clamping arm 130 is facilitated, and the provision of the action portion that abuts the second leg 173 is achieved, which simplifies the structure and helps reduce manufacturing costs. At the same time, the structure of the action member 170 and the clamping arm 130 is compact, which can meet the design requirements of the manipulator 100 with a compact structure and a small size, and thus meet the design requirements of the manipulator with a compact structure and a small size.

[0098] The second embodiment of the present application provides a robotic arm, comprising: the robotic arm 100 of any one of the first aspects. Since the robotic arm comprises any one of the aforementioned robotic arms 100, it has all the technical effects of the aforementioned robotic arms 100, which will not be described in detail here.

[0099] Furthermore, the robotic arm also includes a base and a connecting arm, the base is connected to the main body of the cleaning equipment, the connecting arm connects the base and the robotic arm 100, and the connecting arm is configured to be able to flip, rotate, move along the X-axis, move along the Y-axis, and move along the Z-axis relative to the base, or at least one or a combination thereof. Thus, the flexible movement of the robotic arm 100 relative to the base can be achieved in a variety of ways, so that the robotic arm 100 can flexibly and accurately grasp objects near the cleaning equipment.

[0100] An embodiment of the third aspect of the present application provides a cleaning device, comprising: a main body, and a robotic arm provided by any of the aforementioned embodiments, the robotic arm being connected to the main body. Since the cleaning device includes any of the aforementioned robotic arms, it has all the technical effects of the aforementioned robotic arms, which will not be described one by one here.

[0101] Among them, the robotic arm is connected to the main body, so that the robotic arm can move with the movement of the main body, and then can move with the main body to the waiting position to realize the grasping movement of the object.

[0102] Furthermore, the main body is provided with a storage chamber, and the base of the robotic arm is connected to the storage chamber. The robotic arm can be stored in the storage chamber or extended to the outside of the storage chamber. Therefore, the robotic arm can be extended outside the storage chamber or stored in the storage chamber according to the needs of grasping objects. Because the storage chamber is provided on the device body, the structure of the main body is fully utilized to realize the storage of the robotic arm. The structure is simple and can meet the design requirements of a compact structure and a small size of the cleaning equipment. At the same time, when there is no need to grasp an object, the robotic arm is stored in the storage chamber, which can reduce the damage to the robotic arm caused by foreign objects colliding with the robotic arm, thereby increasing the service life of the robotic arm.

[0103] The present disclosure has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present disclosure to the described embodiments. In addition, it will be understood by those skilled in the art that the present disclosure is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present disclosure, all of which fall within the scope of protection claimed by the present disclosure. The scope of protection of the present disclosure is defined by the appended claims and their equivalents.

Claims

1. A robot, characterized in that: include: A driving member, a transmission mechanism, two clamping arms and an elastic member, wherein the driving member is connected to the two clamping arms through the transmission mechanism to drive the two clamping arms to move closer to or away from each other, at least one of the clamping arms is movably connected to the transmission mechanism through the elastic member, and the elastic member is configured to apply a force to the connected clamping arms to move them closer to the other clamping arm.

2. The manipulator according to claim 1, characterized in that: The clamping arm is rotatably connected to the transmission mechanism. A limiting structure is provided between the clamping arm and the transmission mechanism. The limiting structure is used to limit the rotation angle of the clamping arm relative to the transmission mechanism.

3. The manipulator according to claim 2, characterized in that: The limiting structure is used to limit the movement of the clamping arm relative to the transmission mechanism between the first position and the second position; The clamping arm is configured to switch from the first position to the second position under the action of an external force, and the clamping arm is configured to switch from the second position to the first position under the action of the elastic member.

4. The manipulator according to claim 3, characterized in that: The transmission mechanism includes a worm and two worm wheels meshing with the worm, the worm is connected to the driving member, the two worm wheels correspond to the two clamping arms and are distributed on both sides of the worm, the corresponding worm wheels and the clamping arms are connected by a rotating shaft, the elastic member corresponds to the clamping arm, the two ends of the elastic member are connected to the corresponding clamping arms and the worm wheels, and the limiting structure is arranged between the corresponding clamping arms and the worm wheels.

5. The robot according to claim 4, characterized in that: The limiting structure includes a limiting groove and a positioning protrusion, one of the limiting groove and the positioning protrusion is set on the worm gear, and the other is set on the clamping arm. The positioning protrusion is located in the limiting groove and can move in the limiting groove so that the clamping arm can switch between the first position and the second position.

6. The robot according to claim 4, characterized in that: The elastic member is a torsion spring, which is arranged at the rotating shaft, with a first end of the torsion spring connected to the worm gear and a second end of the torsion spring connected to the clamping arm; or The elastic member is a spring, a first end of the spring is connected to the worm gear, and a second end of the spring is connected to the clamping arm; or The elastic member is a tension spring, a first end of the tension spring is connected to the worm gear, and a second end of the tension spring is connected to the clamping arm.

7. The robot according to claim 6, characterized in that: The elastic member is the torsion spring, the worm wheel is provided with a first slot, the clamping arm is provided with a second slot, the first torsion arm of the torsion spring is confined in the first slot, and the second torsion arm of the torsion spring is confined in the second slot.

8. The robot according to claim 7, characterized in that: When the clamping arm switches between the first position and the second position, the angle between the first clamping slot and the second clamping slot is smaller than the angle between the first torsion arm and the second torsion arm when the torsion spring is in a free state.

9. A robotic arm, characterized in that: include: The manipulator according to any one of claims 1 to 8.

10. A self-moving cleaning device, characterized in that: include: A main body, and a robotic arm as claimed in claim 9.

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