Gripper, robot arm and cleaning device

Abstract

The embodiment of the present application provides a clamp jaw, a mechanical arm and a cleaning device. The clamp jaw comprises a connecting seat configured to be connected with the cleaning device; a plurality of clamping parts rotatably connected to the connecting seat, and the plurality of clamping parts are configured to clamp an article; a driving unit comprising a driving member and a worm gear transmission assembly, the driving member is configured to simultaneously drive the plurality of clamping parts to rotate through the worm gear transmission assembly; and a first detection member arranged on the connecting seat and configured to detect a rotating state of the clamping parts. The clamp jaw can acquire the clamping state in real time through the first detection member, and the reliability is relatively high.

Description

[0001] This application is a divisional application. The original application has the application number 202610296474.8 and the original application date is March 11, 2026. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning equipment technology, and more particularly to a gripper, a robotic arm, and a cleaning device. Background Technology

[0003] In home or office environments, robotic vacuum cleaners often need to perform complex tasks, such as picking up items scattered on the floor (such as keys or small tools), carrying garbage bags, or tidying up clutter.

[0004] Current robotic vacuum cleaners typically rely on simple vacuuming or rolling brushes for cleaning, but for scenarios requiring physical grasping (such as picking up or moving objects), robotic arms become a key component. For example, users may need a robotic vacuum cleaner to remove and replace trash bags from the trash can, or to put scattered items back in designated locations.

[0005] However, in related technologies, the robotic vacuum cleaner cannot obtain the gripping status of the robotic arm's gripper when holding an item in real time, such as whether the gripper is holding the item stably, which reduces the reliability of the gripper holding the item. Summary of the Invention

[0006] This application provides a gripper, a robotic arm, and a cleaning device to achieve real-time acquisition of gripping status and improve gripping reliability.

[0007] In a first aspect, embodiments of this application provide a gripper applied to a cleaning device, the gripper comprising:

[0008] Connector for connecting to cleaning equipment;

[0009] Multiple clamping parts are rotatably connected to the connecting seat, and the multiple clamping parts are used to clamp articles;

[0010] The drive unit includes a drive component and a worm gear transmission assembly, wherein the drive component simultaneously drives the multiple clamping parts to rotate through the worm gear transmission assembly;

[0011] The first detection element is disposed on the connecting seat and is used to detect the rotation state of the clamping part.

[0012] In this way, the gripping status of the gripper can be obtained through the first detection element to identify whether there is any abnormality when the gripper is holding the item, such as whether the gripper is effectively holding the item, so as to avoid the item falling due to unstable gripping and improve the reliability of the gripper holding the item.

[0013] Furthermore, based on the parameters obtained from the first detection component when the gripper holds the item, the cleaning equipment can dynamically adjust and compensate the gripper's gripping posture according to these parameters, thereby improving the reliability of the gripper when holding the item.

[0014] In some embodiments, the first detection element is any one of a trigger switch, a distance sensor, a torque sensor, and an angle sensor.

[0015] In this way, any one of the trigger switch, distance sensor, torque sensor, and angle sensor can be selected as needed to achieve functions such as position detection, angle detection, and clamping force detection. This allows for more flexible adaptation to detection requirements, simplifies the structure of the gripper, and improves the adaptability of the gripper.

[0016] In some embodiments, the clamping part is provided with a clamping arm and a detection part. The clamping arm is used to clamp an article. The clamping arm and the detection part are respectively located on opposite sides of the rotation axis of the clamping part. The first detection element is used to detect the rotation state of the detection part.

[0017] This design avoids collisions and interference between the clamping arm and the first detection element during the rotation of the clamping part. Furthermore, since the detection part and the clamping arm are respectively located on opposite sides of the clamping part's rotating shaft, both the detection part and the first detection element can be housed inside the connecting seat, thus providing protection. Moreover, because both the detection part and the first detection element are located inside the connecting seat and not exposed on the outside of the gripper, the appearance of the gripper is simplified, improving its structural compactness.

[0018] In some embodiments, the gripper further includes:

[0019] A rotating component is rotatably connected to the connecting seat, and one end of the rotating component corresponds to the first detection component;

[0020] The second elastic connector has one end connected to the connecting seat and the other end connected to the rotating member. The other end of the rotating member abuts against the detection part under the elastic force of the second elastic connector.

[0021] In this way, the first detection component can be placed in a location with a large space on the connector, which improves the space utilization within the connector and avoids interference between the first detection component and the clamping part.

[0022] In some embodiments, the cross-sectional dimension of the detection section is smaller than the cross-sectional dimension of the clamping arm; and / or,

[0023] The length of the detection part is less than the length of the clamping arm along the vertical direction of the clamping part's rotation axis.

[0024] In this way, the detection unit has a smaller size and weight, a smaller moment of inertia, and less inertial interference with the first detection piece, thus improving the detection accuracy of the first detection piece. Furthermore, because the detection unit is small in size, the internal space of the connecting seat can be fully utilized, improving the structural compactness of the grippers.

[0025] In some embodiments, the clamping arm includes:

[0026] A connecting arm, the first end of which is rotatably connected to the connecting seat;

[0027] A movable arm is rotatably connected to the second end of the connecting arm, and the end of the movable arm away from the connecting arm is the free end of the clamping arm;

[0028] A first elastic connector has its two ends connected to the connecting arm and the movable arm, respectively. The free ends of the plurality of clamping arms move toward the side closer to each other under the elastic force of the first elastic connector.

[0029] In this way, when the gripper holds an item, the movable arm can rotate relative to the connecting arm, allowing the gripping arm to better conform to the shape of the item. That is, the gripping arm can adaptively change its extension direction according to the shape of the item. In other words, the gripper can not only hold relatively regular-shaped items such as cylindrical and square objects, but also irregularly shaped items, making it widely applicable.

[0030] Furthermore, by adapting the extension direction of the gripping arm, the contact area between the gripping arm and the item increases or the number of contact points increases, which can improve the stability of the gripper holding the item.

[0031] In some embodiments, the gripper further includes an energy storage device, which is electrically connected to the drive and the first detection device respectively, for supplying power to the drive and the first detection device respectively.

[0032] In this way, the gripper is not limited by the power supply of the cleaning equipment. The energy storage device, as an independent power supply module, can provide power to the gripper independently, reducing the gripper's dependence on the power supply of the cleaning equipment and improving the modularity of the gripper.

[0033] In some embodiments, the worm gear transmission assembly includes a worm and a plurality of worm wheels, the worm wheels meshing with the worm, the plurality of worm wheels being spaced apart circumferentially along the worm, and the clamping portion rotating coaxially with the worm wheels.

[0034] By setting up a worm gear transmission assembly, the driving component can have a large reduction ratio, so as to convert the higher speed and lower torque of the driving component into the lower speed and higher torque of the clamping part. In other words, the clamping part can have a larger clamping force to stably clamp the object.

[0035] Furthermore, the worm gear transmission assembly has a unidirectional transmission self-locking performance. When the gripper assembly is in the gripping state, and the gripper is powered off or the drive unit stops running, the gripping part can maintain the current gripping state to prevent the gripped item from falling off, without the need for an additional locking mechanism. The gripper has high operational reliability.

[0036] Secondly, embodiments of this application provide a robotic arm, including a robotic arm body and a gripper as described in any of the first aspects above. One end of the robotic arm body is connected to the cleaning device, and the other end is detachably connected to the connecting seat.

[0037] In this way, the gripping status of the gripper can be obtained through the first detection element to identify whether there is any abnormality when the gripper is holding the item, such as whether the gripper is effectively holding the item, so as to avoid the item falling due to unstable gripping and improve the reliability of the gripper holding the item.

[0038] Furthermore, based on the parameters obtained from the first detection component when the gripper holds the item, the cleaning equipment can dynamically adjust and compensate the gripper's gripping posture according to these parameters, thereby improving the reliability of the gripper when holding the item.

[0039] Thirdly, embodiments of this application provide a cleaning device, including the robotic arm described in the second aspect above.

[0040] In this way, the gripping status of the gripper can be obtained through the first detection element to identify whether there is any abnormality when the gripper is holding the item, such as whether the gripper is effectively holding the item, so as to avoid the item falling due to unstable gripping and improve the reliability of the gripper holding the item.

[0041] Furthermore, based on the parameters obtained from the first detection component when the gripper holds the item, the cleaning equipment can dynamically adjust and compensate the gripper's gripping posture according to these parameters, thereby improving the reliability of the gripper when holding the item. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] Figure 1 This is a schematic diagram of the structure of the robotic arm provided in the embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the gripper structure provided in an embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the structure of the gripper exploding according to an embodiment of this application;

[0046] Figure 4 This is another schematic diagram of the gripper structure provided in an embodiment of this application;

[0047] Figure 5 This is another schematic diagram of the gripper structure provided in an embodiment of this application;

[0048] Figure 6 This is an exploded structural diagram of the clamping part in the gripper provided in an embodiment of this application.

[0049] Figure label:

[0050] 10-Grippers;

[0051] 11-Connector;

[0052] 12-Clamping part; 120-Clamping arm; 121-Connecting arm; 122-Modible arm; 123-First elastic connector; 126-Detection part;

[0053] 14-Drive components;

[0054] 15-Worn gear drive assembly; 151-Worn gear; 152-Worn;

[0055] 161-First detection component; 162-Rotating component; 163-Second elastic connecting component;

[0056] 20 - Robotic arm body.

[0057] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0059] To address the issue in related technologies where robotic vacuum cleaners cannot obtain real-time information about the gripping state of the robotic arm's gripper when holding an item, such as whether the gripper is stably holding the item, thus reducing the reliability of the gripper's gripping state, this application provides a gripper, a robotic arm, and a cleaning device. The gripper can detect the rotation state of the gripping part through a first detection element, thereby obtaining the gripping state of the gripper, preventing items from falling off when the gripper is holding the item, and improving the reliability of the gripper's gripping state.

[0060] The gripper, robotic arm, and cleaning equipment provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0061] Figure 1 This is a schematic diagram of the structure of the robotic arm provided in an embodiment of this application. Figure 2 This is a schematic diagram of the gripper structure provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of the gripper explosion provided in an embodiment of this application. Figure 4 This is another schematic diagram of the gripper provided in an embodiment of this application. Figure 5 This is another schematic diagram of the gripper provided in an embodiment of this application. Figure 6 This is an exploded structural diagram of the clamping part in the gripper provided in an embodiment of this application.

[0062] Please see Figures 1 to 6 This application provides a gripper 10, which is applied to a cleaning device. In this way, the cleaning device can automatically perform operations such as changing cleaning consumables, dumping garbage, and moving items through the gripper 10.

[0063] In some embodiments, the gripper 10 includes a connecting seat 11 and a plurality of clamping portions 12, the connecting seat 11 being used to connect to a cleaning device to mount the gripper 10 on the cleaning device.

[0064] The gripper 10 can be detachably mounted on the cleaning equipment, allowing for inspection or replacement by disassembling the gripper 10. Alternatively, the gripper 10 can be fixedly connected to the cleaning equipment; this embodiment does not limit the connection method between the gripper 10 and the cleaning equipment.

[0065] In some embodiments, the clamping part 12 can be made of engineering plastics, such as polyamide (PA) or ABS (Acrylonitrile Butadiene Styrene plastic), which are lightweight and easy to mold. The clamping part 12 can also be made of metals such as aluminum alloy or zinc alloy, which have high strength and are lightweight. This embodiment does not limit the material of the clamping part 12.

[0066] In some embodiments, the number of gripping parts 12 can be two, three or more. When the number of gripping parts 12 is three or more, the multiple gripping parts 12 can be arranged in a ring-shaped interval. For example, the multiple gripping parts 12 can be arranged at intervals along the circumference of the robotic arm.

[0067] In some embodiments, taking the gripper 10 as an example where two gripping parts 12 are provided, the rotation axes of the two gripping parts 12 can be parallel to each other. In this way, the connecting ends of the two gripping parts 12 that are connected to the connecting seat 11 are spaced apart.

[0068] In some embodiments, for better gripping of items, the free ends of the two gripping portions 12 may extend at an angle toward the side closer to each other, so that when the gripper 10 is in its natural state, the distance between the free ends of the two gripping portions 12 is small or they are in contact with each other.

[0069] Alternatively, the clamping part 12 can be bent and extended so that when the gripper 10 is in its natural state, the distance between the free ends of the two clamping parts 12 is small or they are in contact with each other.

[0070] Compared to other numbers of clamping parts 12, by configuring the gripper 10 to include two clamping parts 12, the size of the gripper 10 can be smaller and the structure more compact, which is beneficial for miniaturization of the gripper 10. Furthermore, the weight of the two clamping parts 12 is smaller, and the driving load on the drive member 14 of the clamping parts 12 is lower, which helps to improve the operating time of the gripper 10. Moreover, by providing two clamping parts 12, the gripper 10 can not only clamp cylindrical and spherical items, but also long and narrow items, such as mops, thus broadening the range of items that the gripper 10 can clamp.

[0071] In some embodiments, the clamping parts 12 are all rotatably connected to the connecting seat 11. In this way, by rotating the clamping parts 12 relative to the connecting seat 11, the free ends of the multiple clamping parts 12 can be brought closer to each other or moved away from each other. When the free ends of the multiple clamping parts 12 are close to each other, the multiple clamping parts 12 can be used to clamp an object. When the free ends of the multiple clamping parts 12 are far apart from each other, the multiple clamping parts 12 can be in a natural state. That is to say, by rotating the clamping parts 12 relative to the connecting seat 11, the gripper of the robotic arm can switch between a natural state and a state of clamping an object.

[0072] In some embodiments, the gripper 10 further includes a drive unit and a first detection element 161. The drive unit includes a drive element 14 and a worm gear transmission assembly 15. The drive element 14 can be a motor. The drive element 14 is connected to multiple clamping parts 12 through the worm gear transmission assembly 15. In this way, the drive element 14 can simultaneously drive multiple clamping parts 12 to rotate through the worm gear transmission assembly 15, so that the gripper 10 can open and close and switch between a natural state and a clamping state.

[0073] In some embodiments, a first detection element 161 is disposed on the connecting seat 11 for detecting the rotation state of the clamping part 12 and detecting the clamping state of the gripper based on the rotation state of the clamping part 12. For example, the opening and closing degree and rotational torque of the gripper 10 can be detected by the first detection element 161.

[0074] In some embodiments, each clamping part 12 may be provided with a corresponding first detection element 161 to detect the rotation state of each clamping part 12 through multiple first detection elements 161. Considering that the driving member 14 can drive multiple clamping parts 12 to rotate simultaneously, that is, each clamping part 12 can rotate synchronously, the clamping state of the gripper can be determined by the rotation state of any one clamping part 12. Correspondingly, the number of first detection elements 161 can be one, and it is provided at the corresponding position of any clamping part 12 to simplify the structure of the gripper 10, reduce the size of the gripper 10, and reduce the manufacturing cost of the gripper 10.

[0075] In this way, the clamping state of the gripper 10 can be obtained through the first detection element 161 to identify whether there is any abnormality when the gripper 10 clamps the item, such as whether the gripper 10 effectively clamps the item, so as to avoid the item falling due to unstable clamping and improve the reliability of the gripper 10 when clamping the item.

[0076] Furthermore, based on the parameters obtained by the first detection component 161 when the gripper 10 is holding the item, the cleaning equipment can dynamically adjust and compensate the gripping posture of the gripper 10 according to these parameters, thereby improving the reliability of the gripper 10 when holding the item.

[0077] In some embodiments, depending on the type of the first detection element 161, the first detection element 161 can detect the rotation state of the clamping part 12 by detecting different parameters of the clamping part 12. The first detection element 161 is any one of a trigger switch, a distance sensor, a torque sensor, and an angle sensor.

[0078] The trigger switch can be used to detect whether the clamping part 12 is in a certain position, such as whether it is in its natural state. When the clamping part 12 is in its natural state, pressing the trigger switch releases the trigger switch when the clamping part 12 is in a clamping state. In other words, the presence or absence of the trigger switch can determine whether the gripper 10 is in its natural state or a clamping state.

[0079] The distance sensor can be used to detect the distance between a certain part of the clamping part 12 and the distance sensor, thereby determining the current rotation angle of the clamping part 12, and judging the clamping state of the gripper 10 by the magnitude of the rotation angle and the dwell time of the current rotation angle. The distance sensor can be any of the following: infrared distance sensor, laser distance sensor, ultrasonic distance sensor, vision sensor, etc.

[0080] The torque sensor can be used to detect the real-time torque between the clamping part 12 and the object, and can be used to determine whether the clamping part 12 is clamping the object, and whether the clamping force of the clamping part 12 is too large, etc.

[0081] An angle sensor can be used to detect the current rotation angle of the clamping part 12, so as to determine the clamping state of the gripper 10 by the magnitude of the rotation angle and the dwell time of the current rotation angle.

[0082] In this way, any one of the trigger switch, distance sensor, torque sensor, and angle sensor can be selected as needed to achieve functions such as position detection, angle detection, and clamping force detection. This allows for more flexible adaptation to detection requirements, simplifies the structure of the gripper 10, and improves the adaptability of the gripper 10.

[0083] In some embodiments, the clamping part 12 is provided with a clamping arm 120. When the gripper 10 clamps an item, the clamping arm 120 is used to clamp the item. The first detection element 161 can directly detect the rotation state of the clamping arm 120.

[0084] In some embodiments, the clamping part 12 further includes a detection part 126, with the clamping arm 120 and the detection part 126 located on opposite sides of the rotation axis of the clamping part 12. In this way, the detection part 126 rotates synchronously with the clamping arm 120, and the first detection element 161 can detect the rotation state of the clamping arm 120 by detecting the rotation state of the detection part 126.

[0085] Correspondingly, the first detection element 161 is located at the position of the detection part 126 to avoid collision and interference between the clamping arm 120 and the first detection element 161 during the rotation of the clamping part 12.

[0086] Furthermore, since the detection unit 126 and the clamping arm 120 are respectively located on opposite sides of the rotating shaft of the clamping unit 12, both the detection unit 126 and the first detection element 161 can be located inside the connecting seat 11 to form protection through the connecting seat 11. Also, since both the detection unit 126 and the first detection element 161 are located inside the connecting seat 11 and are not exposed on the outside of the gripper 10, the appearance of the gripper 10 can be simplified, and the structural compactness of the gripper 10 can be improved.

[0087] In some embodiments, the first detection element 161 can directly detect the detection unit 126. For example, when the first detection element 161 is an angle sensor, the first detection element 161 is used to detect the rotation angle of the detection unit 126 so as to determine the rotation angle of the clamping unit 12 by detecting the rotation angle of the detection unit 126.

[0088] In some embodiments, the first detection element 161 can also indirectly detect the detection part 126. For example, the gripper 10 further includes a rotating element 162 and a second elastic connector 163. The rotating element 162 is rotatably connected to the connecting seat 11, with one end corresponding to the first detection element 161. One end of the second elastic connector 163 is connected to the connecting seat 11, and the other end is connected to the rotating element 162. The other end of the rotating element 162 abuts against the clamping part 12 under the elastic force of the second elastic connector 163. For example, the other end of the rotating element 162 abuts against the detection part 126 under the elastic force of the second elastic connector 163.

[0089] In this way, the rotating member 162 is disposed between the first detection member 161 and the clamping part 12, and the rotating member 162 can abut against the clamping part 12 under the elastic force of the second elastic connector 163 and rotate with the clamping part 12. That is, the rotation state of the rotating member 162 is approximately the same as the rotation state of the clamping part 12. Thus, the first detection member 161 can indirectly detect the rotation state of the clamping part 12 by detecting the rotation state of the rotating member 162.

[0090] In some embodiments, the rotating member 162 can be a rod-shaped member. The shape, setting position, and extension direction of the rotating member 162 can be set according to the size and distribution of the space at the location where the rotating member 162 is installed on the connecting seat 11. In this way, the first detection member 161 can be set in a position with a larger space on the connecting seat 11, which improves the space utilization rate within the connecting seat 11 and avoids interference between the first detection member 161 and the clamping part 12.

[0091] Furthermore, since the clamping part 12 may be subject to collisions, impacts, or contact with dirty items during the clamping process, by setting the rotating part 162 between the first detection part 161 and the clamping part 12, the rotating part 162 can constitute a buffer component to reduce the vibration and impact on the first detection part 161 and also prevent the first detection part 161 from being contaminated by dirty items, thus extending the service life of the first detection part 161.

[0092] In some embodiments, the extension length, extension direction, cross-sectional dimensions, etc., of the detection unit 126 can be determined based on factors such as the installation space on the connecting seat 11. For example, the cross-sectional dimension of the detection unit 126 is smaller than the cross-sectional dimension of the clamping arm 120 to avoid interference and collision between the detection unit 126 and other components on the connecting seat 11. Furthermore, the moment of inertia of the detection unit 126 is smaller than that of the clamping arm body. When the clamping part 12 starts, stops, or rotates, the inertia of the detection unit 126 is smaller, reducing interference to the first detection element caused by vibration, impact, etc., during the rotation of the clamping part 12, resulting in higher detection stability of the first detection element.

[0093] In some embodiments, the length of the detection part 126 is less than the length of the clamping arm 120 along the vertical direction of the rotation axis of the clamping part 12. This allows full use of the gap between the components in the connecting seat 11 without the need to provide additional space for the detection part 126, making the structure of the gripper 10 more compact.

[0094] In some embodiments, the cross-sectional dimension of the detection part 126 is smaller than the cross-sectional dimension of the clamping arm 120, and the length of the detection part 126 is smaller than the length of the clamping arm 120 along the vertical direction of the rotation axis of the clamping part 12.

[0095] In this way, the detection unit 126 has a small size and weight, making it suitable for the smaller gripper 10. Furthermore, the detection unit 126 has a small moment of inertia, resulting in less inertial interference to the first detection element 161 and improving the detection accuracy of the first detection element 161. Also, because the detection unit 126 has a small size, the internal space of the connecting seat 11 can be fully utilized, improving the structural compactness of the gripper 10.

[0096] In some embodiments, please refer to Figure 6 The clamping arm 120 is a deformable structural component. The clamping arm 120 may include a connecting arm 121 and a movable arm 122. The first end of the connecting arm 121 is the connecting end of the clamping arm 120 and is used to rotatably connect with the connecting seat 11. The movable arm 122 is rotatably connected with the second end of the connecting arm 121. The end of the movable arm 122 away from the connecting arm 121 is the free end of the clamping arm 120.

[0097] In this way, when the gripper 10 holds an item, the movable arm 122 can rotate relative to the connecting arm 121 under the pressure of the item, so as to change the angle between the connecting arm 121 and the movable arm 122, and make the gripping arm 120 fit the contour of the item more closely. The structure of the gripping arm 120 is relatively simple and easy to assemble.

[0098] In some embodiments, the connecting arm 121 is rotatably connected to the connecting seat 11, with part of the connecting arm 121 extending into the connecting seat 11 and part of the connecting arm 121 located outside the connecting seat 11 and connected to the movable arm 122. That is, the connection position of the connecting arm 121 and the movable arm 122 is exposed on the outside of the connecting seat 11 to avoid interference.

[0099] In some embodiments, the clamping arm 120 further includes a first elastic connector 123, the two ends of which are connected to the connecting arm 121 and the movable arm 122 respectively. The first elastic connector 123 can be a spring, such as a cylindrical spring or a torsion spring.

[0100] Taking a torsion spring as an example, the second elastic connector 163 can be sleeved on the pivot of the connecting arm 121 and the movable arm 122. In this case, the connecting arm 121 and the movable arm 122 can be provided with a clearance space to avoid the torsion spring being exposed on the outside of the gripper 10, thus simplifying the appearance of the gripper 10. Furthermore, by placing the torsion spring within the clearance space, the first elastic connector 123 can be prevented from occupying the area between the two gripping arms 120, thereby avoiding interference between the first elastic connector 123 and the object to be gripped.

[0101] In some embodiments, the free ends of the plurality of clamping arms 120 move toward one side closer to each other under the elastic force of the first elastic connector 123.

[0102] In this way, when the grippers hold an item, as the multiple connecting arms 121 rotate toward the side closer to each other, the movable arm 122 can rotate relative to the connecting arms 121 under the pressure of the item to adapt to the shape of the item and hold it. Alternatively, the movable arm 122 can be manually rotated or rotated by pressing against it with an item, so that the two movable arms 122 rotate toward the side away from each other and increase the distance between the two movable arms 122. Then, the item is placed between the two gripping parts 12. Subsequently, the movable arm 122 can rotate under the elastic force of the second elastic connector 163, so that the two movable arms 122 rotate toward the side closer to each other to adapt to the shape of the item and hold it.

[0103] In other words, relative to the rotation angle range of the connecting arm 121, by setting the first elastic connector 123, the gripper 10 can adaptably grip larger items, and the gripper 10 has high stability in gripping items.

[0104] Even if the power is lost when the gripper 10 is holding an item, the second elastic connector 163 can still keep the item in a gripped state, so as to prevent the gripped item from falling suddenly when the power is lost. The gripper 10 has a high level of operational safety.

[0105] Furthermore, when the gripper 10 is holding an item, the user can resist the elastic force of the second elastic connector 163 and manually rotate the movable arm 122 to open the movable arm 122 and then remove the gripped item.

[0106] In some embodiments, the gripper further includes an energy storage component, which may be a lithium battery or a lithium iron phosphate battery. For example, the energy storage component is electrically connected to the drive component 14 and the first detection component 161, respectively, for supplying power to the drive component 14 and the first detection component 161.

[0107] In this way, the gripper 10 is not limited by the power supply of the cleaning equipment. The energy storage device, as an independent power supply module, can provide power to the gripper 10 independently, reducing the gripper 10's dependence on the power supply of the cleaning equipment and improving the modularity of the gripper 10.

[0108] In some embodiments, please refer to Figure 3 and Figure 4 The worm gear transmission assembly 15 includes a worm 152 and a plurality of worm wheels 151. The worm wheels 151 mesh with the worm 152, and the plurality of worm wheels 151 are spaced apart circumferentially along the worm 152. The clamping part 12 rotates coaxially with the worm wheels 151. For example, when there are two clamping parts 12, the two worm wheels 151 are respectively arranged on opposite sides of the worm 152, and the axes of the two worm wheels 151 are perpendicular to the axis of the worm 152.

[0109] By setting the worm gear transmission assembly 15, the drive component 14 can have a large reduction ratio, so as to convert the higher speed and lower torque of the drive component 14 into the lower speed and higher torque of the clamping part 12, that is, the clamping part 12 can have a larger clamping force to stably clamp the item.

[0110] Furthermore, the worm gear transmission assembly has a unidirectional transmission self-locking performance. When the gripper 10 assembly is in the gripping state, and the gripper 10 is de-energized or the drive unit 14 stops running, the gripping part 12 can maintain the current gripping state to prevent the gripped item from falling off, without the need for an additional locking mechanism. The gripper 10 has high operational reliability.

[0111] Please see Figure 1 This application provides a robotic arm, including a robotic arm body 20 and the aforementioned gripper 10. The structure, effect, and working principle of the gripper 10 have been described in the above embodiments and will not be repeated in this embodiment.

[0112] In some embodiments, one end of the robotic arm body 20 is connected to the cleaning equipment, and the other end is detachably connected to the connecting seat 11. The robotic arm body 20 can be a flexible connection structure with multiple degrees of freedom, allowing the position, angle, and direction of the gripper 10 to be changed through actions such as lifting, extending, rotating, and pitching of the robotic arm body 20.

[0113] The robotic arm, by having the aforementioned gripper 10, has the same effect as the gripper 10. The first detection element 161 can obtain the gripping state of the gripper 10 to identify whether there is any abnormality when the gripper 10 is gripping the item, such as whether the gripper 10 is effectively gripping the item, so as to avoid the item falling due to unstable gripping and improve the reliability of the gripper 10 when gripping the item.

[0114] Furthermore, based on the parameters obtained by the first detection component 161 when the gripper 10 is holding the item, the cleaning equipment can dynamically adjust and compensate the gripping posture of the gripper 10 according to these parameters, thereby improving the reliability of the gripper 10 when holding the item.

[0115] This application provides a cleaning device, including the robotic arm described above. The structure, effects, and working principle of the robotic arm have been described in the above embodiments, and will not be repeated here.

[0116] The cleaning device, by having the aforementioned gripper 10, has the same effect as the gripper 10. The first detection element 161 can obtain the gripping state of the gripper 10 to identify whether there is any abnormality when the gripper 10 is gripping the item, such as whether the gripper 10 is effectively gripping the item, so as to avoid the item falling due to unstable gripping and improve the reliability of the gripper 10 when gripping the item.

[0117] Furthermore, based on the parameters obtained by the first detection component 161 when the gripper 10 is holding the item, the cleaning equipment can dynamically adjust and compensate the gripping posture of the gripper 10 according to these parameters, thereby improving the reliability of the gripper 10 when holding the item.

[0118] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A gripper, used in cleaning equipment, for gripping items, characterized in that, The gripper includes: Connector for connecting to cleaning equipment; Multiple clamping parts are rotatably connected to the connecting seat, and the multiple clamping parts are used to clamp articles; The drive unit includes a drive component and a worm gear transmission assembly, wherein the drive component simultaneously drives the multiple clamping parts to rotate through the worm gear transmission assembly; The first detection element is disposed on the connecting seat and is used to detect the rotation state of the clamping part.

2. The gripper according to claim 1, characterized in that, The first detection device is any one of a trigger switch, a distance sensor, a torque sensor, and an angle sensor.

3. The gripper according to claim 1 or 2, characterized in that, The clamping part is provided with a clamping arm and a detection part. The clamping arm is used to clamp an item. The clamping arm and the detection part are respectively located on opposite sides of the rotating shaft of the clamping part. The first detection element is used to detect the rotation state of the detection part.

4. The gripper according to claim 3, characterized in that, The gripper also includes: A rotating component is rotatably connected to the connecting seat, and one end of the rotating component corresponds to the first detection component; The second elastic connector has one end connected to the connecting seat and the other end connected to the rotating member. The other end of the rotating member abuts against the detection part under the elastic force of the second elastic connector.

5. The gripper according to claim 3, characterized in that, The cross-sectional dimension of the detection unit is smaller than the cross-sectional dimension of the clamping arm; and / or, The length of the detection part is less than the length of the clamping arm along the vertical direction of the clamping part's rotation axis.

6. The gripper according to claim 3, characterized in that, The clamping arm includes: A connecting arm, the first end of which is rotatably connected to the connecting seat; A movable arm is rotatably connected to the second end of the connecting arm, and the end of the movable arm away from the connecting arm is the free end of the clamping arm; A first elastic connector has its two ends connected to the connecting arm and the movable arm, respectively. The free ends of the plurality of clamping arms move toward the side closer to each other under the elastic force of the first elastic connector.

7. The gripper according to claim 1 or 2, characterized in that, The gripper also includes an energy storage device, which is electrically connected to the driving device and the first detection device respectively, and is used to supply power to the driving device and the first detection device respectively.

8. The gripper according to claim 1 or 2, characterized in that, The worm gear transmission assembly includes a worm and a plurality of worm wheels. The worm wheels mesh with the worm, and the plurality of worm wheels are spaced apart circumferentially along the worm. The clamping part rotates coaxially with the worm wheels.

9. A robotic arm, characterized in that, It includes a robotic arm body and a gripper as described in any one of claims 1-8, wherein one end of the robotic arm body is connected to the cleaning device and the other end is detachably connected to the connecting seat.

10. A cleaning device, characterized in that, Includes the robotic arm as described in claim 9.

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