Connecting seat assembly, mechanical arm and cleaning equipment

Abstract

The invention discloses a connecting base assembly, a mechanical arm and cleaning equipment. The connecting seat assembly comprises a bottom plate, a mounting seat, a rotating seat and a rotating joint, the mounting seat and the rotating seat are connected to the same side of the bottom plate, the mounting seat is provided with a connecting channel, the rotating joint is mounted in the mounting seat and is in power connection with the rotating seat through the connecting channel, and the rotating joint is used for driving the rotating seat to rotate relative to the bottom plate. Therefore, the rotary joint and the rotary seat can be compactly arranged, the distance between the rotary seat and the rotary joint can be reduced, and the whole connecting seat assembly is compact in structure and small in size.

Description

Technical Field

[0001] The present application relates to the field of smart home technology, and in particular to a connecting seat assembly, a robotic arm, and a cleaning device. Background Art

[0002] With the continuous advancement of science and technology and the continuous improvement of people's living standards, self-propelled cleaning devices, such as intelligent sweeping robots, have become increasingly integrated into our daily lives. To better achieve their cleaning functions, current self-propelled cleaning devices often incorporate robotic arms to grab or move obstacles, objects, and garbage. However, the large size of these robotic arms makes the cleaning devices bulky and inconvenient to move and store. Summary of the Invention

[0003] 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.

[0004] An embodiment of the first aspect of the present application provides a connecting seat assembly for a robotic arm, the connecting seat assembly including: a base plate, a mounting seat, a rotating seat and a rotating joint, the mounting seat and the rotating seat are connected to the same side of the base plate, the mounting seat is provided with a connecting channel, the rotating joint is installed inside the mounting seat and is dynamically connected to the rotating seat through the connecting channel, and the rotating joint is used to drive the rotating seat to rotate relative to the base plate.

[0005] Furthermore, the mounting seat is also provided with an avoidance hole communicated with the connecting channel, the rotating seat extends to the outside of the mounting seat through the avoidance hole, and the rotating joint is dynamically connected to the rotating seat in the avoidance hole through the connecting channel.

[0006] Furthermore, the avoidance hole is arranged close to the end of the mounting seat, and the connecting channel is communicated with or overlaps with a side of the avoidance hole close to the middle of the mounting seat.

[0007] Furthermore, the mounting seat includes a first seat body and a second seat body located between the first seat body and the base plate, the second seat body includes a first part close to the middle of the base plate and a second part close to the end of the base plate, the first part is provided with an avoidance hole, and a connecting channel is provided at the connecting position of the first part and the second part.

[0008] Furthermore, the second part and the first base body together form a first installation cavity, the second base body and the bottom plate together form a second installation cavity, and the rotary joints are distributed in the first installation cavity and the second installation cavity.

[0009] Furthermore, a recessed gap is formed between the top of the first part and the top of the first seat body, and at least part of the rotating seat is located in the recessed gap; and / or the top of the first part is located below the top of the second part.

[0010] Furthermore, a first matching portion and a second matching portion are provided on the rotating seat, and the robotic arm includes a support arm connected to the rotating seat, and the support arm is rotatably connected to the rotating seat through the first matching portion. The robotic arm also includes a lifting joint installed on the support arm, and the lifting joint is rotatably connected to the rotating seat through the second matching portion. The lifting joint is used to drive the support arm to lift or lower relative to the rotating seat so as to unfold or fold relative to the base plate.

[0011] Furthermore, the connecting seat assembly also includes: a buffer and / or a support column, which is arranged on the base plate and located on the outside of the mounting seat, and the buffer and / or the support column are configured to contact the support arm when the support arm is in a folded state; wherein, at least one of the buffer and / or the support column is configured to contact near the end of the support arm away from the rotating seat.

[0012] Furthermore, the connecting seat assembly also includes: a lifting trigger and a lifting switch body, one of the lifting trigger and the lifting switch body is arranged on the base plate and located on the outside of the mounting seat, and the other is located on the side of the support arm facing the base plate, and the lifting joint is configured to stop working when the lifting trigger triggers the lifting switch body.

[0013] Furthermore, the bottom plate is in the shape of an elongated strip, the length of the bottom plate is 145mm to 165mm, the width of the bottom plate is 20mm to 40mm, and the thickness of the bottom plate is 1.5mm to 4.8mm; and / or the top of the rotating seat is lower than the top of the mounting seat.

[0014] Furthermore, a recessed structure is provided on a side of the first base away from the second base, and the robotic arm is configured as a foldable structure. The recessed structure is used to avoid a portion of the structure of the robotic arm when the robotic arm is in a folded state.

[0015] Furthermore, the recessed structure is located at the end of the first base body away from the rotating base, and at least part of the end of the robotic arm in the folded state is located in the recessed structure.

[0016] Furthermore, the rotary joint includes a driving part and a transmission part, the driving part is installed in the first installation cavity, the transmission part is located in the second installation cavity, and the driving part is inserted into the second seat body and connected with the transmission part.

[0017] Furthermore, the connecting seat assembly also includes: a circuit board, which is installed in the first installation cavity and electrically connected to the driving part, and the circuit board and the avoidance hole are located on both sides of the driving part.

[0018] Furthermore, the rotary joint also includes a rotation limit switch mounted on the mounting seat, and the circuit board is electrically connected to the rotation limit switch to control the driving part to rotate or stop rotating according to the triggering state of the rotation limit switch.

[0019] Furthermore, the rotation limit switch is installed in the second installation cavity, the second base body is provided with a wire groove, and the rotation limit switch is electrically connected to the circuit board through the wire groove.

[0020] Furthermore, the rotary limit switch includes a rotary switch body and a rotary trigger member, a slot is provided on the side of the second base body facing the bottom plate, the rotary trigger member can be movably clamped in the slot, the rotary trigger member includes a first end and a second end, the first end is arranged adjacent to the rotary switch body, the second end extends into the avoidance hole, a convex portion is provided on the peripheral side of the rotating seat, the convex portion is configured to abut against the second end so that the first end contacts the rotary switch body to trigger the rotary switch body.

[0021] Furthermore, at least the first end of the rotary trigger member is configured as an elastic member, and a first annular structure is provided at the first end, and the first annular structure can be movably restricted in the card slot, and an action portion protruding outward along the axial direction of the first annular structure is provided on a side of the first annular structure close to the second end, and the rotary switch body and a side of the first annular structure away from the second end are adjacently arranged; wherein, the second end is configured to be subjected to force so that the action portion moves in a direction close to the rotary switch body and accumulates elastic potential energy, and the first annular structure releases the elastic potential energy so that the action portion moves in a direction away from the rotary switch body.

[0022] Furthermore, the rotary trigger member further includes a limiting recess located between the first end and the second end, a positioning protrusion is provided in the card slot, and the limiting recess is sleeved on the positioning protrusion and is movable relative to the positioning protrusion.

[0023] Furthermore, the transmission part includes a gear, and at least a portion of the circumference of the rotating seat is provided with a tooth part that meshes with the gear.

[0024] Furthermore, the connecting seat assembly also includes: a rolling assembly, the rotating seat and the base plate are rollingly connected through the rolling assembly, and the rolling assembly includes balls or needles.

[0025] An embodiment of the second aspect of the present application provides a robotic arm comprising any one of the aforementioned connecting seat assemblies.

[0026] An embodiment of the third aspect of the present application provides a cleaning device comprising any of the aforementioned robotic arms.

[0027] The embodiment of the present application provides a connecting seat assembly, a robotic arm, and a cleaning device. The connecting seat assembly includes a base plate, a mounting seat, a rotating seat, and a rotating joint. The mounting seat and the rotating seat are connected to the same side of the base plate, so that the other side of the base plate can be conveniently connected to the device body of the cleaning device. By providing a connecting channel on the mounting seat, the rotating joint located inside the mounting seat is connected to the rotating seat through the connecting channel. The rotating joint can drive the rotating seat to rotate relative to the base plate, so as to drive the support arm connected to the rotating seat to rotate relative to the base plate, thereby adjusting the angle of the robotic arm and increasing the range of motion of the robotic arm. In order to ensure that the rotating joint of the rotating seat located inside the mounting seat is smoothly connected to the power, the rotating seat needs to be arranged adjacent to the mounting seat. Thus, the distance between the rotating seat and the rotating joint can be reduced, so that the rotating joint and the rotating seat are compactly arranged, so that the entire connecting seat assembly has a compact structure and a small size, which can meet the design requirements of a compact structure and a small size of the robotic arm, meet the requirements of easy movement and storage of the cleaning equipment, and expand the scope of use.

[0028] 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

[0029] 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.

[0030] Figure 1 A schematic structural diagram of a connecting socket assembly provided by an embodiment of the present application from a first perspective is shown;

[0031] Figure 2 A schematic structural diagram of a second perspective of a connecting socket assembly provided in an embodiment of the present application is shown;

[0032] Figure 3 A schematic structural diagram of a connecting socket assembly provided by an embodiment of the present application from a third perspective is shown;

[0033] Figure 4 An exploded schematic diagram of a connecting socket assembly provided in an embodiment of the present application is shown from one perspective;

[0034] Figure 5 A schematic structural diagram of a fourth perspective of a connecting socket assembly provided in an embodiment of the present application is shown;

[0035] Figure 6 Shown Figure 5A cross-sectional view taken along the AA direction of the illustrated embodiment;

[0036] Figure 7 A partial structural diagram of a connecting socket assembly provided in an embodiment of the present application is shown from one perspective;

[0037] Figure 8 A partial structural schematic diagram of another perspective of the connecting socket assembly provided in an embodiment of the present application is shown;

[0038] Figure 9 A schematic structural diagram of a second seat body provided by an embodiment of the present application from one perspective is shown;

[0039] Figure 10 A schematic structural diagram of a rotating base provided in an embodiment of the present application is shown;

[0040] Figure 11 A schematic structural diagram of a rotation trigger member provided by an embodiment of the present application from one perspective is shown;

[0041] Figure 12 A schematic diagram showing the structure of the robotic arm provided in an embodiment of the present application in a folded state is shown;

[0042] Figure 13 A schematic diagram of a portion of the structure of a robotic arm provided by an embodiment of the present application in a first perspective in an unfolded state is shown;

[0043] Figure 14 A schematic structural diagram of a second perspective of a robotic arm in an expanded state provided by an embodiment of the present application is shown;

[0044] Figure 15 A partial structural schematic diagram of a third perspective of the robotic arm provided in an embodiment of the present application in an unfolded state is shown.

[0045] Description of Reference Numerals

[0046] 100 connecting seat assembly, 110 bottom plate, 111 connecting portion, 112 second receiving groove, 120 mounting seat, 121 avoidance hole, 122 first seat body, 1221 recessed structure, 123 second seat body, 1231 slot, 1232 positioning protrusion, 1233 wire groove, 1234 first part, 1235 second part, 1236 recessed notch, 127 connecting channel, 130 rotating seat, 131 first matching portion, 132 second matching portion, 133 protrusion, 134 tooth portion, 135 frustum, 136 table, 137 first receiving groove, 140 rotating joint, 141 driving portion, 1411 motor, 1412 reduction gear box, 142 transmission portion, 143 rotation limit switch , 144 rotary switch body, 145 rotary trigger member, 1451 first end, 1452 second end, 1453 limiting recess, 1454 action part, 1455 first annular structure, 150 buffer member, 160 support column, 170 lifting trigger member, 180 circuit board, 190 rolling assembly, 191 first rolling assembly, 192 second rolling assembly, 193 pressing gasket, 194 pre-tightening gasket, 195 adjusting bolt, 200 robotic arm, 210 support arm, 211 lifting switch body, 220 lifting joint, 230 connecting arm, 240 working arm, 250 robotic arm, 260 lifting joint, 261 motor, 2611 cylindrical boss, 262 screw rod, 263 articulated shaft. DETAILED DESCRIPTION

[0047] 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.

[0048] 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.

[0049] 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.

[0050] like Figures 1 to 15 As shown, an embodiment of the present application provides a connector assembly 100, a robotic arm 200, and a cleaning device. The connector assembly 100 is applied to the robotic arm 200, which is applied to the cleaning device. The cleaning device can be a sweeping robot, a sweeper-mop machine, or other self-propelled cleaning device that meets the requirements.

[0051] Specifically, cleaning equipment includes, but is not limited to, a device body, a cleaning system, a drive system, a sensing system, a control system, an energy system, and a human-machine interaction system. These systems coordinate and cooperate with each other to enable the cleaning equipment to move autonomously and perform its cleaning functions. The functional components that comprise these systems are integrated within the device body.

[0052] Among them, Figure 11 、 Figure 13 As shown, the connecting seat assembly 100 is applied to the robotic arm 200, and the robotic arm 200 is applied to the cleaning equipment, such as the robotic arm 200 is connected to the equipment body of the cleaning equipment to realize the grabbing or moving of obstacles, objects, and garbage near the cleaning equipment to better realize the autonomous cleaning function.

[0053] Among them, Figure 11 、 Figure 13 As shown, the robotic arm 200 may also include but is not limited to a support arm 210, a connecting arm 230, a working arm 240, and a robotic arm 250 connected in sequence. The end of the support arm 210 away from the connecting arm 230 is connected to the connecting seat assembly 100. Thus, the connecting seat assembly 100 is used to support the entire robotic arm 200, and the robotic arm 250 can grasp and move obstacles and objects around the cleaning equipment.

[0054] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 8 As shown, an embodiment of the present application provides a connecting seat assembly 100, including: a base plate 110, a mounting seat 120, a rotating seat 130 and a rotating joint 140, the mounting seat 120 and the rotating seat 130 are connected to the same side of the base plate 110, the mounting seat 120 is provided with a connecting channel 127, the rotating joint 140 is installed inside the mounting seat 120, and is dynamically connected to the rotating seat 130 through the connecting channel 127, and the rotating joint 140 is used to drive the rotating seat 130 to rotate relative to the base plate 110.

[0055] The connecting seat assembly 100, the mounting seat 120 and the rotating seat 130 provided in this embodiment are connected to the same side of the base plate 110, so that the other side of the base plate 110 can be conveniently connected to the equipment body of the cleaning equipment, so that the entire robotic arm 200 can be installed on the equipment body, so that the movement of the equipment body can drive the robotic arm 200 to move synchronously, that is, the base plate 110 can be understood as the supporting carrier of the entire robotic arm 200, and it is also the carrier connecting the robotic arm 200 and the equipment body.

[0056] Among them, the rotating joint 140 is located in the mounting base 120, and the mounting base 120 provides good protection for the rotating joint 140, reducing the possibility of the rotating joint 140 being directly exposed to the external environment and easily contaminated by dust and dirty liquid, which is beneficial to extending the service life of the rotating joint 140 and thereby improving the overall service life of the robotic arm 200.

[0057] By providing a connection channel 127 on the mounting base 120, the rotary joint 140 located inside the mounting base 120 is connected to the rotating base 130 through the connection channel 127. In order to ensure smooth power connection between the rotating base 130 and the rotary joint 140 located inside the mounting base 120, the rotating base 130 needs to be arranged adjacent to the mounting base 120. In this way, the distance between the rotating base 130 and the rotary joint 140 can be reduced, making the rotary joint 140 and the rotating base 130 compact. The entire connecting base assembly 100 has a compact structure and a small size, which can meet the design requirements of a compact structure and a small size of the robot arm 200, meet the requirements of easy movement and storage of cleaning equipment, and expand the scope of use.

[0058] Furthermore, the mounting base 120 and the base plate 110 can be detachably connected, for example, by at least one of a bolt structure, a clamping structure, a mortise and tenon structure, a plug-in structure, and a magnetic structure, so as to facilitate the disassembly and assembly of the rotary joint 140 in the mounting base 120, which is beneficial to improving the maintenance efficiency of the rotary joint 140.

[0059] Among them, the mounting seat 120 and the rotating seat 130 are connected to the same side of the base plate 110. It can be understood that the mounting seat 120 and the rotating seat 130 are both located on the top of the base plate 110, that is, the bottom of the base plate 110 is the bottom of the entire robotic arm 200, and the bottom of the base plate 110 is used to contact the equipment body of the cleaning equipment, so that the equipment body can stably support the base plate 110, and then provide stable support for the entire robotic arm 200, reduce the possibility of shaking of the robotic arm 200 during operation, and improve the accuracy of the operation of the robotic arm 200.

[0060] Among them, the mounting seat 120 and the rotating seat 130 are connected to the same side of the base plate 110, which can be understood as the mounting seat 120 and the rotating seat 130 are arranged side by side on the top of the base plate 110. Therefore, the connecting channel 127 can be arranged on the side of the mounting seat 120, that is, the connecting channel 127 is arranged in the vertical direction, which facilitates the rotary joint 140 located in the mounting seat 120 to be dynamically connected with the rotating seat 130 through the connecting channel 127 on the side.

[0061] Further, if Figure 4 As shown, the rotating seat 130 is rotatably connected to the base plate 110. For example, the connecting seat assembly 100 also includes a rolling assembly 190. The rotating seat 130 is rotatably connected to the base plate 110 via the rolling assembly 190, thereby improving the smoothness and flexibility of the rotation of the rotating seat 130 relative to the base plate 110. Specifically, the provision of the rolling assembly 190 enables the rotating seat 130 to be rollingly connected to the base plate 110, thereby enabling the rolling assembly 190 to withstand axial loads, which is beneficial for improving product reliability. The specific structure of the rolling assembly 190 is described in detail later.

[0062] like Figure 1 、 Figure 4 、 Figure 8 As shown, in some possible embodiments provided in the present application, the mounting seat 120 is also provided with an avoidance hole 121 connected to the connecting channel 127, the rotating seat 130 extends to the outside of the mounting seat 120 through the avoidance hole 121, and the rotating joint 140 is dynamically connected to the rotating seat 130 in the avoidance hole 121 through the connecting channel 127.

[0063] In this embodiment, by providing an avoidance hole 121 on the mounting base 120, the rotating base 130 extends through the avoidance hole 121 to the outside of the mounting base 120, so that the rotating base 130 can be smoothly connected to the support arm 210 of the robot arm 200. The rotating joint 140 located in the mounting base 120 is connected to the rotating base 130 in the avoidance hole 121 through the connecting channel 127, so that the rotating joint 140 can drive the rotating base 130 to rotate relative to the base plate 110, thereby driving the support arm 210 connected to the rotating base 130 to rotate relative to the base plate 110. Figure 12 As shown, after the support arm 210 rotates relative to the base plate 110, it can drive the connecting arm 230, the working arm 240 and the manipulator 250 connected to the support arm 210 to rotate as a whole relative to the base plate 110, and then adjust the angle of the manipulator 200 to adjust the position of the manipulator 250, which can increase the motion range of the manipulator 200, improve the cleaning range of the cleaning equipment, and expand the scope of use of the product.

[0064] In this embodiment, the setting of the connecting channel 127 and the avoidance hole 121 enables the mounting base 120 to provide an installation position and installation space for the rotary joint 140. At the same time, the mounting base 120 provides an avoidance space for the rotating base 130, and can ensure that the rotary joint 140 and the rotating base 130 are smoothly powered. As a result, the distance between the rotating base 130 and the rotary joint 140 can be reduced, so that the rotary joint 140 and the rotating base 130 are compactly arranged, and the entire connecting base assembly 100 has a compact structure and a small size, thereby meeting the design requirements of the robotic arm 200 for a compact structure and a small size, meeting the requirements of easy movement and storage of cleaning equipment, and expanding the scope of use.

[0065] At the same time, because the rotating seat 130 is inserted into the avoidance hole 121 of the mounting seat 120, the rotating joint 140 is connected to the rotating seat 130 located in the avoidance hole 121 by power. Therefore, the mounting seat 120 also plays a certain protective role for part of the rotating seat 130. Compared with the rotating seat 130 being directly exposed to the external environment and being connected to the rotating joint 140 by power, it is beneficial to extend the service life of the rotating seat 130, thereby improving the overall service life of the robotic arm 200. It is understandable that in other examples, the rotating seat 130 can be located outside the mounting seat 120, that is, simplifying the arrangement of the avoidance hole 121. In this case, the rotating seat 130 is arranged adjacent to the connecting channel 127 of the mounting seat 120, which can also meet the design requirements of the connecting seat assembly 100 with a compact structure and a small volume.

[0066] In the above embodiment, the avoidance hole 121 is arranged near the end of the mounting base 120, and the connecting channel 127 is connected to or overlaps with one side of the avoidance hole 121 near the middle of the mounting base 120. As a result, the rotary joint 140 located inside the mounting base 120 can be smoothly connected to the rotating base 130 through the connecting channel 127. In addition, the rotating base 130 passing through the avoidance hole 121 and the rotary joint 140 located inside the mounting base 120 can be arranged relatively compactly, making the entire connecting base assembly 100 compact and small in size.

[0067] The connecting channel 127 can be connected to the side of the avoidance hole 121 close to the middle of the mounting seat 120. In this case, it can be understood that the connecting channel 127 is connected to the hole wall of the avoidance hole 121. The connecting channel 127 can have a certain length. Or, as Figure 8As shown, the connecting channel 127 can coincide with the side of the avoidance hole 121 close to the middle of the mounting seat 120. In this case, the side of the avoidance hole 121 close to the middle of the mounting seat 120 can be understood as the connecting channel 127. The connecting channel 127 can have no length, that is, a part of the avoidance hole 121 forms the connecting channel 127. Thus, the structure of the connecting seat 120 can be simplified, and the distance between the rotating seat 130 and the rotating joint 140 can be further reduced, so that the rotating joint 140 and the rotating seat 130 are compactly arranged, so that the entire connecting seat assembly 100 has a compact structure and a small volume.

[0068] like Figure 4 As shown, in some possible embodiments provided in the present application, a connecting portion 111 is provided on the base plate 110, and the other side of the base plate 110 can be connected to the equipment body of the cleaning equipment through the connecting portion 111, so that the entire robot arm 200 is installed on the equipment body, so that the robot arm 200 can move with the equipment body. Specifically, the connecting portion 111 on the base plate 110 can be at least one of a hole structure, a groove structure, a protrusion structure, and a groove structure. For example, the connecting portion 111 on the base plate 110 can be a threaded hole, a through hole, a limiting groove, a limiting protrusion, etc. It can be understood that there can be multiple connecting portions 111 on the base plate 110. Thus, the connection between the base plate 110 and the equipment body can be achieved by at least one of a bolt structure, a clamping structure, and a plug-in structure, and the connecting seat assembly 100 is installed on the equipment body to achieve the connection between the entire robot arm 200 and the equipment body.

[0069] like Figure 1 、 Figure 2 、 Figure 4 、 Figure 8 As shown, in some possible embodiments provided by the present application, the mounting base 120 includes a first base body 122 and a second base body 123 located between the first base body 122 and the base plate 110. That is, the base plate 110, the second base body 123, and the first base body 122 are arranged in sequence from bottom to top, and the up and down directions can be as follows: Figure 2 As shown by arrow Z in FIG. The second base body 123 includes a first portion 1234 and a second portion 1235. The first portion 1234 is located near the middle of the base plate 110, and the second portion 1235 is located near the end of the base plate 110. The first portion 1234 is provided with an escape hole 121, and an escape channel 127 is provided at the connection between the first portion 1234 and the second portion 1235. The second portion 1235 and the first base body 122 together form a first installation cavity, and the second base body 123 and the base plate 110 together form a second installation cavity. The rotary joints 140 are distributed within the first and second installation cavities.

[0070] In this embodiment, since the first part 1234 of the second seat body 123 is close to the middle of the base plate 110, the second part 1235 is close to the end of the base plate 110, and the avoidance hole 121 is opened on the first part 1234, the avoidance hole 121 can be set close to the middle of the base plate 110, that is, the rotating seat 130 can be arranged close to the middle of the base plate 110. Therefore, the support arm 210 connected to the rotating seat 130 can be arranged as close to the middle of the base plate 110 as possible, so that the support arm 210 and the rotating joint 140 can be distributed on both sides of the base plate 110 roughly with the center of the base plate 110, so as to meet the design requirements of the robotic arm 200 with a compact structure and a small size.

[0071] At the same time, the first part 1234 is provided with an avoidance hole 121, and a connecting channel 127 is provided at the connecting position of the first part 1234 and the second part 1235, that is, the connecting channel 127 is located inside the second seat body 123, so that the part where the power connection between the rotating joint 140 and the rotating seat 130 is located inside the second seat body, which plays a good protective role for the power connection part between the two, is beneficial to improving the reliability and accuracy of the power connection between the rotating joint 140 and the rotating seat 130, and improving the operation accuracy of the robotic arm 200.

[0072] At the same time, the second part 1235 and the first seat body 122 together form a first installation cavity, the second seat body 123 and the base plate 110 together form a second installation cavity, and the rotating joint 140 is distributed in the first installation cavity and the second installation cavity, so that the base plate 110 can connect and support the mounting seat 120. At the same time, the base plate 110 also seals the end of the second seat body 123 away from the first seat body 122, thereby simplifying the setting of the sealing plate of the end of the second seat body 123 away from the first seat body 122, simplifying the structure, reducing the manufacturing cost of the robot arm 200, and helping to reduce the weight of the robot arm 200 to meet the lightweight design requirements. Moreover, the overall height of the mounting base 120 can be reduced to a great extent, thereby making the mounting base 120, the base plate 110 and the rotating joint 140 compactly arranged, which can meet the design requirements of the connecting base assembly 100 being compact, small in size and lightweight, and is beneficial to reducing the overall height of the robotic arm 200 when it is in a folded state, facilitating the storage of the robotic arm 200, and meeting the design requirements of the cleaning equipment being compact in structure and small in size.

[0073] In this embodiment, the base plate 110 supporting the robotic arm 200, the rotating base 130 connected to the support arm 210 of the robotic arm 200, and the rotating joint 140 driving the rotating base 130 to rotate are integrated into the connecting base assembly 100. The mounting base 120 and the base plate 110 cooperate to realize the installation and accommodation of the rotating joint 140. At the same time, the installation and avoidance of the rotating base 130 are realized, so that the base plate 110, the rotating base 130, the rotating joint 140, and the mounting base 120 are compactly arranged and small in size, thereby making the connecting base assembly 100 compact and small in size, which can meet the design requirements of the robotic arm 200 for compact structure, small size, and lightness. At the same time, the support for the robotic arm 200 and the rotation of the support arm 210 are integrated into the connecting base assembly 100, realizing the diversification of the functions of the connecting base assembly 100.

[0074] like Figure 4 As shown, further, the first seat body 122 and the second seat body 123 can be detachably connected by at least one of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure, and a magnetic structure to facilitate the disassembly and maintenance of the rotary joint 140.

[0075] Furthermore, the second seat body 123 and the base plate 110 can be detachably connected by at least one of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure, and a magnetic structure to facilitate the disassembly and maintenance of the rotating joint 140 and the rotating seat 130.

[0076] In the above embodiment, if Figure 9 As shown, a recessed notch 1236 is formed between the top of the first portion 1234 of the second base body 123 and the top of the first base body 122, and the avoidance hole 121 is located on the second base body 123. Thus, the recessed notch 1236 provides space for the rotating base 130, which extends through the avoidance hole 121 to the outside of the mounting base 120, so that at least a portion of the rotating base 130 is located within the recessed notch 1236. As a result, a portion of the rotating base 130 can be embedded in the avoidance hole 121 of the mounting base 120, while the other portion of the rotating base 130 is accommodated in the recessed notch 1236 formed between the top of the first portion 1234 and the top of the first base body 122. This makes the layout of the rotating base 130 and the mounting base 120 more compact, making the connecting base assembly 100 compact and small in size, thereby meeting the design requirements of the robotic arm 200 for a compact structure and small size.

[0077] In the above embodiment, if Figure 9As shown, the top of the first portion 1234 of the second base body 123 is located below the top of the second portion 1235. In other words, the top of the second base body 123 itself is a stepped structure formed by the first portion 1234 and the second portion 1235. The top of the first portion 1234 is lower than the top of the second portion 1235, thereby forming a recessed notch 1236. The avoidance hole 121 on the first portion 1234 is located below the recessed notch 1236. This arrangement ensures that the height of the avoidance hole 121 is lower than the height of the second portion 1235 of the second base body 123, that is, the height of the rotating base 130 within the avoidance hole 121 can be relatively low. This ensures that the rotating base 130 can pass through the avoidance hole 121 and connect to the support arm 210 at a relatively low height, thereby minimizing the overall height of the rotating base 130 and reducing the overall height of the robotic arm 200, thereby meeting the design requirements of the robotic arm 200 for a compact structure, small size, and lightweight design.

[0078] like Figure 4 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 14 and Figure 15 As shown, in some possible embodiments provided in the present application, a first mating portion 131 and a second mating portion 132 are provided on the rotating base 130, and the support arm 210 is rotatably connected to the rotating base 130 through the first mating portion 131. The robotic arm 200 also includes a lifting joint 260 installed on the support arm 210, and the lifting joint 260 is rotatably connected to the rotating base 130 through the second mating portion 132. The lifting joint 260 is used to drive the support arm 210 to lift or lower relative to the rotating base 130 so as to fold or unfold relative to the base plate 110.

[0079] In other words, by providing the first mating portion 131 and the second mating portion 132 on the rotating base 130 and cooperating with the support arm 210 and the lifting joint 260 on the support arm 210, the support arm 210 can rotate relative to the base plate 110, as well as fold and unfold relative to the base plate 110, thereby increasing the range of motion of the support arm 210 and the range of motion of the entire robotic arm 200. At the same time, the rotating base 130 is multifunctional, capable of cooperating with the support arm 210 and the lifting joint 260, resulting in a compact layout of the support arm 210, the rotating base 130, and the lifting joint 260, which can meet the design requirements of a compact structure and small size for the robotic arm 200.

[0080] Furthermore, the lifting joint 260 is mounted on the support arm 210, which enables a compact layout of the lifting joint 260 and the support arm 210. The lifting joint 260 is mounted inside the support arm 210, which facilitates the support arm 210 to provide good protection for the lifting joint 260 and prolong the service life of the lifting joint 260.

[0081] Specifically, if Figure 10 and Figure 15 As shown, the rotating base 130 is provided with a first mating portion 131, which can be an axial hole. The end of the support arm 210 is connected to a hinge shaft 263 via a bearing, so that the support arm 210 can swing relative to the hinge shaft 263. The hinge shaft 263 is installed in the axial hole, thereby enabling the support arm 210 to be rotatably connected to the rotating base 130, thereby realizing the articulation of the support arm 210 and the rotating base 130. Specifically, the second mating portion 132 can be a guide nut hinged to the rotating base 130. The output shaft of the motor 261 of the lifting joint 260 is threadedly connected to the guide nut via a screw rod 262, so that the lifting joint 260 is rotatably connected to the rotating base 130. As a result, the rotating base 130 rotates relative to the base plate 110 under the drive of the rotating joint, which can drive the support arm 210 and the lifting joint 260 to rotate synchronously relative to the base plate 110, thereby causing the connecting arm 230, the working arm 240, and the manipulator 250 connected to the support arm 210 to rotate synchronously.

[0082] Among them, Figure 15 As shown, the housing of the motor 261 of the lifting joint 260 can be hinged to the support arm 210, such as the housing of the motor 261 is connected to a motor base, cylindrical bosses 2611 are provided at both ends of the motor base, and a circular groove is provided on the inner wall of the support arm 210. The cylindrical boss 2611 is accommodated in the circular groove and can rotate relative to the circular groove, thereby making the housing of the motor 261 hinged to the support arm 210. The output shaft of the motor 261 of the lifting joint 260 is threadedly connected to the guide nut on the rotating seat 130 through the screw rod 262, the guide nut is hinged to the rotating seat 130, and the support arm 210 is hinged to the rotating seat 130 through the hinge shaft 263, thereby forming a movable triangle structure. The three vertices of the movable triangle are the hinge point N of the guide nut and the rotating seat 130, the hinge point O of the support arm 210 and the rotating seat 130, and the hinge point M of the housing of the motor 261 and the support arm 210, so that the output shaft of the motor 261 of the lifting joint 260 rotates, driving the screw rod 262 and the guide nut to move relative to each other, so that the support arm 210 can be lifted or lowered relative to the rotating seat 130, and the structure is simple.

[0083] Specifically, if Figure 15As shown, the hinge point O between the support arm 210 and the rotating base 130 can be understood as the first matching part 131. O is set on the rotating base 130, and the hinge point N between the guide nut and the rotating base 130 is also set on the rotating base 130. Therefore, the distance ON between O and N is constant. Similarly, the hinge point M between the housing of the motor 261 and the support arm 210 is set on the support arm 210. Therefore, the distance OM between O and M is constant. When the rotating base 130 is stationary, it is only necessary to adjust the distance between MN to achieve the lifting and lowering of the support arm 210 relative to the rotating base 130. Since the screw rod 262 is engaged with the guide nut through a threaded structure, when the motor drives the screw rod 262 to rotate, the guide nut will move away from or approach the motor, that is, change the distance MN between the hinge point N between the guide nut and the rotating base 130 and the hinge point M between the housing of the motor 261 and the support arm 210. Therefore, by driving the screw rod 262 and the guide nut to move relative to each other through the motor 231, the support arm 210 can be lifted and lowered relative to the rotating base 130, which has a simple structure and is easy to operate.

[0084] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 12 and Figure 13 As shown, in some possible embodiments provided by the present application, the connecting base assembly 100 further includes: a buffer 150, which is disposed on a side of the base plate 110 facing the mounting base 120 and is located outside the mounting base 120. The buffer 150 is configured to contact the support arm 210 when the support arm 210 is in the folded state. Thus, the buffer 150 can provide a buffering and supporting effect on the support arm 210 in the folded state, so that the support arm 210 can achieve a soft landing during the folding process relative to the base plate 110, reducing or avoiding the problem of the support arm 210 shaking or being damaged due to direct collision with the base plate 110 during the folding process relative to the base plate 110, thereby improving the stability of the robotic arm 200, extending the service life of the support arm 210, and thereby improving the overall reliability of the robotic arm 200.

[0085] Specifically, the buffer member 150 is configured as an elastic member, such as a rubber pad, or a rubber pad is configured on the side of the buffer member 150 facing the support arm 210. The rubber pad is elastic to provide a cushioning and protective effect on the support arm 210. The buffer member 150 and the base plate 110 can be separate structures, and the buffer member 150 can be installed on the base plate 110 using at least one of a bolt structure, an insert structure, a clamping structure, a mortise and tenon structure, and an adhesive.

[0086] The number of the buffer members 150 may be one or more, and the plurality of buffer members 150 may be spaced apart along the length direction of the bottom plate 110. Figure 2 and Figure 3 As shown by the arrow X in the figure.

[0087] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 12 and Figure 13 As shown, in some possible embodiments provided by the present application, the connecting base assembly 100 further includes: a support column 160, which is disposed on a side of the base plate 110 facing the mounting base 120 and is located outside the mounting base 120. The support column 160 is configured to contact the support arm 210 when the support arm 210 is in the folded state. Thus, the support column 160 can support the support arm 210 in the folded state, so that the support arm 210 can be reliably and stably supported on the support column 160 after being folded relative to the base plate 110, thereby improving the stability of the support arm 210 in the folded state and reducing the possibility of the support arm 210 shaking.

[0088] Specifically, the support column 160 and the base plate 110 can be an integrated structure, for example, the support column 160 and the base plate 110 can be integrally formed. Alternatively, the support column 160 and the base plate 110 can be separate structures, and the support column 160 can be mounted on the base plate 110 using at least one of a bolt structure, a snap-fit structure, a plug-in structure, a mortise and tenon structure, and a magnetic structure. In this case, the support column 160 can also be an elastic member to provide a cushioning and protective effect on the support arm 210.

[0089] The number of the support columns 160 may be one or more, and the plurality of support columns 160 may be arranged at intervals along the length direction of the base plate 110 .

[0090] It is understood that the connector assembly 100 may be provided with only the buffer member 150, or the connector may be provided with only the support column 160, or the connector assembly 100 may be provided with both the buffer member 150 and the support column 160. Specifically, when the connector assembly 100 includes both the support column 160 and the buffer member 150, the support column 160 and the buffer member 150 may be arranged at intervals along the length direction of the base plate 110. Among them, the buffer 150 can be located on the side of the support column 160 close to the rotating seat 130. Since the support arm 210 gradually fits with the base plate 110 from the end close to the rotating seat 130 to the end away from the rotating seat 130 during the folding process relative to the base plate 110, the buffer 150 is located on the side of the support column 160 close to the rotating seat 130, so that the support arm 210 first contacts the buffer 150 to achieve a soft landing during the folding process, and then contacts the support column 160 to achieve reliable support, so as to further improve the reliability of the support arm 210 and achieve stable support.

[0091] In the above embodiment, at least one of the buffer member 150 and / or the support column 160 is configured to contact the vicinity of the end of the support arm 210 away from the rotating base 130. In this way, reliable support for the support arm 210 can be achieved, so that the support arm 210 in the folded state can be reliably supported. At the same time, because the buffer member 150 and / or the support column 160 are located on the base plate 110, the length of the support arm 210 is roughly equivalent to the length of the base plate 110, so that the base plate 110 has a good and stable supporting force, so that the support arm 210 in the folded state and the connecting base assembly 100 together form a roughly rectangular parallelepiped structure, which is relatively compact and has a relatively neat appearance, thereby reducing the occupied space and meeting the design requirements of the support arm 210 having a compact structure and a small size.

[0092] like Figure 13 As shown, in some possible embodiments provided in the present application, the connecting seat assembly 100 also includes: a lifting trigger 170 and a lifting switch body 211, one of the lifting trigger 170 and the lifting switch body 211 is set on the base plate 110, located on the outside of the mounting seat 120, and the other is set on the side of the support arm 210 facing the base plate 110, and the lifting joint 260 is configured to stop working when the lifting trigger 170 triggers the lifting switch body 211.

[0093] That is to say, the lifting trigger 170 and the lifting switch body 211 constitute a lifting position detection switch. When the lifting joint 260 drives the support arm 210 to fold relative to the base plate 110, the lifting trigger 170 contacts the lifting switch body 211 and triggers the lifting switch body 211. At this time, the lifting joint 260 stops working, indicating that the support arm 210 is folded to a suitable position relative to the base plate 110, avoiding the lifting joint 260 from continuing to work, causing the support arm 210 to collide and interfere with the base plate 110 and be damaged, thereby protecting the support arm 210.

[0094] Specifically, if Figure 13 As shown, the lifting trigger 170 can be set on the bottom plate 110, and the lifting switch body 211 can be set on the support arm 210, or the lifting trigger 170 is set on the support arm 210, and the lifting switch body 211 is set on the bottom plate 110.

[0095] The lifting trigger 170 or the lifting switch body 211 on the bottom plate 110 may be located on a side of the buffer 150 away from the rotating base 130 and / or on a side of the support column 160 close to the rotating base 130 .

[0096] like Figure 3 As shown, in some possible embodiments provided in the present application, the base plate 110 is in the shape of an elongated strip. This configuration facilitates the processing and installation of the base plate 110 and can provide a larger contact area with the device body, thereby improving the installation strength.

[0097] Furthermore, the length of base plate 110 is 145mm to 165mm, the width of base plate 110 is 20mm to 40mm, and the height of base plate 110 is 1.5mm to 4.8mm. This configuration further improves the size of base plate 110, making base plate 110 flat, facilitating processing and installation of base plate 110, and providing a larger contact area with the device body, thereby improving installation strength. At the same time, this configuration makes the appearance of connector assembly 100 relatively neat and compact, which can meet the design requirements of compact structure and small size of robot arm 200.

[0098] Specifically, the length direction of the bottom plate 110 can be as follows Figure 3 As shown by the arrow X in FIG, the width direction of the bottom plate 110 can be as follows Figure 3 As shown by the arrow Y in FIG. 1 , the height direction of the bottom plate 110 can be as follows: Figure 2 As shown by the arrow Z in FIG. 1 , the length of the bottom plate 110 can be as follows: Figure 3 As shown in L in FIG, the length of the bottom plate 110 can be 145 mm, 150 mm, 155 mm, 160 mm, 165 mm, or any size between 145 mm and 165 mm. Figure 3 As shown in W in FIG, the width of the bottom plate 110 can be 20 mm, 25 mm, 30 mm, 35 mm, 40 mm, or any size between 20 mm and 40 mm. The height of the bottom plate 110 can be as shown in FIG. Figure 2 As shown by D in FIG, the height of the bottom plate 110 can be 1.5 mm, 2 mm, 3 mm, 4 mm, 4.8 mm, or any size from 1.5 mm to 4.8 mm.

[0099] In some possible embodiments provided in the present application, the top of the rotating seat 130 is lower than the top of the mounting seat 120. Thus, the height difference between the two provides movement space for the support arm 210 and provides accommodation space for the support arm 210 in a folded state.

[0100] Specifically, if Figure 2 As shown, since one end of the support arm 210 needs to be hinged to the rotating base 130, when the support arm 210 is in the folded state relative to the base plate 110, the portion of the end portion of the support arm 210 connected to the rotating base 130 can be accommodated in the space formed by the height difference between the rotating base 130 and the top of the mounting base 120. This can avoid the situation where the top of the rotating base 130 and the mounting base 120 are flush with each other and the end portion of the support arm 210 connected to the rotating base 130 is significantly protruded from the top of the mounting base 120, which is beneficial to reducing the height difference between the top of the support arm 210 in the folded state and the top of the mounting base 120, making the robot arm 200 in the folded state compact and small in size. In some possible embodiments provided by the present application, the top of the support arm 210 in the folded state is higher than the top of the connecting base assembly 100. This can avoid the possibility of interference between the connecting arm 230 connected to the support arm 210 and in the folded state and the top of the connecting base assembly 100 when the entire robot arm 200 is in the folded state.

[0101] Specifically, if Figure 2 As shown, the height difference between the top of the support arm 210 in the folded state and the top of the mounting seat is less than or equal to 3 mm, that is, the two are set almost flush. As a result, the support arm 210 in the folded state and the connecting seat assembly 100 as a whole form a structure that is approximately rectangular, which is relatively compact and has a relatively neat appearance, so as to reduce the occupied space and meet the design requirements of the support arm 210 with a compact structure and a small size.

[0102] Specifically, the height difference between the support arm 210 and the top of the mounting base 120 when the support arm 210 is in the folded state can be as follows: Figure 2 As shown in H, H is less than or equal to 3 mm. It can be understood that H can be 1 mm, 2 mm, 3 mm, or any size from 1 mm to 3 mm.

[0103] Specifically, the bottom plate 110 can be a sheet metal part, which is light in weight and high in strength, and can meet the lightweight design requirements of the connector assembly 100. It is understandable that the bottom plate 110 can be made of other materials that meet the requirements.

[0104] like Figure 4 and Figure 12 As shown, in some possible embodiments provided by the present application, a recessed structure 1221 is provided on a side of the first base 122 away from the second base 123. The robotic arm 200 is configured as a foldable structure. The recessed structure 1221 is used to avoid partial structures of the robotic arm 200 when the robotic arm 200 is in a folded state. The provision of the recessed structure 1221 provides space for the robotic arm 200 to unfold and fold, allowing the robotic arm 200 to unfold and fold normally, reducing the possibility of other structures of the robotic arm 200 colliding with the mounting base 120. At the same time, it can reduce the overall height and length of the robotic arm 200 in the folded state. Without affecting the unfolding and folding movement of the robotic arm 200, the overall size of the robotic arm 200 in the folded state is made more compact, reducing the height and volume, and meeting the design requirements of the robotic arm 200 for a compact structure, small size, and light weight. It can also meet the design requirements of a cleaning device for a compact structure and small size, and will not affect the range of motion due to the excessive height of the device body.

[0105] like Figure 12 As shown, in some possible embodiments provided by the present application, the recessed structure 1221 is located at the end of the first base body 122 away from the rotating base 130, and at least part of the end of the robot arm 200 in the folded state is located in the recessed structure 1221. As a result, the overall height of the robot arm 200 in the folded state is relatively small, and at the same time, the length of the robot arm 200 in the folded state is slightly longer than the length of the connecting base assembly 100, that is, the overall length of the robot arm 200 in the folded state is relatively small, meeting the design requirements of the robot arm 200 having a compact structure and a small size, reducing the space occupied by the main body of the equipment, and meeting the design requirements of the cleaning equipment having a compact structure and a small size.

[0106] Specifically, if Figure 12As shown, the robotic arm 200 also includes a lifting joint 220 connected to both ends of the connecting arm 230. The connecting arm 230 is connected to the support arm 210 through one lifting joint 220, and the connecting arm 230 is connected to the working arm 240 through another lifting joint 220. The lifting joint 220 is used to expand or fold the connecting arm 230 relative to the support arm 210, and the lifting joint 220 is used to fold or expand the working arm 240 relative to the connecting arm 230. When the robotic arm 200 is in a folded state as a whole, that is, the support arm 210 is in a folded state relative to the base plate 110, the connecting arm 230 is in a folded state relative to the support arm 210, and the working arm 240 is in a folded state relative to the connecting arm 230, at least part of the lifting joint 220 connected to the working arm 240 is accommodated in the recessed structure 1221. The recessed structure 1221 provides space for the folding and unfolding movement of the connecting arm 230 relative to the support arm 210, so that the connecting arm 230 can be smoothly unfolded and folded relative to the support arm 210, reducing the possibility of collision between the connecting arm 230 and the mounting base 120. At the same time, the distance between the top of the mounting base 120 and the bottom of the connecting arm 230 is minimized to reduce the overall height of the robotic arm 200, so that it does not affect the unfolding and folding movement of the robotic arm 200, and also makes the overall size of the robotic arm 200 more compact, reducing the height and volume, and achieving the design requirements of the robotic arm 200 with a compact overall structure, small size, and light weight.

[0107] like Figure 4 As shown, in some possible embodiments provided by the present application, the rotary joint 140 includes a driving portion 141 and a transmission portion 142. The driving portion 141 is installed in the first installation cavity, and the transmission portion 142 is located in the second installation cavity. The driving portion 141 is inserted into the second base body 123 and connected to the transmission portion 142. Thus, the driving portion 141 and the transmission portion 142 are respectively arranged on both sides of the second base body 123, and the first installation cavity is used to protect the driving portion 141, and the second installation cavity is used to protect the transmission portion 142. The two installation cavities are used to protect and accommodate the driving portion 141 and the transmission portion 142 respectively, which is conducive to improving the service life of the driving portion 141 and the transmission portion 142, and provides an accommodation space for the driving portion 141 and the transmission portion 142. At the same time, the transmission part 142 passes through the second seat body 123 and directly cooperates with the rotating seat 130, so that the driving part 141 can drive the rotating seat 130 to rotate through the transmission part 142. As a result, the structure of the rotating joint 140 is relatively simple, the parts are smaller, and the volume is smaller, which can meet the design requirements of the connecting seat assembly 100 with a compact structure and a small volume.

[0108] Further, if Figure 3 and Figure 6As shown, the driving unit 141 includes a driving motor 1411 and a reduction gearbox 1412. The power of the output shaft of the motor 1411 is reduced by the reduction gearbox 1412 and then output to the transmission unit 142, which in turn drives the rotation base 130 to move. Specifically, the motor 1411 and the reduction gearbox 1412 can be arranged horizontally. Compared with a vertical arrangement of the motor 1411 and the reduction gearbox 1412, this can reduce the height of the driving unit 141, thereby reducing the height of the mounting base 120, which is conducive to reducing the overall height of the robot arm 200, meeting the design requirements of a compact, small, and lightweight robot arm.

[0109] like Figure 4 、 Figure 7 、 Figure 8 and Figure 10 As shown, in the above embodiment, the transmission part 142 includes a gear, and at least part of the circumference of the rotating base 130 is provided with a tooth portion 134 that meshes with the gear. Thus, the driving part 141 drives the gear to rotate, and the tooth portion 134 of the rotating base 130 meshes with the gear, thereby driving the rotating base 130 to rotate relative to the base plate 110, so that the structure of the rotating joint 140 and the rotating base 130 is relatively simple, with fewer parts, and can achieve the design requirements of the rotating joint 140 and the rotating base 130 being compact and small in size. At the same time, since the gear needs to mesh with the tooth portion 134 of the rotating base 130, the gear and the rotating base 130 are fitted together, which can further reduce the distance between the rotating base 130 and the rotating joint 140, so as to reduce the volume of the connecting base assembly 100, and achieve the design requirements of the connecting base assembly 100 being compact and small in size.

[0110] The teeth portion 134 may be provided on the entire circumference of the rotating base 130 , or may be provided on a portion of the circumference of the rotating base 130 .

[0111] like Figure 4 As shown, in some possible embodiments provided in the present application, the connecting seat assembly 100 also includes: a circuit board 180, and the circuit board 180 is installed in the first installation cavity. Thus, the mounting seat 120 is used to well store and protect the circuit board 180, which is beneficial to extend the service life of the circuit board 180 and reduce the overall volume of the connecting seat assembly 100.

[0112] The circuit board 180 is electrically connected to the driving unit 141 , so that the circuit board 180 can control the driving unit 141 to start and stop working.

[0113] Among them, the circuit board 180 and the avoidance hole 121 are located on both sides of the driving part 141, so that the circuit board 180, the driving part 141, and the avoidance hole 121 are arranged along the length direction of the base plate 110, and the space in the length direction of the base plate 110 is reasonably utilized. Compared with the related technology in which the circuit board is located above or below the driving part, it is beneficial to reduce the height of the connecting seat assembly 100, and then reduce the overall height of the robotic arm 200 in the folded state, and reduce the space occupied by the robotic arm 200 in the folded state, thereby meeting the design requirements of the cleaning equipment with a compact structure and small size.

[0114] like Figure 4 and Figure 7 As shown, in some possible embodiments provided by the present application, the rotary joint 140 further includes a rotary limit switch 143 mounted on the mounting base 120, and the circuit board 180 is electrically connected to the rotary limit switch 143 to control the driving unit 141 to rotate or stop rotating according to the trigger state of the rotary limit switch 143. In other words, the trigger state of the rotary limit switch 143 is associated with the working state of the rotary joint 140, thereby being able to control the rotation angle or rotation position of the rotary base 130, so that after the rotary base 130 rotates to a suitable angle or a suitable position, the rotary limit switch 143 switches to the trigger state to stop the driving unit 141 of the rotary joint 140, thereby reducing the problem of the connecting base assembly 100 or the support arm 210 colliding with or interfering with other components due to the continued rotation of the rotary base 130, which is conducive to improving the overall service life of the robotic arm 200.

[0115] like Figure 7 As shown, in some possible embodiments provided herein, a rotational limit switch 143 is installed within the second mounting cavity, and a wire groove 1233 is defined within the second base body 123. The rotational limit switch 143 is electrically connected to the circuit board 180 via the wire groove 1233. In this embodiment, the provision of the wire groove 1233 facilitates the electrical connection between the rotational limit switch 143 and the circuit board 180. By placing the rotational limit switch 143 within the second mounting cavity, the rotational limit switch 143 can accurately and conveniently detect the rotation angle or rotational position of the rotating base 130. Furthermore, placing the rotational limit switch 143 within the second mounting cavity provides good protection for the rotational limit switch 143, thereby extending the service life of the rotational limit switch 143.

[0116] like Figure 4 and Figure 7As shown, in some possible embodiments provided in this application, the rotation limit switch 143 includes a rotation switch body 144 and a rotation trigger 145, wherein the rotation switch body 144 can be a touch switch, specifically a light touch switch, such as a light touch mechanical switch, and the rotation trigger 145 contacts and squeezes the light touch switch to trigger the light touch switch. Due to the small size of the light touch switch, the rotation limit switch 143 can be formed by combining the light touch switch and the rotation trigger 145. Compared with the related art that provides a detection axis and a rotation angle detection device to detect the rotation angle and rotation position of the rotating base 130, the structure is simple and the size is small, which can meet the design requirements of the connecting base assembly 100 with a compact structure and small size.

[0117] like Figure 7 、 Figure 9 、 Figure 10 、 Figure 11 As shown, in the above embodiment, a slot 1231 is provided on the side of the second base body 123 facing the base plate 110, and the rotation trigger member 145 can be movably clamped in the slot 1231. The rotation trigger member 145 includes a first end 1451 and a second end 1452. The first end 1451 is arranged adjacent to the rotation switch body 144, and the second end 1452 extends into the avoidance hole 121. A protrusion 133 is provided on the circumference of the rotation base 130. When the rotation base 130 rotates to a suitable position or a suitable angle, the protrusion 133 is configured to abut against the second end 1452 so that the first end 1451 contacts the rotation switch body 144 to trigger the rotation switch body 144. As a result, the circuit board 180 controls the driving part 141 to stop working according to the trigger state of the rotation switch body 144, so that the rotation base 130 stops rotating, so that the rotation base 130 remains at the current angle or current position, thereby providing good protection for the robotic arm 200.

[0118] It is understandable that when the rotation trigger member 145 does not trigger the rotation switch body 144 , it means that the rotation base 130 has not rotated to a proper angle or position, and the driving unit 141 can continue to work.

[0119] The rotation trigger 145 is disposed in a slot 1231 disposed on the side of the second base 123 facing the base 110. The rotation switch body 144 can be mounted on the side of the second base 123 facing the base 110. This allows the rotation limit switch 143 to be repaired after the second base 123 and the base 110 are disassembled and separated, thereby improving repair efficiency. Specifically, the shape of the slot 1231 matches the shape of the rotation trigger 145, allowing the rotation trigger 145 to be accommodated in the slot 1231 and to move within the slot 1231. For example, the rotation trigger 145 can move a certain distance within the slot 1231.

[0120] Among them, Figure 10As shown, the protrusion 133 can be a protrusion provided on the circumference of the rotating seat 130 , specifically, a circular arc protrusion. The protrusion 133 can be located on the side of the tooth portion 134 away from the bottom plate 110 .

[0121] The rotary switch body 144 can be detachably connected to the second base body 123 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic structure to facilitate maintenance or replacement.

[0122] like Figure 7 and Figure 11 As shown, in some possible embodiments provided in the present application, at least the first end 1451 is configured as an elastic member, so that after the first end 1451 contacts the rotary switch body 144, it can be separated from the rotary switch body 144 under the action of the elastic member to achieve the reset of the rotary trigger member 145 to the initial position. As a result, the setting of the reset structure for resetting the rotary trigger member 145 from contact with the rotary switch body 144 to separation can be simplified, which is beneficial to saving the manufacturing cost of the rotary limit switch 143, so that the rotary limit switch 143 has fewer parts and a smaller size, which can meet the design requirements of the connecting seat assembly 100 with a compact structure and a small size.

[0123] It is understandable that the rotation trigger member 145 can be configured as an elastic member only at the first end 1451, or the entire rotation trigger member 145 can be configured as an elastic member. Specifically, the rotation trigger member 145 can be an elastic arm, a rubber material, or other material.

[0124] like Figure 7 and Figure 11As shown, in the above embodiment, the first end 1451 of the rotary trigger member 145 is provided with a first annular structure 1455, which is movably restrained within the retaining groove 1231. A side of the first annular structure 1455 protruding outward along the axis of the first annular structure 1455 is provided on the side of the first annular structure 1455 proximal to the second end 1452. The rotary switch body 144 and the side of the first annular structure 1455 distal to the second end 1452 are disposed adjacent to each other. When the protrusion 133 of the rotary seat 130 contacts and compresses the second end 1452, the second end 1452 is configured to be subjected to a force causing the acting portion 1454 to move toward the rotary switch body 144, contacting and compressing the rotary switch body 144, thereby triggering the rotary switch body 144. It is understood that as the action portion 1454 moves toward the rotary switch body 144, it accumulates elastic potential energy. Consequently, the first annular structure 1455 releases this elastic potential energy, enabling the action portion 1454 to move away from the rotary switch body 144, separating the action portion 1454 from the rotary switch body 144. This allows the first end 1451 to be reset to its initial position, thereby resetting the rotary trigger member 145 to its initial position. This arrangement is simple in structure and easy to implement.

[0125] like Figure 7 and Figure 11 As shown, in some possible embodiments provided in the present application, the rotary trigger member 145 also includes a limiting recess 1453 located between the first end 1451 and the second end 1452, and a positioning protrusion 1232 is provided in the slot 1231. The limiting recess 1453 is sleeved on the positioning protrusion 1232 and is movable relative to the positioning protrusion 1232.

[0126] In this embodiment, the limiting recess 1453 and the positioning protrusion 1232 cooperate to limit the range of movement or the direction of movement of the rotary trigger member 145, so that the rotary trigger member 145 can move smoothly within the slot 1231 within a certain range, so that the position of the rotary trigger member 145 in the slot 1231 is more appropriate, so that the action portion 1454 of the first end 1451 can reliably contact the rotary switch body 144 and be smoothly reset to separate from the rotary switch body 144 under the action of the elastic member, avoiding the rotary trigger The improper position of the member 145 in the slot 1231 causes the action portion 1454 of the first end 1451 to be unable to contact the rotation limit switch body 144 after the protrusion 133 of the rotating seat 130 contacts the second end 1452, or the action portion 1454 to be unable to separate from the rotation limit switch body 144 after the protrusion 133 releases the second end 1452, so as to ensure that the rotation trigger member 145 can smoothly and accurately contact or separate from the rotation switch body 144, thereby achieving accurate control of the rotation angle or position of the rotating seat 130. Specifically, the limiting recess 1453 can be a groove structure or an annular structure, such as the limiting recess 1453 can be a hollow portion inside the annular structure.

[0127] Specifically, if Figure 11 As shown, the first annular structure 1455 at the first end 1451 of the rotary trigger member 145 acts elastically. When force is applied to the second end of the rotary trigger member 145, the first annular structure 1455 elastically deforms, causing the protruding action portion 1454 on the first annular structure 1455 to move toward the rotary switch body 144. When the action portion 1454 presses against the rotary switch body 144, the rotary switch body 144 is triggered. When the force applied to the second end 1452 is released, the first annular structure 1455 resumes its elastic deformation, causing the action portion 1454 to move away from the rotary switch body 144 and separate from the rotary switch body 144. The limiting recess 1453 of the annular structure is fitted over the positioning protrusion 1232, providing both a limiting function and partial movement, allowing the entire rotary trigger member 145 to move within a certain range.

[0128] like Figure 4 、 Figure 5 and Figure 6 As shown, in some possible embodiments provided in the present application, a through hole is provided in the base plate 110, and the rotating seat 130 includes a frustum 135 inserted into the through hole of the base plate 110, and a table 136 located on the upper part of the frustum 135. The table 136 is located above the base plate 110. It can be understood that the first mating portion 131, the second mating portion, the tooth portion 134, and the protrusion 133 are all provided on the table 136.

[0129] The rolling assembly 190 is sleeved on the outer side of the truncated table 135. The rolling assembly 190 includes a first rolling assembly 191, a second rolling assembly 192, a compression gasket 193, a pre-tightening gasket 194 and an adjusting bolt 195. The first rolling assembly 191 is located between the bottom surface of the table 136 and the top surface of the base plate 110. The first rolling assembly 191 is in rolling contact with the bottom surface of the table 136 and the top surface of the base plate 110. The second rolling assembly 192 is located between the bottom surface of the base plate 110 and the compression gasket 193. The second rolling assembly 192 is in rolling contact with the bottom surface of the base plate 110 and the compression gasket 193. The pre-tightening gasket 194 is located below the clamping gasket 193, and the adjusting bolt 195 passes through the pre-tightening gasket 194, the clamping gasket 193 and the threaded hole on the table 135 to adjust the distance between the pre-tightening gasket 194 and the table 135, and then adjust the distance between the first rolling assembly 191 and the second rolling assembly 192. In this way, the first rolling assembly 191 and the second rolling assembly 192 can be tightened, which can greatly improve the rigidity of the rolling assembly 190 within a limited space.

[0130] In this embodiment, the first rolling assembly 191 and the second rolling assembly 192 can be ball bearings or needle bearings. The first rolling assembly 191 and the second rolling assembly 192 can cooperate to form a bearing device. Specifically, two needle bearings or ball bearing assemblies can cooperate to form a thrust bearing.

[0131] Since traditional bearings themselves include balls or needles, as well as upper and lower gaskets, the rolling assembly 190 provided in this embodiment has the upper and lower ends of the first rolling assembly 191 in rolling contact with the bottom surface of the table 135 and the top surface of the base plate 110 respectively, that is, the first rolling assembly 191 directly uses the table 136 and the base plate 110 of the rotating seat 130 as gaskets for the upper and lower end surfaces. This simplifies the arrangement of the two gaskets on the upper and lower end surfaces of the first rolling assembly 191, and can reduce the vertical height of the rolling assembly 190, which can meet the design requirements of the connecting seat assembly 100 with a compact structure and a small size, and thus can meet the design requirements of the robotic arm with a compact structure and a small size. At the same time, since the upper end surface of the second rolling component 192 is in rolling contact with the bottom surface of the base plate 110, that is, the second rolling component 192 uses the base plate 110 as a gasket on the upper end surface, the setting of the gasket on the upper end surface of the second rolling component 192 is simplified, and the vertical height of the rolling component 190 can be reduced, which can meet the design requirements of the connecting seat component 100 with a compact structure and a small volume, and thus can meet the design requirements of the robotic arm with a compact structure and a small volume.

[0132] Furthermore, a first receiving groove 137 is provided at the bottom of the table 136, and the first rolling component 191 is accommodated in the first receiving groove 137 and is in rolling contact with the bottom of the first receiving groove 137. Thus, the first receiving groove 137 of the table 136 provides a receiving space for the first rolling component 191, which can further reduce the distance between the table 136 and the base plate 110, which is beneficial to reducing the height of the connecting seat assembly 100 and meeting the design requirements of the connecting seat assembly 100 with a compact structure and a small volume.

[0133] Furthermore, a second receiving groove 112 is provided at the bottom of the base plate 110, and the second rolling assembly 192 is accommodated in the second receiving groove 112 and is in rolling contact with the bottom of the second receiving groove 112. This is conducive to reducing the overall height of the connecting seat assembly 100 and meeting the design requirements of the connecting seat assembly 100 with a compact structure and small size.

[0134] In a specific embodiment, the installation process of the connector assembly 100 is as follows:

[0135] First, place the driving part 141 of the rotary joint 140 on the second base body 123 from above the second base body 123 and tighten it with a fastening screw from the bottom of the second base body 123; then, the rotary switch body 144 is clamped in the mounting groove at the bottom of the second base body 123 by means of a clamping connection, and the rotary trigger member 145 is clamped in the clamping groove 1231 at the bottom of the second base body 123 and presses against the rotary switch body 144 in the vertical direction, and then the spur gear of the transmission part 142 of the rotary joint 140 is placed at the corresponding position on the second base body 123; then, the wiring harness of the driving part 141 and the rotary switch body 144 is passed through the wiring groove 1233 from bottom to top and inserted into the circuit board 180 installed on the top of the second base body 123, and then the first base body 122 is buckled on the top of the second base body 123 to form the mounting base 120, and the rotary joint 140 is installed in the mounting base 120. Then, the mounting base 120 with the rotary joint 140 is fixed to the base plate 110 by screws.

[0136] Next, the first rolling assembly 191 of the rolling assembly 190 is installed in the first receiving groove 137 at the bottom of the table 136 of the rotating seat 130. The rotating seat 130 and the first rolling assembly 191 are then placed as a whole at a suitable position on the top of the base plate 110 through the avoidance hole 121. The second rolling assembly 192 of the rolling assembly 190 is then placed in the second receiving groove 112 at the bottom of the base plate 110. A compression gasket 193 and a pre-tightening gasket 194 are placed on the side of the second rolling assembly 192 away from the base plate. An adjusting bolt 195 is passed through the pre-tightening gasket 194 and the compression gasket 193 and connected to the threaded hole at the bottom of the truncated table 135 of the rotating seat 130. The distance between the first rolling assembly 191 and the second rolling assembly 192 is adjusted to a suitable position by screwing the adjusting bolt 195.

[0137] In addition, a buffer member 150 is installed on the base plate 110 , the purpose of which is to provide a soft landing for other articulated arms such as the support arm 210 when they are folded and reset relative to the base plate 110 .

[0138] The present application 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 application to the described embodiments. In addition, it will be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present application, all of which fall within the scope of protection claimed in the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A connector assembly (100) for a robotic arm (200), characterized in that: The connecting seat assembly (100) comprises: A base plate (110), a mounting seat (120), a rotating seat (130) and a rotating joint (140), wherein the mounting seat (120) and the rotating seat (130) are connected to the same side of the base plate (110), the mounting seat (120) is provided with a connecting channel (127), the rotating joint (140) is installed inside the mounting seat (120) and is dynamically connected to the rotating seat (130) via the connecting channel (127), and the rotating joint (140) is used to drive the rotating seat (130) to rotate relative to the base plate (110).

2. The connector assembly (100) according to claim 1, characterized in that: The mounting seat (120) is further provided with a relief hole (121) communicating with the connecting channel (127); the rotating seat (130) extends through the relief hole (121) to the outside of the mounting seat (120); and the rotating joint (140) is dynamically connected to the rotating seat (130) in the relief hole (121) through the connecting channel (127).

3. The connector assembly (100) according to claim 2, characterized in that: The avoidance hole (121) is arranged close to the end of the mounting seat (120), and the connecting channel (127) is connected to or overlaps with one side of the avoidance hole (121) close to the middle of the mounting seat (120).

4. The connector assembly (100) according to claim 3, characterized in that: The mounting seat (120) includes a first seat body (122) and a second seat body (123) located between the first seat body (122) and the base plate (110); the second seat body (123) includes a first portion (1234) close to the middle of the base plate (110) and a second portion (1235) close to the end of the base plate (110); the first portion (1234) is provided with the avoidance hole (121); and the connecting channel (127) is provided at the connecting position between the first portion (1234) and the second portion (1235).

5. The connection seat assembly (100) according to claim 4, characterized in that: The second part (1235) and the first seat (122) together form a first installation cavity, the second seat (123) and the base plate (110) together form a second installation cavity, and the rotary joint (140) is distributed in the first installation cavity and the second installation cavity.

6. The connector assembly (100) according to claim 4, characterized in that: A recessed notch (1236) is formed between the top of the first portion (1234) and the top of the first seat body (122), and at least a portion of the rotating seat (130) is located in the recessed notch (1236); and / or The top end of the first portion (1234) is located below the top end of the second portion (1235).

7. The connector assembly (100) according to claim 4, characterized in that: The rotating seat (130) is provided with a first matching portion (131) and a second matching portion (132); the robotic arm (200) includes a support arm (210); the support arm (210) is rotatably connected to the rotating seat (130) via the first matching portion (131); the robotic arm (200) further includes a lifting joint (260) mounted on the support arm (210); the lifting joint (260) is rotatably connected to the rotating seat (130) via the second matching portion (132); the lifting joint (260) is used to drive the support arm (210) to rise or fall relative to the rotating seat (130) so as to unfold or fold relative to the base plate (110).

8. The connector assembly (100) according to claim 7, characterized in that: Also includes: a buffer member (150) and / or a support column (160) disposed on the base plate (110) and located outside the mounting seat (120), the buffer member (150) and / or the support column (160) being configured to contact the support arm (210) when the support arm (210) is in a folded state; Wherein, at least one of the buffer member (150) and / or the support column (160) is configured to contact the vicinity of the end of the support arm (210) away from the rotating seat (130).

9. A robotic arm (200), characterized in that: It comprises a connecting seat assembly (100) according to any one of claims 1 to 8.

10. A cleaning device, characterized in that: include: The robotic arm (200) as claimed in claim 9.

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