Manipulator, mechanical arm and cleaning equipment

Abstract

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

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a mechanical hand, a robotic arm and a cleaning equipment. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning equipment, such as intelligent floor sweeping robots, has continuously entered our daily lives. For current cleaning equipment, in order to better achieve the cleaning function, robotic arms are added to achieve the grasping or moving of obstacles, items, and garbage.

[0003] Among them, for the mechanical hand at the end of the traditional robotic arm, after grasping an object, if the cleaning equipment suddenly loses power, the mechanical hand will maintain the state of clamping the object, which is not convenient for the user to take out the clamped object. Summary of the Utility Model

[0004] A series of simplified concepts are introduced in the summary of the utility model, which will be further described in detail in the specific implementation section. This section of the utility model does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0005] An embodiment of the first aspect of the utility model provides a mechanical hand, including: a driving member, a transmission mechanism, two clamping arms and an elastic member. The input end of the transmission mechanism is connected to the driving member through a coupling device, the output end of the transmission mechanism is connected to the two clamping arms, the driving member drives the two clamping arms to approach or separate from each other through the transmission mechanism, and at least one clamping arm is movably connected to the transmission mechanism through the elastic member. The elastic member is configured to apply a force to the connected clamping arm to approach the other clamping arm.

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

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

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

[0009] Further, the limiting structure includes a limiting groove and a positioning protrusion. One of the limiting groove and the positioning protrusion is provided on the worm gear, and the other is provided on the clamping arm. The positioning protrusion is located within the limiting groove and can move within the limiting groove, so that the clamping arm can switch between a first position and a second position.

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

[0011] Further, the elastic member is a torsion spring. The worm gear is provided with a first clamping groove, and the clamping arm is provided with a second clamping groove. The first torsion arm of the torsion spring is restricted within the first clamping groove, and the second torsion arm of the torsion spring is restricted within the second clamping groove.

[0012] Further, during the switching process of the clamping arm between the first position and the second position, the included angle between the first clamping groove and the second clamping groove is smaller than the included angle between the first torsion arm and the second torsion arm of the torsion spring when the torsion spring is in a free state.

[0013] Further, the torsion spring is accommodated within the accommodation space jointly defined by the worm gear and the clamping arm; wherein, the worm gear is provided with a first accommodation groove, and the first accommodation groove is communicated with the first clamping groove for accommodating part of the torsion spring. The clamping arm is provided with a second accommodation groove, and the second accommodation groove is communicated with the second clamping groove for accommodating part of the torsion spring.

[0014] Further, the limiting structure is located between the first clamping groove and the second clamping groove; the worm gear is provided with tooth portions meshing with the worm on the circumference of the part away from the first clamping groove and the limiting structure.

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

[0016] Further, the manipulator further includes: an acting member and a position switch. The acting member is used to change the acting state with the position switch when the clamping arm is in an extreme position, so that the position switch sends a in-place signal.

[0017] Further, the manipulator further includes: a housing. The driving member and the transmission mechanism are installed inside the housing. The clamping arm passes through the housing and is rotatable relative to the housing. One of the position switch and the acting member is fixed relative to the housing, and the other is at least linked with the clamping arm in the extreme position.

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

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

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

[0021] An embodiment of the third aspect of the utility model provides a self-moving cleaning device, comprising: a main body, and the mechanical arm of the second aspect.

[0022] The utility model provides a manipulator and cleaning equipment, wherein the manipulator includes a driving member, a transmission mechanism, two clamping arms and an elastic member, wherein the driving member is connected to the two clamping arms through the transmission mechanism, and drives the two clamping arms to move closer to or farther from each other, so as to realize the operation of the manipulator to grab or release an object. At least one clamping arm is movably connected to the transmission mechanism through an elastic member, so that the clamping arm connected to the elastic member can move relative to the transmission mechanism, thereby, when the manipulator keeps clamping an object, the clamping arm connected to the elastic member is reversely bent, and the deformation of the elastic member enables the clamping arm connected to the elastic member to move relative to the transmission mechanism to take out the object between the two clamping arms, thereby avoiding the problem in the related art that the manipulator cannot take out the object clamped by the manipulator after an accidental power failure, thereby improving the user experience, greatly improving the convenience of taking out the object clamped by the manipulator after a power failure, and improving the user satisfaction.

[0023] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model, 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 utility model more obvious and easy to understand, the specific implementation methods of the utility model are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various other advantages and benefits will become apparent to those skilled in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only used for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used throughout the accompanying drawings to represent the same components. Among them:

[0025] Figure 1Shows a schematic structural diagram of the manipulator provided by an embodiment of the present utility model;

[0026] Figure 2 Shows a schematic structural diagram of one perspective of the manipulator provided by an embodiment of the present utility model in the initial position;

[0027] Figure 3 Shows a schematic structural diagram of one perspective of the manipulator provided by an embodiment of the present utility model in the limit position;

[0028] Figure 4 Shows an exploded schematic diagram of a part of the structure of the manipulator provided by an embodiment of the present utility model;

[0029] Figure 5 Shows a schematic structural diagram of one perspective of a part of the structure of the manipulator provided by an embodiment of the present utility model;

[0030] Figure 6 Shows a structural diagram of the worm gear provided by an embodiment of the present utility model;

[0031] Figure 7 Shows a structural diagram of the robotic arm provided by an embodiment of the present utility model;

[0032] Figure 8 Shows a schematic structural diagram of one perspective of the manipulator provided by an embodiment of the present utility model in the clamping state;

[0033] Figure 9 Shows a perspective view of a part of the structure of the manipulator provided by an embodiment of the present utility model in the clamping state;

[0034] Figure 10 Shows a schematic structural diagram of one perspective of the manipulator provided by an embodiment of the present utility model in the externally forced open state;

[0035] Figure 11 Shows a perspective view of a part of the structure of the manipulator provided by an embodiment of the present utility model in the externally forced open state;

[0036] Figure 12 Shows a schematic structural diagram of one perspective of a part of the structure of the manipulator provided by another embodiment of the present utility model;

[0037] Figure 13 Shows Figure 12 A partial enlarged schematic diagram at position A of the illustrated embodiment.

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

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

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

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

[0042] Now, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present utility model is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art.

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

[0044] Among them, the cleaning equipment includes but is not limited to: a main body, a driving system, a cleaning system, etc. The above-mentioned systems coordinate with each other so that the cleaning equipment can move autonomously to achieve the cleaning function. The functional elements constituting the above-mentioned systems in the cleaning equipment are integrated in the main body. It is understandable that the cleaning equipment can be a self-moving cleaning equipment. A self-moving cleaning equipment is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

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

[0046] The manipulator in the related art usually uses a small motor with a large reduction ratio transmission mechanism to drive the manipulator because of its low movement speed but large clamping torque requirement, so as to reduce the weight of the module. Therefore, the manipulator's clamping arm is generally difficult for the user to manually move in the opposite direction. In this way, after the manipulator grabs an object, if the manipulator or the cleaning equipment is accidentally powered off, the manipulator will remain in the state of clamping the object, making it inconvenient for the user to remove the clamped object.

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

[0048] In the manipulator 100 provided by the embodiment of the utility model, the driving member 110 is connected to the two clamping arms 130 through the transmission mechanism 120, and the two clamping arms 130 are driven to move closer or farther from each other, so as to realize the operation of grabbing or releasing objects by the manipulator 100. At least one clamping arm 130 is movably connected to the transmission mechanism 120 through the elastic member 140, so that the clamping arm 130 connected to the elastic member 140 can move relative to the transmission mechanism 120. Thus, when the manipulator 100 keeps clamping an object, the clamping arm 130 connected to the elastic member 140 is reversely bent, and the elastic member 140 is deformed, so that the clamping arm 130 connected to the elastic member 140 can move relative to the transmission mechanism 120 to take out the object between the two clamping arms 130, thereby avoiding the problem that the manipulator 100 or the cleaning device in the related art cannot take out the object clamped by the manipulator 100 after an accidental power failure, thereby improving the user experience, greatly improving the convenience of taking out the object clamped by the manipulator 100 after a power failure, and improving the user satisfaction. in, Figure 2 The two gripping arms 130 of the robot 100 shown are close to each other so that the robot 100 maintains the initial state. Figure 3 The two clamping arms 130 of the manipulator 100 are moved away from each other so that the manipulator 100 is in an open state. It can be understood that Figure 3 The two clamping arms 130 are shown in an extended extreme position. Figure 8 The two gripping arms 130 of the robot 100 are shown in a state of gripping an object. Figure 10 The two gripping arms 130 of the robot 100 are shown in an externally-forced open state.

[0049] The input end of the transmission mechanism 120 is connected to the driving member 110 through a coupling device, and the coupling device can be a connecting shaft. For example, the driving member is a motor, and the motor is connected to the input end of the transmission mechanism 120 through the connecting shaft, so that the rotation of the motor drives the input end of the transmission mechanism 120 to rotate through the connecting shaft, and then drives the output end of the transmission mechanism 120 to move, so as to drive the two clamping arms 130 to move. Alternatively, the coupling device can be understood as a limiting mechanism, such as the limiting mechanism can be a limiting surface, whereby the motor rotates, and the movement of the input end of the transmission mechanism 120 is limited by the limiting surface, so that the input end of the transmission mechanism 120 rotates synchronously with the motor, and then drives the output end of the transmission mechanism 120 to move, so as to drive the two clamping arms 130 to move. It can be understood that the coupling device can also be other structures that meet the requirements.

[0050] Among them, at least one clamping arm 130 is movably connected to the transmission mechanism 120 through an elastic member 140, and it can be that a clamping arm 130 is movably connected to the transmission mechanism 120 through an elastic member 140. In this way, by reversely bending a clamping arm 130 connected to the elastic member 140, the object clamped by the manipulator 100 can be taken out after power is cut off. The operation is simple, the use is convenient, and it is helpful to reduce production costs.

[0051] Alternatively, both clamping arms 130 may be movably connected to the transmission mechanism 120 via the elastic member 140, so that the object clamped by the manipulator 100 can be taken out after power failure by bending the two clamping arms 130 connected to the elastic member 140 in the opposite direction, which is simple to operate and convenient to use. Compared with a clamping arm 130 movably connected to the transmission mechanism 120 via the elastic member 140, this arrangement can increase the relative range of motion of the two clamping arms 130 when the manipulator 100 is clamping an object, reduce the problem of irregular objects getting stuck with the clamping arms 130 during the process of taking out the manipulator 100 in the clamping state, and thus can quickly, smoothly and conveniently take out the object clamped by the manipulator 100, and can expand the scope of use, which is suitable for popularization and application.

[0052] The elastic member 140 is configured to apply a force to the connected clamping arm 130 to bring it closer to the other clamping arm 130. It can be understood that the elastic member 140 acts on the clamping arm 130 so that the clamping arm 130 has an initial close force F1. This arrangement can ensure that when the manipulator 100 is in a clamping state, the force of the elastic member 140 brings the two clamping arms 130 closer to each other, and the clamping arms 130 have sufficient torque to ensure that the object can be reliably and stably clamped between the two clamping arms 130.

[0053] Furthermore, the transmission mechanism 120 is provided with a self-locking structure, that is, the transmission mechanism 120 is configured to have a self-locking function, whereby, after the driving member 110 is powered off, the transmission mechanism 120 stops working, and the clamping arm 130 can reliably and stably maintain the current state to improve the stability and accuracy of the manipulator 100 in clamping objects.

[0054] Among them, the driving member 110 is provided with an overcurrent self-locking device. For example, the driving member 110 is a motor, and the motor is provided with an overcurrent self-locking device, that is, the motor has an overcurrent protection function. When the motor drives the clamping arm 130 to move from the open state to the closed state through the transmission mechanism 120 and encounters the object 200 to be clamped, the two clamping arms 130 will clamp the object 200 to be clamped, resulting in the motor being blocked. At this time, the overcurrent self-locking device of the motor works. That is, due to the overcurrent protection function of the motor, the motor detects overcurrent and stops rotating. At this time, the self-locking structure of the transmission mechanism 120 is in a self-locked state, so that under the self-locking function of the transmission mechanism 120, the driving member 110 maintains the clamping force F on the object 200 to be clamped through the clamping arm 130, so as to realize reliable and stable clamping operation on the clamped object 200. It can be understood that the clamping force F exerted by the driving member 110 on the clamped object 200 through the clamping arm 130 can be less than or equal to the initial pressing force F1 exerted by the elastic member 140 on the clamping arm 130, so that the clamping arm 130 can realize reliable and stable clamping operation on the clamped object 200 without rotating relative to the transmission mechanism 120. Or, the clamping force F exerted by the driving member 110 on the clamped object 200 through the clamping arm 130 can be slightly greater than the initial pressing force F1 exerted by the elastic member 140 on the clamping arm 130, so that the clamping arm 130 can still maintain reliable and stable clamping operation on the clamped object 200 when rotating a small angle relative to the transmission mechanism 120. It can be understood that when the clamping arm 130 clamps the clamped object 200 and the clamping arm 130 is rotated in the opening direction by an external force, that is, when the clamping arms 130 rotate away from each other, when the external force is greater than the initial pressing force F1 of the elastic member 140 on the clamping arm 130, the clamping arm 130 opens and the object is released. Further, the driving member 110 is provided with an overcurrent self-locking device, and the transmission mechanism 120 is provided with a self-locking structure. When the overcurrent self-locking device works to lock the self-locking structure, the rotation angle range of the clamping arm 130 relative to the transmission mechanism 120 is 7° to 10°.

[0055] That is to say, when the clamping arm 130 clamps the clamped object 200 to make the overcurrent self-locking device of the driving member 110 work, such as when the motor stops rotating due to overcurrent protection, the self-locking structure of the transmission mechanism 120 is in a self-locking state. For example, the transmission mechanism 120 includes a worm wheel 122 and a worm 121, and a self-locking function is configured between the worm 121 and the worm wheel 122. Thus, after the driving member 110 is powered off, the transmission mechanism 120 stops working, and the clamping arm 130 can be reliably and stably maintained in the current state to reliably and stably clamp the clamped object 200. At this time, the angle range of the clamping arm 130 rotating relative to the transmission mechanism 120 is 7° to 10°. That is to say, when the clamping arm 130 clamps the object, the angle range of the clamping arm 130 rotating relative to the transmission mechanism 120 under the action of an external force can be 7° to 10°, that is, the angle range of each clamping arm 130 rotating away from each other is 7° to 10°, so as to ensure that the distance between the two clamping arms 130 moving away from each other under the action of an external force is large enough to provide sufficient movement space for the clamped object 200 to smoothly disengage from the clamping arm 130, so as to improve the smoothness of the clamped object 200 disengaging from the clamping arm 130.

[0056] Specifically, when the overcurrent self-locking device of the driving member 110 works to lock the self-locking structure of the transmission mechanism 120, the angle of the clamping arm 130 rotating relative to the transmission mechanism 120 can be 7°, 8°, 9°, 10°, or other angles. It can be understood that when the angle range of the clamping arm 130 rotating relative to the transmission mechanism 120 is 10°, it can be understood that the clamping force F exerted by the driving member 110 on the clamped object 200 through the clamping arm 130 does not cause the clamping arm 130 to rotate relative to the transmission mechanism 120. When the angle range of the clamping arm 130 rotating relative to the transmission mechanism 120 is 7°, it can be understood that the clamping force F exerted by the driving member 110 on the clamped object 200 through the clamping arm 130 causes the clamping arm 130 to rotate relative to the transmission mechanism 120 by an angle of 10° - 7° = 3°.

[0057] Such as Figure 4 , Figure 9 and Figure 11As shown, in some possible embodiments provided by the utility model, the clamping arm 130 is rotatably connected to the transmission mechanism 120, and a limiting structure 150 is arranged between the clamping arm 130 and the transmission mechanism 120, and the limiting structure 150 is used to limit the rotation angle of the clamping arm 130 relative to the transmission mechanism 120. Since the elastic member 140 is configured to apply a force close to the other clamping arm 130 to the connected clamping arm 130, the setting of the limiting structure 150 enables the clamping arm 130 to rotate within a preset angle range relative to the transmission mechanism 120, so that when the clamping arm 130 is in a free state, it can be ensured that the clamping arm 130 connected to the elastic member 140 has a movement tendency close to the other clamping arm 130, so as to ensure that the clamping arm 130 has sufficient torque, so that the object can be reliably and stably clamped between the two clamping arms 130, and when the clamping arm 130 is bent in the opposite direction, the object clamped by the manipulator 100 can be taken out quickly, smoothly and conveniently, and the operation is simple and easy to use.

[0058] Specifically, the preset angle may be 5° to 15°, such as 5°, 10°, 15°, or other angles, that is, under the action of external force, the angle at which the clamping arm 130 rotates relative to the transmission mechanism 120 may be 5°, 10°, 15°, or other angles. Further, according to the specific value of the preset angle, the range of the angle at which the clamping arm 130 rotates relative to the transmission mechanism 120 when the overcurrent self-locking device of the driving member 110 works to self-lock the self-locking structure of the transmission mechanism 120 may be reasonably set, so as to improve the smoothness of the clamped object 200 being separated from the clamping arm 130.

[0059] like Figure 9 and Figure 11 As shown, in some possible embodiments provided by the present invention, the limiting structure 150 is used to limit the movement of the clamping arm 130 between the first position and the second position relative to the transmission mechanism 120, wherein the same clamping arm 130 is closer to another clamping arm 130 in the first position than in the second position, and the clamping arm 130 is configured to switch from the first position to the second position under the action of an external force, and the clamping arm 130 is configured to switch from the second position to the first position under the action of the elastic member 140. Figure 9 The clamping arm 130 is shown in the first position, at which time the manipulator 100 is in a state of clamping an object. Figure 11 The clamping arm 130 is shown in the second position, and the robot 100 is in an external force open state.

[0060] That is to say, Figure 9As shown, when the manipulator 100 maintains a clamping state, the clamping arm 130 is in the first position under the action of the elastic member 140 and the limiting structure 150. Compared with the clamping arm 130 in the second position, the clamping arm 130 in the first position is closer to the other clamping arm 130. At this time, the elastic member 140 makes the clamping arm 130 have a movement tendency to approach the other clamping arm 130 to ensure that the clamping arm 130 has sufficient torque so that the object can be reliably and stably clamped between the two clamping arms 130. If in this state, the manipulator 100 or the cleaning device is powered off so that the driving member 110 is powered off, it is impossible to drive the clamping arms 130 away from each other through the transmission mechanism 120 to remove the clamped object from the manipulator 100, as shown in FIG. Figure 11 As shown, the user can bend the clamping arms 130 in the opposite direction to move the clamping arms 130 away from each other, so that the clamping arms 130 overcome the elastic force of the elastic member 140 under the action of external force and move from the first position to the second position. As a result, the object clamped by the manipulator 100 can be conveniently taken out from between the two clamping arms 130, which is simple to operate and easy to use.

[0061] It can be understood that when the clamping arm 130 moves from the first position to the second position under the action of external force to overcome the elastic force of the elastic member 140, the elastic member 140 stores energy. Therefore, when the external force disappears, the elastic member 140 releases energy to switch the clamping arm 130 from the second position to the first position and maintain it in the first position, thereby resetting the clamping arm 130 to ensure that the clamping arm 130 has sufficient torque.

[0062] Among them, Figure 9 As shown, when the clamping arm 130 is in the first position, it can be understood that the clamping arm 130 is in the initial position relative to the transmission mechanism 120, and at this time, the clamping arm 130 does not rotate relative to the transmission mechanism 120. When the clamping arm 130 is in the second position, it can be understood that the clamping arm 130 is in the active position relative to the transmission mechanism 120, and at this time, the rotation angle of the clamping arm 130 relative to the transmission mechanism 120 can be the preset angle.

[0063] like Figure 4 and Figure 5As shown, in some possible embodiments provided by the present invention, the transmission mechanism 120 includes a worm 121 and two worm wheels 122 meshing with the worm 121, the worm 121 is connected to the driving member 110, the two worm wheels 122 correspond to the two clamping arms 130 and are distributed on both sides of the worm 121, and the corresponding worm wheels 122 are connected to the clamping arms 130, so that the driving member 110 works, and the two clamping arms 130 can be driven to move closer or farther from each other through the worm wheel 122 and worm 121 mechanism, so as to realize the operation of grabbing or releasing objects by the manipulator 100. Among them, the transmission of the worm wheel 122 and worm 121 can ensure that the transmission mechanism 120 has a large reduction ratio, and when the power of the driving member 110 is small, the movement speed of the clamping arm 130 is low and has sufficient clamping torque, which improves the stability and accuracy of the manipulator 100 in clamping objects, and at the same time, can reduce the weight of the manipulator 100, making it easy to operate.

[0064] The worm wheel 122 and the clamping arm 130 are connected through the rotating shaft 160 and the elastic member 140, that is, the rotation of the worm wheel 122 can drive the clamping arm 130 to rotate synchronously. The elastic member 140 corresponds to the clamping arm 130, that is, there are two elastic members 140, and the two ends of the elastic member 140 are connected to the corresponding clamping arm 130 and the worm wheel 122, so that each clamping arm 130 can rotate relative to the corresponding worm wheel 122. Therefore, when the manipulator 100 clamps an object, the relative range of motion of the two clamping arms 130 can be increased by bending the two clamping arms 130 in the opposite direction, so that the object clamped by the manipulator 100 can be taken out quickly, smoothly and conveniently, and the scope of use can be expanded.

[0065] By setting the limiting structure 150 between the corresponding clamping arm 130 and the worm gear 122, the limiting structure 150 can limit the rotation angle of the clamping arm 130 relative to the corresponding worm gear 122, so as to ensure that the clamping arm 130 has sufficient torque, so that the object can be reliably and stably clamped between the two clamping arms 130, and ensure that the object clamped by the manipulator 100 can be easily and quickly removed from the manipulator 100.

[0066] Furthermore, the transmission mechanism 120 is configured to have a self-locking function, such as a self-locking function is configured between the worm 121 and the worm wheel 122. Thus, after the driving member 110 is powered off, the transmission mechanism 120 stops working, and the clamping arm 130 can reliably and stably maintain the current state to improve the stability and accuracy of the manipulator 100 in clamping objects.

[0067] like Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, in some possible embodiments provided by the present utility model, the limiting structure 150 includes a limiting groove 151 and a positioning protrusion 152. One of the limiting groove 151 and the positioning protrusion 152 is provided on the worm gear 122, and the other is provided on the clamping arm 130. The positioning protrusion 152 is located within the limiting groove 151 and can move within the limiting groove 151, so that the clamping arm 130 can switch between a first position and a second position. Among them, the limiting groove 151 and the positioning protrusion 152 are convenient to process and easy to implement.

[0068] Specifically, as Figure 6 and Figure 7 shown, the limiting groove 151 can be provided on the worm gear 122, and the positioning protrusion 152 can be located on the clamping arm 130. Or, the limiting groove 151 can be provided on the clamping arm 130, and the positioning protrusion 152 can be located on the worm gear 122.

[0069] Among them, as Figure 6 , Figure 9 and Figure 11 shown, the limiting groove 151 includes a first side wall 1511 and a second side wall 1512 along the rotation direction of the clamping arm 130 relative to the worm gear 122. The first side wall 1511 is close to the other clamping arm 130, and the second side wall 1512 is far from the other clamping arm 130. Generally, as Figure 9 shown, under the action of the elastic member 140, the clamping arm 130 makes the positioning protrusion 152 abut against the first side wall 1511 of the limiting groove 151. At this time, the clamping arm 130 is located at the first position. As Figure 11 shown, when the clamping arm 130 moves away from the other clamping arm 130 under an external force, when the positioning protrusion 152 abuts against the second side wall 1512 of the limiting groove 151, the clamping arm 130 is in the second position. That is to say, under the action of the limiting structure 150, the clamping arm 130 moves between the first side wall 1511 and the second side wall 1512 in the limiting groove 151. Specifically, the rotation angle of the clamping arm 130 between the first side wall 1511 and the second side wall 1512 can be a preset angle. For example, the preset angle can be 5° to 15°.

[0070] Specifically, as Figure 8 and Figure 9As shown, under the action of the elastic member 140, when the transmission mechanism 120 is fixed, the clamping arms 130 will move towards each other until they abut against the first side wall 1511 of the limiting groove 151, and there is an initial pressing force F1. When an external force acts on the clamping arms 130 in the direction away from each other, when the external force is greater than F1 (for example, F1 is 8 N), the elastic member 140 will be further compressed and twisted, and the clamping arms 130 will start to rotate in the direction away from each other, forming an open state. When the external force is greater than or equal to F2 (for example, F2 is 12 N), the clamping arms 130 abut against the second side wall 1512. At this time, the clamping arms 130 reach the maximum opening angle (relative to the worm gear), such as Figure 10 and Figure 11 shown.

[0071] such as Figure 4 、 Figure 5 shown, in some possible embodiments provided by the present invention, the elastic member 140 is a torsion spring, and the torsion spring is arranged at the rotating shaft 160 of the worm gear 122. The first end of the torsion spring is connected to the worm gear 122, and the second end of the torsion spring is connected to the clamping arm 130. Among them, the rotating shaft 160 connects the worm gear 122 and the clamping arm 130. The torsion spring can be coaxially arranged with the rotating shaft 160, that is, the torsion spring is located on the outer peripheral side of the rotating shaft 160. By connecting the first end of the torsion spring to the worm gear 122 and the second end of the torsion spring to the clamping arm 130, the torsion spring can stably provide an elastic force, enabling the clamping arm 130 to switch from the second position to the first position and remain in the first position.

[0072] In some other possible embodiments provided by the present invention, the elastic member 140 is a spring. The first end of the spring is connected to the worm gear 122, and the second end of the spring is connected to the clamping arm 130. By using the spring, an elastic force can be stably provided, enabling the clamping arm 130 to switch from the second position to the first position and remain in the first position.

[0073] In still some other possible embodiments provided by the present invention, the elastic member 140 is a tension spring. The first end of the tension spring is connected to the worm gear 122, and the second end of the tension spring is connected to the clamping arm 130. By using the tension spring, an elastic force can be stably provided, enabling the clamping arm 130 to switch from the second position to the first position and remain in the first position.

[0074] Therefore, according to the structural requirements and installation positions, the type of the elastic member 140 can be reasonably selected. It can be understood that the elastic member 140 can also be an elastic component other than a torsion spring, a spring, and a tension spring, as long as it can provide an elastic force to enable the clamping arm 130 to switch from the second position to the first position and remain in the first position.

[0075] such as Figure 4 、 Figure 5 、 Figure 6 andFigure 7 As shown, in some possible embodiments provided by the present utility model, the elastic member 140 is a torsion spring. The worm gear 122 is provided with a first card slot 1221, and the clamping arm 130 is provided with a second card slot 131. The first torsion arm 141 of the torsion spring is restricted within the first card slot 1221, and the second torsion arm 142 of the torsion spring is restricted within the second card slot 131. Thus, the installation of the torsion spring is realized through the first card slot 1221 and the second card slot 131, and moreover, the worm gear 122 and the clamping arm 130 are movably connected through the torsion spring, with a simple structure and convenient installation.

[0076] Specifically, the first torsion arm 141 of the torsion spring can be inserted into the first card slot 1221, clamped in the first card slot 1221, or bonded to the first card slot 1221 through an adhesive. The second torsion arm 142 of the torsion spring can be inserted into the second card slot 131, clamped in the second card slot 131, or bonded to the second card slot 131 through an adhesive.

[0077] Among them, the torsion spring can be a compression torsion spring. Under the action of the limiting structure 150, the first torsion arm 141 and the second torsion arm 142 of the torsion spring are stressed and respectively restricted within the first card slot 1221 and the second card slot 131. Thus, it is ensured that the torsion spring can switch the clamping arm 130 from the second position to the first position and remain in the first position.

[0078] In some possible embodiments provided by the present utility model, during the switching process of the clamping arm 130 between the first position and the second position, the included angle between the first card slot 1221 and the second card slot 131 is smaller than the included angle between the first torsion arm 141 and the second torsion arm 142 of the torsion spring in the free state. Thus, by reasonably setting the positions of the first card slot 1221 and the second card slot 131, under the action of the limiting structure 150, the torsion spring is in a compressed state, that is, the first torsion arm 141 and the second torsion arm 142 of the torsion spring are stressed and respectively restricted within the first card slot 1221 and the second card slot 131. Thus, it is ensured that the torsion spring can switch the clamping arm 130 from the second position to the first position and remain in the first position.

[0079] As Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, in some possible embodiments provided by the present utility model, the torsion spring is accommodated in the accommodation space jointly defined by the worm gear 122 and the clamping arm 130. Thus, the structure among the worm gear 122, the torsion spring, and the clamping arm 130 is compact, which can meet the design requirements of the manipulator 100 with a compact structure and a small volume, and further meet the design requirements of the robotic arm with a compact structure and a small volume, and meet the design requirements of the cleaning device with a compact structure and a small volume.

[0080] Among them, as Figure 6As shown, the worm wheel 122 is provided with a first receiving groove 1222, and the first receiving groove 1222 communicates with the first clamping groove 1221 for receiving a part of the torsion spring, such as Figure 7 As shown, the clamping arm 130 is provided with a second receiving groove 132, and the second receiving groove 132 communicates with the second clamping groove 131 for receiving a part of the torsion spring. That is to say, the first torsion arm 141 of the torsion spring is received in the first clamping groove 1221, the second torsion arm 142 of the torsion arm is received in the second clamping groove 131, and the other parts of the torsion arm are received in the space formed by the first receiving groove 1222 and the second receiving groove 132. Thus, the torsion arm can be more compactly received in the receiving space defined by the combination of the worm wheel 122 and the clamping arm 130, and the worm wheel 122 and the clamping arm 130 are movably connected. The structure is simple and can meet the design requirements of the manipulator 100 with a compact structure and a small volume.

[0081] As Figure 4 Figure 5 , Figure 6 and Figure 7 As shown, in some possible embodiments provided by the present invention, the limiting structure 150 is located between the first clamping groove 1221 and the second clamping groove 131; the worm wheel 122 is provided with a tooth portion 1223 meshing with the worm 121 in the circumferential direction of the part far from the first clamping groove 1221 and the limiting structure 150. That is to say, the tooth portion 1223 meshing with the worm 121 is not arranged on the entire circumferential side of the worm wheel 122, but the tooth portion 1223 meshing with the worm 121, the limiting structure 150 connected to the clamping arm 130 and the elastic member 140, and the first clamping groove 1221 are distributed at different circumferential positions of the worm wheel 122. Thus, the first clamping groove 1221, the limiting structure 150 and the tooth portion 1223 are arranged in a combined manner. Compared with the case where the entire circumferential side of the worm wheel 122 is provided with tooth portions 1223, it is beneficial to improve the overall strength of the worm wheel 122, and further improve the service life of the worm wheel 122.

[0082] Furthermore, as Figure 6 shown, the limiting groove 151 of the limiting structure 150 is opened on the worm wheel 122, and the positioning protrusion 152 is located on the clamping arm 130. Thus, a part of the circumferential direction of the worm wheel 122 is provided with the tooth portion 1223. On the part of the worm wheel 122 far from the tooth portion 1223, the first clamping groove 1221 and the limiting groove 151 are opened on the surface opposite to the clamping arm 130 to ensure that the first clamping groove 1221 can be reliably connected to the elastic member 140, and the limiting groove 151 can be reliably matched with the positioning protrusion 152 on the clamping arm 130.

[0083] As Figure 12 and Figure 13As shown, in some possible embodiments provided by the present utility model, the manipulator 100 further includes: an acting member 170 and a position switch 180. The acting member 170 is used to change the acting state with the position switch 180 when the clamping arm 130 is in the limit position, so that the position switch 180 sends a in-place signal.

[0084] Among them, as Figure 3 shown, the limit position of the clamping arm 130 can be understood as the limit position where the driving member 110 drives the two clamping arms 130 away from each other through the transmission mechanism 120. It can be understood that at the limit position, the opening angle between the two clamping arms 130 can be less than or equal to 180°. For example, at the limit position, the included angle between the two clamping arms 130 can be 150°, 170°, 180°, or other angles. It can be understood that in other examples, the opening angle between the two clamping arms 130 at the limit position can also be greater than 180°.

[0085] Among them, as Figure 3 , Figure 12 and Figure 13 shown, when the clamping arm 130 is in the limit position, if the driving member 110 drives the two clamping arms 130 to continue to move away from each other through the transmission mechanism 120, there is a possibility that the clamping arm 130 collides with other components of the manipulator 100 and is damaged. Therefore, by setting the acting member 170 and the position switch 180, when the clamping arm 130 is in the limit position, the acting member 170 changes the acting state with the position switch 180, so that the position switch 180 sends a in-place signal, and the driving member 110 stops rotating according to the in-place signal of the position switch 180, which can avoid the problem that the clamping arm 130 in the limit position continues to move away from each other and collides with other components of the manipulator 100 and is damaged, thereby improving the service life of the clamping arm 130 and the overall reliability of the manipulator 100.

[0086] Among them, the position switch 180 can be a photoelectric switch, a mechanical switch, or other detection mechanisms that meet the requirements, etc. Among them, the acting states of the acting member 170 and the position switch 180 can include contact and non-contact, occlusion and non-occlusion, etc. For example, when the position switch 180 is a mechanical switch, the acting states of the acting member 170 and the position switch 180 can be contact and non-contact. When the position switch 180 is a photoelectric switch, the acting states of the acting member 170 and the position switch 180 can be occlusion and non-occlusion.

[0087] As Figure 1 and Figure 12As shown, in some possible embodiments provided by the present utility model, the manipulator 100 further includes: a housing 190, a driving member 110 and a transmission mechanism 120 are installed inside the housing 190, and the clamping arm 130 passes through the housing 190 and is rotatable relative to the housing 190. Thus, the housing 190 can play a good protective role for the driving member 110 and the transmission mechanism 120, reducing the possibility of foreign objects colliding with the driving member 110 and the transmission mechanism 120, reducing the possibility of impurities contaminating the driving member 110 and the transmission mechanism 120, prolonging the service life of the driving member 110 and the transmission mechanism 120, and improving the reliability of the driving member 110 and the transmission mechanism 120.

[0088] Wherein, one of the position switch 180 and the acting member 170 is fixed relative to the housing 190, and the other is at least linked with the clamping arm 130 in the extreme position. Thus, when the clamping arm 130 is in the extreme position, it can be ensured that the acting member 170 is driven to change the acting state between the acting member 170 and the position switch 180, so that the position switch 180 sends a signal indicating in place.

[0089] Wherein, as Figure 12 and Figure 13 shown, it can be that the position switch 180 is fixed relative to the housing 190, and the acting member 170 is at least linked with the clamping arm 130 in the extreme position; or, it can be that the acting member 170 is fixed relative to the housing 190, and the position switch 180 is at least linked with the clamping arm 130 in the extreme position.

[0090] Wherein, one of the position switch 180 and the acting member 170 being fixed relative to the housing 190 can be understood as one of the position switch 180 and the acting member 170 being connected to the housing 190 and fixed on the housing 190, or one of the position switch 180 and the acting member 170 being connected to the driving member 110 and the transmission mechanism 120 fixed relative to the housing 190. Thus, it is realized to be fixed relative to the housing 190.

[0091] Wherein, the other of the position switch 180 and the acting member 170 is at least linked with the clamping arm 130 in the extreme position. It can be that the clamping arm 130 in the extreme position drives the other of the position switch 180 and the acting member 170 to act, so as to change the acting state between the acting member 170 and the position switch 180; or, the movement of the clamping arm 130 can drive the other of the position switch 180 and the acting member 170 to act, and in the extreme position, the acting member 170 changes the acting state between the acting member 170 and the position switch 180.

[0092] As Figure 12 and Figure 13As shown, in some possible embodiments provided by the present utility model, the position switch 180 is fixed on the housing 190. The acting member 170 includes a rotating end 171 rotatably connected to the housing 190, and a first support leg 172 and a second support leg 173 spaced apart from each other on the circumferential side of the rotating end 171. The first support leg 172 contacts or is near the position switch 180, and the second support leg 173 faces the clamping arm 130. During the rotation of the clamping arm 130 towards the limit position, the second support leg 173 is pushed to rotate, so as to drive the first support leg 172 to press the position switch 180.

[0093] Among them, the first support leg 172 of the acting member 170 contacts or is near the position switch 180, indicating that in the initial state or free state of the acting member 170, that is, when the acting member 170 is not affected by an external force, that is, when the clamping arm 130 has not reached the limit position, the first support leg 172 will not trigger the position switch 180 to act. At this time, the first support leg 172 may be in contact with the position switch 180, or the first support leg 172 is located near the position switch 180 and separated from the position switch. It can be understood that an elastic structure may be connected between the acting member 170 and the housing 190 so that the first support leg 172 contacts the position switch 180 in the initial state or free state, and will not trigger the position switch 180 to act and send a in-place signal.

[0094] Among them, the second support leg 173 faces the clamping arm 130. During the rotation of the clamping arm 130 towards the limit position, the second support leg 173 will be pushed to rotate, so as to drive the first support leg 172 to rotate and press the position switch 180. Thus, through the linkage between the clamping arm 130 rotating towards the limit position and the second support leg 173, the first support leg 172 and the position switch 180 are switched from a contact or separation state to a pressed state, thereby changing the acting state between the acting member 170 and the position switch 180, triggering the position switch 180 to act, and causing the position switch 180 to send a in-place signal.

[0095] Among them, as Figure 13 shown, a guide post may be provided on the housing 190 or a connecting shaft may be connected. The rotating end 171 of the acting member 170 is a collar, the first support leg 172 and the second support leg 173 are spaced apart on the circumferential side of the collar, the collar is sleeved on the guide post or the connecting shaft, one end of the elastic structure is connected to the acting member 170, and the other end of the elastic structure is connected to the housing 190, so that in the initial state of the acting member 170, the first support leg 172 contacts the position switch 180 and will not press the position switch 180 to send a in-place signal. Among them, the elastic structure may be a spring, a torsion spring, a tension spring or other structures.

[0096] Among them, the position switch 180 can be connected to the housing 190 by at least one of a bolt structure, a snap connection structure, a mortise and tenon structure, and an adhesive method. Specifically, the position switch 180 can be fixed inside the housing 190 to protect the position switch 180 through the housing 190, so as to extend the service life of the position switch 180 and improve the overall reliability of the manipulator 100.

[0097] As Figure 13 shown, in some possible embodiments provided by the present utility model, an avoidance groove 133 is provided on the peripheral side of the clamping arm 130 close to the position switch 180, and the second leg 173 extends into the avoidance groove 133. During the rotation of the clamping arm 130 to the extreme position, the groove wall of the avoidance groove 133 is configured to abut against the second leg 173.

[0098] That is to say, when the clamping arm 130 of the manipulator 100 rotates from the clamping state to the open state and rotates to the extreme open position, the groove wall of the avoidance groove 133 will first abut against the second leg 173, and then push the second leg 173 to rotate to drive the first leg 172 to rotate. When the clamping arm 130 opens to the extreme position, the second leg 173 drives the first leg 172 to rotate so that the first leg 172 presses the position switch 180 and the position switch 180 sends a in-place signal. Thus, by providing the avoidance groove 133 on the clamping arm 130, it is beneficial to the self-structure of the clamping arm 130, realizes the setting of the acting part that abuts against the second leg 173, simplifies the structure, is beneficial to reducing the manufacturing cost, and at the same time, makes the structure of the acting member 170 and the clamping arm 130 compact, and can meet the design requirements of the manipulator 100 with a compact structure and a small volume, and further meet the design requirements of the robotic arm with a compact structure and a small volume.

[0099] An embodiment of the second aspect of the present utility model provides a robotic arm, including: the manipulator 100 according to any one of the first aspect. Since the robotic arm includes the manipulator 100 according to any one of the foregoing, it has all the technical effects of the foregoing manipulator 100, and will not be elaborated herein one by one.

[0100] Furthermore, the robotic arm further includes a base and a connecting arm. The base is connected to the main body of the cleaning device, and the connecting arm connects the base and the manipulator 100. The connecting arm is configured to be able to flip, rotate, move along the X-axis, move along the Y-axis, move along the Z-axis, or a combination of at least one of them relative to the base. Thus, the manipulator 100 can be flexibly moved relative to the base in a variety of ways, which is beneficial for the manipulator 100 to be able to flexibly and accurately grasp an object near the cleaning device.

[0101] An embodiment of the third aspect of the present utility model provides a cleaning device, including: a main body, and the robotic arm provided in any of the foregoing embodiments. The robotic arm is connected to the main body. Since the cleaning device includes the robotic arm of any of the foregoing items, it has all the technical effects of the foregoing robotic arm, which will not be elaborated herein one by one.

[0102] Wherein, the robotic arm is connected to the main body, so that the robotic arm can move along with the movement of the main body, and thus can move to the position of the to-be-processed station along with the main body, realizing the grasping and moving of an object.

[0103] Further, the main body is provided with a receiving cavity. The base of the robotic arm is connected in the receiving cavity. The robotic arm can be received in the receiving cavity or extended to the outside of the receiving cavity. Thus, according to the object-grabbing requirement, the robotic arm can be extended to the outside of the receiving cavity or received in the receiving cavity. Since the receiving cavity is provided on the device body, making full use of the structure of the main body can realize the storage of the robotic arm. The structure is simple and can meet the design requirements of the cleaning device with a compact structure and a small volume. At the same time, when the object does not need to be grabbed, receiving the robotic arm in the receiving cavity can reduce the damage of the robotic arm caused by the collision of external objects, thereby improving the service life of the robotic arm.

[0104] The present disclosure has been illustrated by the above embodiments. However, it should be understood that the above embodiments are only for the purpose of exemplification and illustration, and are not intended to limit the present disclosure to the scope of the described embodiments. In addition, those skilled in the art can understand that the present disclosure is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present disclosure, and these variations and modifications all fall within the scope claimed by the present disclosure. The protection scope of the present disclosure is defined by the appended claims and their equivalent scope.

Claims

1. A manipulator, characterized in that, Comprising: A driving member, a transmission mechanism, two clamping arms and an elastic member. The input end of the transmission mechanism is connected to the driving member through a coupling device. The output end of the transmission mechanism is connected to the two clamping arms. The driving member drives the two clamping arms to approach or move away from each other through the transmission mechanism. At least one of the clamping arms is movably connected to the transmission mechanism through the elastic member, and the elastic member is configured to apply a force to the connected clamping arm to approach the other clamping arm.

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

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

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

5. The manipulator according to claim 4, wherein: The limiting structure includes a limiting groove and a positioning protrusion. One of the limiting groove and the positioning protrusion is provided on the worm wheel, and the other is provided on the clamping arm. The positioning protrusion is located in the limiting groove and can move in the limiting groove so that the clamping arm can switch between the first position and the second position.

6. The manipulator according to claim 4, wherein: The elastic member is a torsion spring. The torsion spring is provided at the rotating shaft. The first end of the torsion spring is connected to the worm wheel, and the second end of the torsion spring is connected to the clamping arm; or The elastic member is a spring. The first end of the spring is connected to the worm wheel, and the second end of the spring is connected to the clamping arm; or The elastic member is a tension spring. The first end of the tension spring is connected to the worm wheel, and the second end of the tension spring is connected to the clamping arm.

7. The manipulator according to claim 6, wherein: The elastic member is the torsion spring. The worm wheel is provided with a first clamping groove, and the clamping arm is provided with a second clamping groove. The first torsion arm of the torsion spring is restricted in the first clamping groove, and the second torsion arm of the torsion spring is restricted in the second clamping groove.

8. The manipulator according to claim 7, wherein: During the switching process of the clamping arm between the first position and the second position, the included angle between the first clamping groove and the second clamping groove is smaller than the included angle between the first torsion arm and the second torsion arm when the torsion spring is in a free state.

9. The manipulator according to claim 7, wherein the torsion spring is received in the accommodation space jointly defined by the worm gear and the clamping arm; wherein, the worm gear is provided with a first accommodation groove, the first accommodation groove communicates with the first clamping groove and is used for accommodating part of the torsion spring, and the clamping arm is provided with a second accommodation groove, the second accommodation groove communicates with the second clamping groove and is used for accommodating part of the torsion spring.

10. The manipulator according to claim 7, wherein the limiting structure is located between the first clamping groove and the second clamping groove; the worm gear is provided with tooth portions meshing with the worm on the circumference of the part away from the first clamping groove and the limiting structure.

11. The manipulator according to claim 1, wherein the driving member is provided with an overcurrent self-locking device, and the transmission mechanism is provided with a self-locking structure. When the overcurrent self-locking device works to lock the self-locking structure, the rotation angle range of the clamping arm relative to the transmission mechanism is 7° to 10°.

12. The manipulator according to claim 1, characterized in that, Further comprising: an acting member and a position switch, the acting member is used for changing the acting state with the position switch when the clamping arm is in an extreme position, so that the position switch sends a in-place signal.

13. The manipulator according to claim 12, characterized in that, Further comprising: a housing, the driving member and the transmission mechanism are installed inside the housing, the clamping arm passes through the housing and is rotatable relative to the housing, one of the position switch and the acting member is fixed relative to the housing, and the other is at least linked with the clamping arm in the extreme position.

14. The manipulator according to claim 13, wherein the position switch is fixed on the housing, the acting member includes a rotating end rotatably connected to the housing, and a first support leg and a second support leg spaced apart from the circumference of the rotating end, the first support leg contacts the position switch or is located near the position switch, the second support leg faces the clamping arm, and the second support leg is pushed to rotate during the rotation of the clamping arm towards the extreme position, so as to drive the first support leg to press the position switch.

15. The manipulator according to claim 14, wherein an avoidance groove is formed in the circumference of the clamping arm close to the position switch, the second support leg extends into the avoidance groove, and during the rotation of the clamping arm towards the extreme position, the groove wall of the avoidance groove is configured to abut against the second support leg.

16. A robotic arm, characterized in that, Comprising: The manipulator according to any one of claims 1 to 15.

17. A self - moving cleaning device, characterized in that, Comprising: a main body, and the robotic arm according to claim 16.

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