Camera support assembly, mechanical arm and cleaning equipment

Abstract

The invention provides a camera support assembly, a mechanical arm assembly and cleaning equipment, the camera support assembly comprises a support body and a pivotal shaft, the support body is internally provided with a mounting space, the mounting space is used for providing space for arrangement of a camera, and the pivotal shaft is arranged in the support body in a penetrating mode; the two ends of the pivotal shaft are suitable for being connected with the mechanical arm body, the pivotal shaft can rotate relative to the mechanical arm body so that the support body can be retracted into or stretch out of the mechanical arm body, and the camera support assembly can store the camera, reduce the height of the mechanical arm and improve the passing ability and attractiveness of cleaning equipment.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, specifically to a camera bracket assembly, a robotic arm assembly, and a cleaning device. Background Technology

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, self-moving cleaning equipment, such as intelligent robotic vacuum cleaners, has been increasingly entering our daily lives. Current self-moving cleaning equipment, in order to better achieve its cleaning function, is equipped with a robotic arm to grab or move obstacles or debris.

[0003] The robotic arms in this technology are usually equipped with cameras to identify obstacles or debris. However, when not in use, the cameras are still exposed, which increases the overall size of the robotic arm, reduces the mobility of the cleaning equipment, and also affects the overall aesthetics. Summary of the Invention

[0004] In view of this, embodiments of the present invention aim to provide a camera bracket assembly to improve the accessibility and aesthetics of cleaning equipment.

[0005] The first aspect of the present invention provides a camera bracket assembly, comprising:

[0006] The bracket body has an internal installation space for accommodating the camera.

[0007] A pivot shaft is inserted through the support body, the two ends of the pivot shaft are adapted to be connected to the robotic arm body, and the pivot shaft is rotatable relative to the robotic arm body, so that the support body is rotatable relative to the robotic arm body so that the support body can be retracted or extended from the robotic arm body.

[0008] By connecting the support body and the robotic arm body using a pivot axis, the support body can rotate relative to the robotic arm body, allowing the support body to retract or extend into the robotic arm body. This reduces the size of the robotic arm body when it is not in use or when the camera is not in use, thereby improving the accessibility and aesthetics of the cleaning equipment.

[0009] In some embodiments, the support body has a first limiting portion located on one side end face of the support body near the outside, and the first limiting portion extends in a direction away from the pivot axis. When the support body is retracted into the robotic arm body, the side end face of the first limiting portion near the outside is flush with the outer end face of the robotic arm body.

[0010] The first limiting part can provide a squeezing force point for the support body. When the robotic arm body or other external parts squeeze the support body, the support body rebounds and is retracted into the robotic arm body. After the support body is retracted into the robotic arm body, the outer end face of the first limiting part is flush with the outer end face of the robotic arm body, which facilitates the folding of the robotic arm body, thereby further reducing the size of the robotic arm body and improving the passability of the cleaning equipment.

[0011] In some embodiments, the support body has a second limiting portion, which is located on one end face of the support body adjacent to the inner side of the robotic arm body, and the second limiting portion extends in a direction away from the pivot axis. When the support body extends out of the robotic arm body, the second limiting portion contacts the robotic arm body to limit the rotation angle of the pivot axis.

[0012] After the support body extends beyond the robotic arm body, the second limiting part can provide a limit to the support body, preventing the support body from extending too much due to excessive rotation angle of the pivot shaft, which could cause it to be unable to retract.

[0013] In some embodiments, the support body has a blocking portion located on the inner side of the support body near the robotic arm body, and the blocking portion is arranged near the second limiting portion. When the support body extends out of the robotic arm body, the outer end face of the blocking portion is flush with the outer end face of the robotic arm body.

[0014] After the support body extends out of the robotic arm body, the sealing part is used to fill the gap between the support body and the robotic arm body, reducing the risk of external debris entering the robotic arm body. When debris enters the robotic arm body, it will not only damage the robotic arm body, but also affect the normal extension and retraction of the support body because it occupies the space that should belong to the support body. Therefore, the sealing part can not only improve the stability of the robotic arm body operation, but also improve the stability of the support body operation.

[0015] In some embodiments, the support body is provided with a positioning protrusion located on one end face of the support body near the inner side of the robotic arm body. When the support body is retracted into the robotic arm body, the positioning protrusion is used to abut against a sensor installed inside the robotic arm body.

[0016] After the support body is retracted into the robotic arm body, the positioning protrusion abuts against the sensor installed inside the robotic arm body to monitor whether the retraction position of the support body is accurate, thus avoiding friction and collision between the support body and the robotic arm body due to improper retraction position.

[0017] In some embodiments, the support body has a notch, and the notch has an opening facing the interior of the robotic arm body, the opening being used to thread a wire harness.

[0018] The notch provides a channel for the wire harness to be inserted, which facilitates the installation of the wire harness and reduces the risk of the wire harness being squeezed by the bracket body during the retraction or extension of the bracket body.

[0019] In some embodiments, the bracket body has a latch portion located inside the notch portion, and the latch portion extends along the width direction of the notch portion to reduce the width of the opening of the notch portion.

[0020] By utilizing the clamp section to form a constriction structure at the inlet of the notch section, the wire harness can be better constrained and fixed during installation, reducing the risk of wire harness swaying and tangling.

[0021] In some embodiments, the bracket body has a mounting portion for defining the position of an electronic device within the mounting space.

[0022] The mounting section not only provides mounting positions for electronic components installed inside the bracket body, but also limits the positions of electronic components, improving the utilization rate of the mounting space inside the bracket body and the installation accuracy of electronic components.

[0023] In some embodiments, the assembly clearance between the pivot shaft and the support body is smaller than the assembly clearance between the support body and the robotic arm body. This can reduce or avoid the risk of interference between the support body and the robotic arm body during rotation.

[0024] In some embodiments, the camera bracket assembly further includes a spring-loaded component sleeved on the pivot shaft. One end of the spring-loaded component abuts against the robotic arm body, and the other end abuts against the bracket body. The spring-loaded component enables the bracket body to automatically pop out.

[0025] A second aspect of the present invention provides a robotic arm, comprising:

[0026] The robotic arm body has a receiving cavity on its end effector;

[0027] A camera bracket assembly, wherein the camera bracket assembly is the camera bracket assembly described in any of the first aspects, the camera bracket assembly is connected to the robotic arm body, and the camera bracket assembly is rotatable relative to the robotic arm body to extend or retract into the receiving cavity.

[0028] In some embodiments, the end effector of the robotic arm body is provided with a groove, the groove connecting the receiving cavity and the outside, and the first limiting part and the sealing part on the bracket body of the camera bracket assembly can be placed in the groove.

[0029] A third aspect of the present invention provides a cleaning device comprising the camera bracket assembly described in any one of the first aspects. Attached Figure Description

[0030] Figure 1 The diagram shown is a schematic diagram of the robotic arm in the deployed state according to an embodiment of this application.

[0031] Figure 2 The diagram shown is a schematic diagram of the robotic arm in a folded state according to an embodiment of this application.

[0032] Figure 3 The diagram shown is a structural schematic of the camera bracket assembly according to an embodiment of this application.

[0033] Figure 4 The diagram shown is a structural schematic of the support body according to an embodiment of this application.

[0034] Figure 5 The diagram shown is a structural schematic of the support body from another angle according to an embodiment of this application.

[0035] Figure 6 The diagram shown is a structural schematic of the support body from another angle according to an embodiment of this application.

[0036] Explanation of reference numerals in the attached figures:

[0037] Robotic arm body 100, receiving cavity 1001, camera bracket assembly 200,

[0038] The bracket body 1 includes an installation space 101, a first limiting part 11, a second limiting part 12, a sealing part 13, a positioning protrusion 14, a notch 15, a bayonet part 16, and an installation part 17.

[0039] Pivot shaft 2, springback component 3. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] See Figure 1 and Figure 2As shown, the present invention provides a robotic arm, including a robotic arm body 100 and a camera bracket assembly 200. The end effector of the robotic arm body 100 is provided with a receiving cavity 1001. The camera bracket assembly 200 is connected to the robotic arm body 100 and is rotatable relative to the robotic arm body 100 to extend or retract into the receiving cavity 1001.

[0042] Specifically, such as Figure 1 As shown, when the robotic arm body 100 is unfolded, the camera bracket assembly 200 extends out of the receiving cavity 1001; conversely, when the robotic arm body 100 is folded, the camera bracket assembly 200 retracts into the receiving cavity 1001.

[0043] It should be noted that the receiving cavity 1001 can be set on the end effector of the robotic arm body 100. In other words, the receiving cavity 1001 is located inside the housing of the end effector of the robotic arm body 100.

[0044] For example, the end effector of the robotic arm body 100 can be a gripper, and the receiving cavity 1001 can be disposed inside the housing of the gripper's support arm. The volume of the receiving cavity 1001 can be slightly larger than that of the camera bracket assembly 200.

[0045] See also Figure 1 and Figure 2 The camera bracket assembly 200 is located at the upper end of the robotic arm body 100. It should be noted that the camera bracket assembly 200 can also be located at the lower end of the robotic arm body 100, or even on the left or right sides of the robotic arm body 100.

[0046] In this embodiment, the camera bracket assembly 200 is located on the upper surface of the robotic arm body 100, taking into account the camera's acquisition angle and the center of gravity coordination between the camera bracket assembly 200 and the robotic arm body 100, so as to ensure the smooth rotation of the camera bracket assembly 200 and the overall structural stability of the robotic arm.

[0047] With this configuration, the rotation of the camera bracket assembly 200 relative to the robotic arm body 100 allows the camera bracket assembly 200 to retract or extend into the robotic arm body 100. This reduces the size of the robotic arm body 100 when it is not in use or when the camera is not in use, thereby improving the accessibility and aesthetics of the cleaning equipment.

[0048] See Figures 1 to 3As shown, in some embodiments, the camera bracket assembly 200 includes a bracket body 1 and a pivot shaft 2. The bracket body 1 has an installation space 101 inside, which provides space for the arrangement of the camera. The pivot shaft 2 passes through the bracket body 1, and both ends of the pivot shaft 2 are adapted to be connected to the robotic arm body 100. The pivot shaft 2 is rotatable relative to the robotic arm body 100, so that the bracket body 1 is rotatable relative to the robotic arm body 100 so that the bracket body 1 can be retracted or extended into the robotic arm body 100.

[0049] Specifically, such as Figure 3 As shown, the bracket body 1 has a hollow interior forming an installation space 101, where cameras or other types of image acquisition devices can be installed. The bracket body 1 is positioned on the side furthest from the pivot axis 2 (e.g., Figure 1 The front side (as shown) has an opening, and the image acquisition end of the camera corresponds to the position of the opening.

[0050] The pivot shaft 2 is located at the rear end of the support body 1. The pivot shaft 2 passes through the interior of the support body 1. The pivot shaft 2 extends in the left and right direction, and the left and right ends of the pivot shaft 2 are respectively connected to the robotic arm body 100. The pivot shaft 2 can rotate relative to the robotic arm body 100 to drive the support body 1 to rotate relative to the robotic arm body 100.

[0051] It should be noted that the pivot shaft 2 can be a metal shaft or a plastic shaft. For structural strength, this embodiment uses a metal shaft, for example, a steel shaft.

[0052] With this configuration, the support body 1 and the robotic arm body 100 are connected by the pivot shaft 2, allowing the support body 1 to rotate relative to the robotic arm body 100. This enables the support body 1 to retract or extend into the robotic arm body 100, thereby reducing the size of the robotic arm body 100 when it is not in use or when the camera is not in use, thus improving the accessibility and aesthetics of the cleaning equipment.

[0053] See Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the support body 1 has a first limiting part 11, which is located on the side end face of the support body 1 near the outside and extends in a direction away from the pivot axis 2. When the support body 1 is retracted into the robotic arm body 100, the side end face of the first limiting part 11 near the outside is flush with the outer end face of the robotic arm body 100.

[0054] Specifically, such as Figure 2 and Figure 3As shown, the first limiting part 11 is located on the outside of the bracket body 1 and on the front side of the bracket body 1. The first limiting part 11 extends in the front-back direction. When the camera bracket assembly 200 is retracted into the robotic arm body 100, the outer end face of the first limiting part 11 is flush with the outer end face of the robotic arm body 100. In other words, the camera bracket assembly 200 is completely retracted into the robotic arm body 100.

[0055] When the robotic arm body 100 changes from an unfolded state to a folded state, the joints of the robotic arm will press against the upper surface of the camera bracket assembly 200, that is, the first limiting part 11 will be squeezed inward by the joints of the robotic arm until it is retracted into the receiving cavity 1001.

[0056] Optionally, the first limiting part 11 can be integrally formed with the bracket body 1. For example, when the bracket body 1 is a plastic part, the first limiting part 11 and the bracket body 1 are integrally injection molded, thereby improving the structural strength of the first limiting part 11.

[0057] With this configuration, the first limiting part 11 can provide a pressing force point for the support body 1. When the robotic arm body 100 or other external parts press the support body 1, the support body 1 springs back and retracts into the robotic arm body 100. After the support body 1 is retracted into the robotic arm body 100, the outer end face of the first limiting part 11 is flush with the outer end face of the robotic arm body 100, which facilitates the folding of the robotic arm body 100, thereby further reducing the size of the robotic arm body 100 and improving the passability of the cleaning equipment.

[0058] See Figure 1 , Figure 3 and Figure 4 As shown, in some embodiments, the support body 1 has a second limiting part 12, which is located on one end face of the support body 1 near the inner side of the robotic arm body 100, and the second limiting part 12 extends in a direction away from the pivot axis 2. When the support body 1 extends out of the robotic arm body 100, the second limiting part 12 contacts the robotic arm body 100 to limit the rotation angle of the pivot axis 2.

[0059] Specifically, such as Figure 1 and Figure 4 As shown, the second limiting part 12 is located inside the support body 1 and at the front of the support body 1, extending in the front-rear direction. The dimension of the second limiting part 12 in the front-rear direction is larger than that of the first limiting part 11 in the front-rear direction, thus ensuring that the second limiting part 12 is stably in contact with the receiving cavity 1001.

[0060] The second limiting part 12 protrudes forward relative to the bracket body 1 in the front-back direction. This allows the outer end face of the second limiting part 12 to contact the inner wall of the receiving cavity 1001 when the camera bracket assembly 200 extends out of the robotic arm body 100, thereby limiting the extension position of the bracket body 1.

[0061] Optionally, the second limiting part 12 can be integrally formed with the bracket body 1. For example, when the bracket body 1 is a plastic part, the second limiting part 12 and the bracket body 1 are integrally injection molded, thereby improving the structural strength of the second limiting part 12.

[0062] When the robotic arm body 100 is in the extended state, the camera bracket assembly 200 extends. Without the second limiting part 12, the camera bracket assembly 200 could swing arbitrarily, affecting the operation of the robotic arm body 100. Therefore, by setting the second limiting part 12 to limit the rotation angle of the pivot shaft 2 after the bracket body 1 extends from the robotic arm body 100, the second limiting part 12 can limit the extension of the bracket body 1 relative to the robotic arm body 100, preventing the bracket body 1 from extending too much and becoming unable to retract, and also ensuring the stability of the robotic arm body 100's operation.

[0063] See Figure 1 and Figure 3 As shown, in some embodiments, the camera bracket assembly 200 further includes a spring-loaded component 3, which is sleeved on the pivot shaft 2. One end of the spring-loaded component 3 abuts against the robotic arm body 100, and the other end abuts against the bracket body 1. The spring-loaded component 3 enables the bracket body 1 to automatically pop out.

[0064] Specifically, such as Figure 1 and Figure 3 As shown, the spring-loaded component 3 is sleeved on the pivot shaft 2 and is located inside the support body 1. The inner side of the spring-loaded component 3 abuts against the inner wall of the receiving cavity 1001, and the outer side of the spring-loaded component 3 abuts against the inside of the support body 1. For example, the spring-loaded component 3 can be a torsion spring.

[0065] When the camera bracket assembly 200 extends out of the robotic arm body 100, the lower end of the spring member 3 abuts against the inner wall of the receiving cavity 1001, which can provide support for the camera bracket. Furthermore, when the robotic arm body 100 or the cleaning equipment vibrates due to bumps, the spring member 3 can also provide vibration buffer for the camera installed in the bracket body 1.

[0066] When the camera bracket assembly 200 is retracted into the robotic arm body 100, the spring-loaded component 3 is compressed and stores energy. When the robotic arm body 100 is extended, the pressure pressing on the outside of the bracket body 1 disappears, and the spring-loaded component 3 drives the bracket body 1 to rotate and pop out of the receiving cavity 1001 by relying on the spring force.

[0067] See Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the support body 1 has a blocking part 13, which is located on the inner side of the support body 1 near the robotic arm body 100. The blocking part 13 is arranged near the second limiting part 12. When the support body 1 extends out of the robotic arm body 100, the end face of the blocking part 13 near the outside is flush with the outer end face of the robotic arm body 100.

[0068] For example, such as Figure 1 , Figure 2 and Figure 4 As shown, the sealing part 13 is located on the front end face of the bracket body 1, and the sealing part 13 is arranged near the second limiting part 12, as shown. Figure 4 As shown, the blocking part 13 is located outside the second limiting part 12, and the end effector of the robotic arm body 100 is provided with a groove, which connects the receiving cavity 1001 and the outside.

[0069] When the robotic arm is extended, the camera bracket assembly 200 extends out of the robotic arm body 100. At this time, the sealing part 13 on the bracket body 1 is located in the groove, and the outer end face of the sealing part 13 is flush with the outer end face of the robotic arm body 100.

[0070] It should be noted that by creating a groove on the end effector of the robotic arm body 100, the outer end face of the first limiting part 11 can be made flush with the outer end face of the robotic arm body 100 when the camera bracket assembly 200 is retracted into the robotic arm body 100.

[0071] When the robotic arm is folded, the camera bracket assembly 200 is retracted into the robotic arm body 100. At this time, the first limiting part 11 on the bracket body 1 is located in the groove, and the outer end face of the first limiting part 11 is flush with the outer end face of the robotic arm body 100.

[0072] Optionally, the sealing part 13 can be integrally formed with the support body 1. For example, when the support body 1 is a plastic part, the sealing part 13 and the support body 1 are integrally injection molded, thereby improving the structural strength of the sealing part 13.

[0073] With this configuration, after the support body 1 extends out of the robotic arm body 100, the sealing part 13 fills the gap between the support body 1 and the robotic arm body 100 at the groove. After the support body 1 retracts into the robotic arm body 100, the first limiting part 11 fills the gap between the support body 1 and the robotic arm body 100 at the groove, reducing the risk of external debris entering the robotic arm body 100. When debris enters the robotic arm body 100, it not only damages the robotic arm body 100 but also affects the normal extension and retraction of the support body 1 by encroaching on the space that should be occupied by the support body 1. Therefore, the sealing part 13 can improve the stability of the operation of both the robotic arm body 100 and the support body 1.

[0074] See Figure 5 As shown, in some embodiments, the support body 1 is provided with a positioning protrusion 14. The positioning protrusion 14 is located on one end face of the support body 1 near the inner side of the robotic arm body 100. When the support body 1 is retracted into the robotic arm body 100, the positioning protrusion 14 is used to abut against the sensor installed inside the robotic arm body 100.

[0075] For example, such as Figure 5 As shown, the inner side of the bracket body 1 is provided with a positioning protrusion 14, which extends in the vertical direction and the position of the positioning protrusion 14 corresponds to the position of the sensor installed in the receiving cavity 1001.

[0076] When the camera bracket assembly 200 is retracted into the receiving cavity 1001, the positioning protrusion 14 comes into contact with the sensor inside the receiving cavity 1001, thereby enabling the accurate monitoring of the position of the bracket body 1 after it is retracted into the receiving cavity 1001, and avoiding friction or collision between the inaccurate retraction position and the robotic arm body 100.

[0077] Optionally, the positioning protrusion 14 can be integrally formed with the bracket body 1. For example, when the bracket body 1 is a plastic part, the positioning protrusion 14 and the bracket body 1 are integrally injection molded, thereby improving the structural strength of the positioning protrusion 14.

[0078] Optionally, the positioning protrusion 14 can also be detachably connected to the bracket body 1, or the position of the positioning protrusion 14 on the bracket body 1 can be adjusted.

[0079] With this configuration, after the support body 1 is retracted into the robotic arm body 100, the positioning protrusion 14 abuts against the sensor installed in the robotic arm body 100, which can monitor whether the retraction position of the support body 1 is accurate, thus avoiding friction and collision between the support body 1 and the robotic arm body 100 due to improper retraction position.

[0080] See Figure 6As shown, in some embodiments, the support body 1 is provided with a notch 15, which has an opening facing the inside of the robotic arm body 100, and the opening is used to pass through the wire harness.

[0081] Specifically, such as Figure 6 As shown, a notch 15 is provided on the inner side of the bracket body 1 near the pivot shaft 2. The notch 15 connects the installation space 101 and the outside. The inner side of the notch 15 has an opening. When the wire harness needs to pass through the bracket body 1 to connect with the electronic device in the installation space 101, the wire harness can enter the notch 15 through the opening.

[0082] Optionally, the bracket body 1 also has a latch portion 16, which is located inside the notch portion 15 and extends along the width direction of the notch portion 15 to reduce the width of the opening of the notch portion 15.

[0083] See also Figure 6 As shown, the bayonet portion 16 is located inside the notch portion 15. The bayonet portion 16 extends in a direction orthogonal to the inward and outward directions, thereby reducing the opening size of the notch portion 15 and forming a platform between the notch portion 15 and the bayonet portion 16. Imagine that when the wire harness passes through the opening of the notch portion 15 and enters the notch portion 15, the wire harness can be placed to the side on the platform formed by the bayonet portion 16 and the notch portion 15, thereby reducing or avoiding the swaying of the wire harness.

[0084] This design provides a channel for the wire harness to pass through using the notch 15, facilitating installation and reducing the risk of the wire harness being squeezed by the bracket body 1 during the retraction or extension of the bracket body. The bayonet 16 forms a constriction structure at the inlet of the notch 15, which better restrains and secures the wire harness during installation, reducing the risk of swaying and tangling.

[0085] See Figure 6 As shown, in some embodiments, the bracket body 1 is provided with a mounting part 17, which is used to define the position of the electronic device within the mounting space 101.

[0086] For example, such as Figure 6 As shown, the mounting part 17 is located inside the mounting space 101, and there are multiple mounting parts 17, which are evenly spaced.

[0087] For example, the inner surfaces of multiple mounting parts 17 are on the same plane, which can ensure the mounting accuracy of electronic components.

[0088] It should be noted that the mounting part 17 can also be a single unit, and the side of the mounting part 17 facing the electronic device has a mounting plane, on which the electronic device can be mounted.

[0089] Optionally, the mounting part 17 can be integrally formed with the bracket body 1. For example, when the bracket body 1 is a plastic part, the mounting part 17 and the bracket body 1 are integrally injection molded, thereby improving the structural strength of the mounting part 17.

[0090] The mounting section 17 not only provides a mounting position for electronic devices installed in the bracket body 1, but also limits the position of electronic devices, thereby improving the utilization rate of the internal mounting space 101 of the bracket body 1 and the installation accuracy of electronic devices.

[0091] In some embodiments, the assembly gap between the pivot shaft 2 and the support body 1 is smaller than the assembly gap between the support body 1 and the robotic arm body 100.

[0092] It should be noted that the assembly gap between the pivot shaft 2 and the support body 1 is the assembly gap between the outer surface of the pivot shaft 2 and the inner wall of the mounting through hole in the support body 1 when the pivot shaft 2 passes through the support body 1. The assembly gap between the support body 1 and the robotic arm body 100 is the assembly gap between the left and right sides of the support body 1 and the inner wall of the receiving cavity 1001.

[0093] For example, the pivot shaft 2 and the support body 1 are in a transition fit or interference fit, while the support body 1 and the robotic arm body 100 are in a clearance fit.

[0094] In this way, the risk of interference between the support body 1 and the robotic arm body 100 during rotation can be reduced or avoided, ensuring that the support body 1 can be smoothly extended or retracted from the robotic arm body 100.

[0095] The present invention also provides a cleaning device, including the camera bracket assembly 200 of the above embodiment.

[0096] It should be noted that when smart cleaning devices are applied to home cleaning environments, the complexity of user homes leads to diverse cleaning needs. For example, different areas within a home may have different surface materials and types of dirt, resulting in different cleaning requirements for each area. Therefore, how to adapt cleaning devices to these diverse needs and provide a targeted cleaning experience has become an important technical challenge.

[0097] The cleaning equipment in this application embodiment can be a cleaning robot, specifically a self-propelled robot capable of autonomously moving and completing cleaning tasks within a work area without external human input or control. The work area can include indoor areas, such as family rooms, offices, shopping malls, and factory workshops. The aforementioned cleaning equipment may include, but is not limited to, robotic vacuum cleaners, robotic floor scrubbers, and robotic vacuum and mop combos.

[0098] The robotic arm can be a robotic arm mounted on a sweeping robot, a floor cleaning robot, or a sweeping and mopping robot. The robotic arm can be used to pick up large debris on the surface of the area to be cleaned, such as plastic bags or large pieces of fruit peel, or to pick up some lighter clothing, such as socks or underwear.

[0099] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A camera bracket assembly, characterized in that, include: The bracket body has an internal installation space for accommodating the camera. A pivot shaft is inserted through the support body, the two ends of the pivot shaft are adapted to be connected to the robotic arm body, and the pivot shaft is rotatable relative to the robotic arm body so that the support body can be retracted or extended from the robotic arm body.

2. The camera bracket assembly according to claim 1, characterized in that, The support body has a first limiting part, which is located on the side end face of the support body near the outside and extends in a direction away from the pivot axis. When the support body is retracted into the robotic arm body, the side end face of the first limiting part near the outside is flush with the outer end face of the robotic arm body.

3. The camera bracket assembly according to claim 1, characterized in that, The support body has a second limiting part, which is located on one end face of the support body near the inner side of the robotic arm body. The second limiting part extends in a direction away from the pivot axis. When the support body extends out of the robotic arm body, the second limiting part contacts the robotic arm body to limit the rotation angle of the pivot axis.

4. The camera bracket assembly according to claim 3, characterized in that, The support body has a blocking part located on the inner side of the support body near the robotic arm body, and the blocking part is arranged near the second limiting part. When the support body extends out of the robotic arm body, the outer end face of the blocking part is flush with the outer end face of the robotic arm body.

5. The camera bracket assembly according to claim 3, characterized in that, The support body is provided with a positioning protrusion, which is located on one end face of the support body near the inner side of the robotic arm body. When the support body is retracted into the robotic arm body, the positioning protrusion is used to abut against the sensor installed inside the robotic arm body.

6. The camera bracket assembly according to claim 1, characterized in that, The support body has a notch, and the notch has an opening facing the inside of the robotic arm body, which is used to thread a wire harness.

7. The camera bracket assembly according to claim 6, characterized in that, The bracket body has a latch portion located inside the notch portion, and the latch portion extends along the width direction of the notch portion to reduce the width of the opening of the notch portion.

8. The camera bracket assembly according to any one of claims 1-7, characterized in that, The bracket body has a mounting part, which is used to define the position of electronic devices within the mounting space.

9. The camera bracket assembly according to any one of claims 1-7, characterized in that, The assembly gap between the pivot shaft and the support body is smaller than the assembly gap between the support body and the robotic arm body.

10. The camera bracket assembly according to any one of claims 1-7, characterized in that, It also includes a spring-loaded component, which is sleeved on the pivot shaft. One end of the spring-loaded component abuts against the robotic arm body, and the other end of the spring-loaded component abuts against the support body.

11. A robotic arm, characterized in that, include: The robotic arm body has a receiving cavity on its end effector; A camera bracket assembly, wherein the camera bracket assembly is any one of claims 1-10, the camera bracket assembly is connected to the robotic arm body, and the camera bracket assembly is rotatable relative to the robotic arm body to extend or retract into the receiving cavity.

12. The robotic arm according to claim 11, characterized in that, The end effector of the robotic arm body is provided with a groove, which connects the receiving cavity and the outside. The first limiting part and the sealing part on the bracket body of the camera bracket assembly can be placed in the groove.

13. A cleaning device, characterized in that, Including the robotic arm as described in claim 11 or 12.

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