Manipulator, mechanical arm and cleaning equipment

Abstract

The utility model provides a manipulator, a mechanical arm and cleaning equipment. The manipulator comprises a fixed seat and two clamping arms which are movably connected to the fixed seat and can be close to or far away from each other; the detection module is arranged on the fixed seat, and the detection module is used for detecting environment information on the peripheral side of the clamping arm; the detection module comprises a photoelectric sensor and a camera device. Therefore, the advantages of the photoelectric sensor and the camera device can be integrated, accurate detection of obstacles with different colors can be achieved, comprehensiveness and accuracy of obstacle detection are improved, the possibility that the clamping arm collides with obstacles such as wall corners and table legs is reduced, and the service life of the mechanical arm is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, and particularly to a manipulator, a robotic arm and a cleaning device. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning devices, such as intelligent floor sweeping robots, have continuously entered our daily lives. For current cleaning devices, in order to better achieve the cleaning function, a robotic arm with a manipulator will be added to utilize the manipulator to grab or move obstacles, items, and garbage.

[0003] However, during the process of the manipulator at the end of the robotic arm grabbing an object, it is prone to collide with surrounding obstacles such as wall corners and table legs, resulting in a malfunction of the robotic arm. Summary of the Utility Model

[0004] A series of simplified concepts are introduced in the Summary of the Utility Model section, which will be further elaborated in the Detailed Implementation section. This section of the present application 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 present application provides a manipulator, including: a fixed seat, and two clamping arms movably connected to the fixed seat and capable of approaching or separating from each other; a detection module arranged on the fixed seat, and the detection module is used to detect the environmental information around the clamping arms; wherein, the detection module includes a photoelectric sensor and a camera device.

[0006] Further, the ends of the two clamping arms extend to the front of the fixed seat and can approach or separate from each other in the left - right direction of the fixed seat; the detection module includes a photoelectric detection component, and the photoelectric detection component includes a plurality of photoelectric sensors distributed in front of, on the left side, and on the right side of the fixed seat.

[0007] Further, the movement range of the two clamping arms is within the detection range of the photoelectric detection component; the detection range of the photoelectric detection component is equal to the union of the detection ranges of the plurality of photoelectric sensors.

[0008] Further, the photoelectric sensor includes a light emitting part and a light receiving part installed on the fixed seat; the photoelectric detection component further includes a light shielding member installed on the fixed seat, the light shielding member includes a first light shielding plate located between the light emitting part and the light receiving part of the same photoelectric sensor, and the light shielding member further includes a second light shielding plate located between two adjacent photoelectric sensors.

[0009] Further, the light-shielding member further includes a connecting plate connecting the first light-shielding plate and the second light-shielding plate, and the light-emitting portion is received in a light-shielding groove formed by the first light-shielding plate, the second light-shielding plate, and the connecting plate.

[0010] Further, the light-emitting portion is configured to emit infrared light, and infrared light-transmitting portions are provided at positions of the front, left, and right sides of the fixing base opposite to the photoelectric detection assembly.

[0011] Further, the photoelectric detection assembly includes a first photoelectric sensor located in front of the fixing base, a second photoelectric sensor located on the left side of the fixing base, and a third photoelectric sensor located on the right side of the fixing base; wherein, the light-emitting portion and the light-receiving portion of the same photoelectric sensor are located on the same side of the fixing base, and the light-emitting portions and the light-receiving portions of the second photoelectric sensor and the third photoelectric sensor are arranged oppositely.

[0012] Further, the light-receiving portion of the first photoelectric sensor is further configured to receive an infrared remote control signal.

[0013] Further, the imaging device is mounted in front of the fixing base; wherein, the detection range of the imaging device at least partially overlaps with the detection range of the photoelectric sensor located in front of the fixing base.

[0014] Further, the imaging device is located between the light-emitting portion and the light-receiving portion of the first photoelectric sensor.

[0015] An embodiment of the second aspect of the present invention provides a robotic arm, including: the robotic hand according to any one of the first aspect.

[0016] An embodiment of the third aspect of the present invention provides a cleaning device, including: a main body, and the robotic arm in the second aspect.

[0017] The manipulator, robotic arm and cleaning device provided by the embodiments of the present utility model. The manipulator includes a fixed seat, two clamping arms and a detection module. The two clamping arms are movably connected to the fixed seat and can approach or move away from each other, enabling the manipulator to perform operations of grasping or releasing an object. The detection module is used to detect the environmental information around the clamping arms, so that the system of the cleaning device can sense the obstacle information around the clamping arms. Thus, it is convenient for the system to timely and accurately adjust the posture of the manipulator. On the basis of ensuring that the manipulator can accurately perform operations of grasping or releasing an object, the possibility of the clamping arms colliding with obstacles such as wall corners and table legs is reduced. By including a photoelectric sensor and a camera device in the detection module, the advantages of the photoelectric sensor and the camera device can be integrated, the detection accuracy can be improved, accurate detection of obstacles of different colors can be achieved, the comprehensiveness and accuracy of obstacle detection can be improved, so as to further reduce the possibility of the clamping arms colliding with obstacles such as wall corners and table legs, extend the service life of the robotic arm, and can minimize the manufacturing cost of the detection module to meet the design requirements of the cleaning device with a lower cost, and is suitable for popularization and application.

[0018] The above description is only an overview of the technical solution of this application. In order to be able to understand the technical means of this application more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following specifically gives the specific embodiments of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following drawings of the present utility model are used as part of the embodiments of the present utility model to understand the present utility model. The embodiments of the present utility model shown in the drawings and their descriptions are used to explain the principles of the present utility model.

[0020] In the drawings:

[0021] Figure 1 Shows a three-dimensional structural schematic diagram of one perspective of the manipulator of the present utility model;

[0022] Figure 2 Shows a structural schematic diagram of one perspective of a part of the manipulator of the present utility model;

[0023] Figure 3 Shows Figure 2 A structural schematic diagram of another perspective of the shown embodiment;

[0024] Figure 4 Shows Figure 3 A schematic diagram of the detection range of the photoelectric detection component in the shown embodiment;

[0025] Figure 5 Shows a structural schematic diagram of one perspective of another part of the manipulator of the present utility model;

[0026] Figure 6 A structural schematic diagram of a light shielding frame of the present invention from one viewing angle is shown;

[0027] Figure 7 Shown Figure 6 A schematic structural diagram of another perspective of the embodiment shown;

[0028] Figure 8 A structural schematic diagram of the cleaning device of the present invention is shown from one perspective.

[0029] Description of Reference Numerals

[0030] 100 Robotic arm, 110 Fixed seat, 111 Infrared light transmitting part, 112 Base, 113 Cover plate, 120 Clamping arm, 130 Detection module, 140 Photoelectric detection assembly, 141 First photoelectric sensor, 1411 First light emitting part, 1412 First light receiving part, 142 Second photoelectric sensor, 1421 Second light emitting part, 1422 Second light receiving part, 143 Third photoelectric sensor, 1431 Third light emitting part, 1432 Third light receiving part, 144 Shading member, 1441 First light shielding plate, 1442 Second light shielding plate, 1443 Connecting plate, 1444 Light shielding groove, 1445 Mounting plate, 150 Camera device, 200 Cleaning equipment, 210 Main body, 220 Robotic arm. DETAILED DESCRIPTION

[0031] In the following description, a number of specific details are provided to provide a more thorough understanding of the technical solutions provided by the present invention. However, it is obvious to those skilled in the art that the technical solutions provided by the present invention can be implemented without one or more of these details.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0033] 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.

[0034] As Figures 1 to 8 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 application provides a robotic arm 220, and an embodiment of the third aspect of the present application provides a cleaning device 200. Among them, the manipulator 100 is applied to the robotic arm 220, the robotic arm 220 is applied to the cleaning device 200, and the cleaning device 200 can be a floor sweeping robot, a mopping and sweeping integrated machine, or other cleaning robots that meet the requirements.

[0035] Among them, as Figure 8 shown, the cleaning device 200 includes but is not limited to: a main body 210, a driving system, a cleaning system, etc. The above-mentioned various systems cooperate with each other to enable the cleaning device 200 to move autonomously to achieve the cleaning function. The functional elements and the like that make up the above-mentioned various systems in the cleaning device 200 are integrally arranged in the main body 210. It can be understood that the cleaning device 200 can be a self-moving cleaning device 200, and the self-moving cleaning device 200 is a device that automatically performs cleaning operations in a certain area to be cleaned without the operation of a user.

[0036] Furthermore, as Figure 8 shown, the robotic arm 220 is applied to the cleaning device 200. For example, the robotic arm 220 is connected to the main body 210 of the cleaning device 200 to use the manipulator 100 at the end of the robotic arm 220 to grab or move obstacles, objects, and garbage near the cleaning device 200, so as to better achieve the autonomous cleaning function.

[0037] As Figure 1 and Figure 2 shown, the manipulator 100 provided by the embodiment of the first aspect of the present utility model includes: a fixed seat 110, and two clamping arms 120 that are movably connected to the fixed seat 110 and can approach or move away from each other; a detection module 130, which is arranged on the fixed seat 110, and the detection module 130 is used to detect the environmental information around the clamping arms 120; among them, the detection module 130 includes a photoelectric sensor and a camera device 150.

[0038] The manipulator 100 provided by the present utility model includes a fixed seat 110, two clamping arms 120 and a detection module 130. The two clamping arms 120 are movably connected to the fixed seat 110 and can approach or move away from each other, enabling the manipulator 100 to perform operations of grasping or releasing an object. By using the detection module 130 to detect the environmental information around the clamping arms 120, the system of the cleaning device 200 can sense the environmental information around the clamping arms 120, that is, can sense the obstacle information around the clamping arms 120. Thus, it is convenient for the system to timely and accurately adjust the posture of the manipulator 100. On the basis of ensuring that the manipulator 100 can accurately perform operations of grasping or releasing an object, the possibility of the clamping arms 120 colliding with obstacles such as the corner of a wall or a table leg is reduced, the failure rate of the robotic arm 220 is reduced, the service life of the robotic arm 220 is extended, the overall reliability of the cleaning device 200 is improved, and the user satisfaction is enhanced.

[0039] Among them, the detection module 130 includes a photoelectric sensor and a camera device 150. The advantages of the photoelectric sensor include a long detection distance, few restrictions on the object to be measured, high sensitivity, fast response speed, low cost, etc., and can achieve rapid ranging of different obstacles at a relatively long distance. However, the detection accuracy of the photoelectric sensor is greatly affected by the color of the object to be measured. For example, the detection accuracy of the photoelectric sensor is related to the color of the object to be measured. Specifically, the photoelectric sensor has a high recognition accuracy for light-colored objects to be measured such as white, and a low recognition accuracy for dark-colored objects to be measured such as black. The advantages of the camera device 150 include that the detection accuracy is less affected by the color of the object to be measured, and it can achieve accurate ranging for obstacles of different colors. For example, it also has a high measurement accuracy for dark-colored objects to be measured such as black. However, the cost of the camera device 150 is relatively high.

[0040] Thus, by including a photoelectric sensor and a camera device 150 in the detection module 130, the advantages of the photoelectric sensor and the camera device 150 can be combined to improve the detection accuracy, and accurate detection of obstacles of different colors can be achieved, improving the comprehensiveness and accuracy of obstacle detection, so as to further reduce the possibility of the clamping arms 120 colliding with obstacles such as the corner of a wall or a table leg, extend the service life of the robotic arm 220, and can minimize the manufacturing cost of the detection module 130 to meet the design requirements of the low-cost cleaning device 200, which is suitable for popularization and application.

[0041] Such as Figure 4As shown, in some possible embodiments provided by the present utility model, the ends of the two clamping arms 120 extend to the front of the fixed seat 110 and can approach or move away from each other in the left-right direction of the fixed seat 110. That is to say, the union of the movement trajectories of the two clamping arms 120 can include the front, left, and right sides of the fixed seat 110. It can be understood that considering the size of the fixed seat 110 and the limit positions when the two clamping arms 120 are opened, the movement trajectories of the two clamping arms 120 can include the entire front, part of the left side, and part of the right side of the fixed seat 110, or the movement trajectories of the two clamping arms 120 can include the entire front, the entire left side, and the entire right side of the fixed seat 110. Among them, the front-back, left-right directions of the fixed seat 110 are as Figures 1 to 5 shown by the arrows in

[0042] Among them, as Figure 2 , Figure 3 and Figure 4 shown, the detection module 130 includes an optoelectronic detection component 140, and the optoelectronic detection component 140 includes a plurality of optoelectronic sensors distributed on the front, left, and right sides of the fixed seat 110. Thus, the use of a plurality of optoelectronic sensors can achieve ranging of obstacles on the front, left, and right sides of the fixed seat 110, so that when the clamping arm 120 moves to the front, left, or right side of the fixed seat 110, accurate ranging of obstacles around the clamping arm 120 can be achieved. Compared with the optoelectronic sensors in the related art that only detect obstacles in front of the fixed seat 110, the detection range is increased, and the obstacles within the movement range of the clamping arm 120 can be detected more comprehensively, greatly reducing the possibility of the clamping arm 120 colliding with obstacles such as the corner of a wall or a table leg, prolonging the service life of the robotic arm 220, and improving the overall reliability of the cleaning device 200.

[0043] Furthermore, the number of optoelectronic sensors in the optoelectronic detection component 140 can be two, three, four, five, or other numbers. Among them, one, two, three, or other numbers of optoelectronic sensors can be provided in any one of the front, left, and right directions of the fixed seat 110.

[0044] Among them, the optoelectronic sensor includes an infrared detector and a time-of-flight detector. It can be understood that the optoelectronic sensors in the optoelectronic detection component 140 can all be infrared detectors; or, all be time-of-flight detectors; or, can include infrared detectors and time-of-flight detectors.

[0045] As Figure 4As shown, in some possible embodiments provided by the present utility model, the movement range of the two clamping arms 120 is within the detection range of the optoelectronic detection component 140. Thus, when the two clamping arms 120 are at the extreme positions on the left and right sides of the fixed seat 110, such as when the two clamping arms 120 are at the extreme positions of the open position, the clamping arms 120 are still within the detection range of the optoelectronic detection component 140. Furthermore, it is possible to detect obstacles around the clamping arms 120, avoiding the situation in the related art where the optoelectronic sensor only detects obstacles in front of the fixed seat and cannot detect obstacles around the clamping arms at the extreme open position, which may lead to collisions between the clamping arms and the obstacles. That is, in this embodiment, by using multiple optoelectronic sensors, it is possible to comprehensively detect obstacles within the movement range of the two clamping arms 120, further reducing the possibility of collisions between the clamping arms 120 and obstacles such as the corners of walls and table legs.

[0046] Among them, the movement range of the two clamping arms 120 being within the detection range of the optoelectronic detection component 140 can mean that the movement range of the two clamping arms 120 is smaller than the detection range of the optoelectronic detection component 140, or the movement range of the two clamping arms 120 is equal to the detection range of the optoelectronic detection component 140.

[0047] As Figure 4 shown, in the above embodiment, the detection range of the optoelectronic detection component 140 is equal to the union of the detection ranges of multiple optoelectronic sensors. Among them, the detection range of each optoelectronic sensor can be understood as the detection angle of the optoelectronic sensor along the movement trajectory direction of the clamping arm 120. It can be understood that the detection ranges of multiple optoelectronic sensors are continuous. Thus, the union of the detection ranges of multiple optoelectronic sensors can be equal to the detection range of the optoelectronic detection component 140. By continuously setting the detection ranges of multiple sensors, it is possible to reduce the occurrence of missed detection of obstacles within the movement range of the clamping arm 120, further improving the comprehensiveness and accuracy of detection.

[0048] Among them, the detection ranges of two adjacent optoelectronic sensors can be adjacently arranged, that is, the detection ranges of two adjacent optoelectronic sensors do not intersect but are continuous; or the detection ranges of two adjacent optoelectronic sensors intersect, which can ensure the continuity of the detection ranges of two adjacent optoelectronic sensors.

[0049] As Figure 5 、 Figure 6 、 Figure 7As shown, in some possible embodiments provided by the present utility model, the photoelectric sensor includes a light emitting part and a light receiving part installed on the fixed seat 110; the photoelectric detection component 140 further includes a light shielding member 144 installed on the fixed seat 110. The light shielding member 144 includes a first light shielding plate 1441 located between the light emitting part and the light receiving part of the same photoelectric sensor, and the light shielding member 144 further includes a second light shielding plate 1442 located between two adjacent photoelectric sensors.

[0050] Among them, the light emitting part can emit a light signal, and the light signal can be infrared light or other detection light. Correspondingly, the light receiving part is used to receive the reflected light of the signal light emitted by the light emitting part reflected by the obstacle. Thus, the distance measurement of the obstacle is realized.

[0051] It can be understood that the light shielding member 144 as a whole can be an integral structure, including multiple integrally formed plates, or the light shielding member 144 can be a split structure, surrounded by multiple plates. Among them, compared with the light shielding member 144 being an integral structure and the light shielding member 144 being a split structure, it can reduce the gaps between the plates and has a better light shielding effect.

[0052] Among them, Figure 6 and Figure 7 As shown, the first light shielding plate 1441 of the light shielding member 144 is located between the light emitting part and the light receiving part of the same photoelectric sensor. Thus, the first light shielding plate 1441 can be used to isolate the light emitting part and the light receiving part of the same photoelectric sensor, so that the signal light emitted by the light emitting part will not be received by its own light receiving part without being reflected, reducing the interference of the light emitted by the light emitting part on the light receiving part, ensuring the accuracy and reliability of light emission and light reception, and improving the ranging accuracy. That is to say, the first light shielding plate 1441 is used to isolate the internal interference of the photoelectric sensor, that is, the first light shielding plate 144 is used to isolate the interference between the light emitting part and the light receiving part of the photoelectric sensor's own structure.

[0053] Among them, Figure 6 and Figure 7As shown, the second light-shielding plate 1442 of the light-shielding member 144 is located between two adjacent photoelectric sensors. Thus, the two adjacent photoelectric sensors can be isolated by the second light-shielding plate 1442, so that the signal light emitted by the light-emitting part will not be received by the light-receiving parts of other photoelectric sensors without being reflected, reducing the mutual interference between the emitted light and the received light of different photoelectric sensors, improving the accuracy and reliability of the light emission and light reception of each photoelectric sensor, improving the ranging accuracy of each photoelectric sensor, and improving the overall detection accuracy of the photoelectric detection assembly 140. That is to say, the second light-shielding plate 1442 is used to isolate the external interference of the photoelectric sensor, that is, the second light-shielding plate 1442 is used to isolate the interference between adjacent photoelectric sensors.

[0054] As Figure 6 and Figure 7 shown, in some possible embodiments provided by the present invention, the light-shielding member 144 further includes a connecting plate 1443 connecting the first light-shielding plate 1441 and the second light-shielding plate 1442. The light-emitting part is accommodated in the light-shielding groove 1444 surrounded by the first light-shielding plate 1441, the second light-shielding plate 1442 and the connecting plate 1443. Thus, the light-emitting part can be more comprehensively isolated in the light-shielding groove 1444, so that the signal light emitted by the light-emitting part will not be received by its own or the light-receiving parts of other photoelectric sensors without being reflected, improving the accuracy and reliability of the light emission and light reception of each photoelectric sensor and the ranging accuracy of the photoelectric sensor.

[0055] Furthermore, the light-shielding member 144 further includes a mounting plate 1445. The mounting plate 1445 is connected to the first light-shielding plate 1441 and the second light-shielding plate 1442, so that a plurality of first light-shielding plates 1441, a plurality of second light-shielding plates 1442 and the mounting plate 1445 form an integral framework to improve the overall strength of the light-shielding member 144. At the same time, the mounting plate 1445 is provided with a mounting part. By connecting the mounting part to the fixed seat 110, the entire light-shielding member 144 can be mounted on the fixed seat 110, and the first light-shielding plate 1441 can be arranged between the light-emitting part and the light-receiving part of the same photoelectric sensor, and the second light-shielding plate 1442 can be arranged between two adjacent photoelectric sensors, with simple operation and convenient installation. Specifically, as Figure 7 and Figure 8 shown, the first light-shielding plate 1441, the second light-shielding plate 1442, the connecting plate 1443 and the mounting plate 1445 are of an integrally formed structure, so that the light-shielding member 144 is of an integral structure.

[0056] Specifically, the light-shielding member 144 is detachably connected to the fixed seat 110, so as to facilitate the detachment of the light-shielding member from the fixed seat 110 for the maintenance and replacement of the light-shielding member 144. At the same time, after the light-shielding member 144 is detached from the fixed seat 110, the photoelectric detection component 140 can be exposed, facilitating the maintenance or replacement of the photoelectric detection component 140. Specifically, the light-shielding member 144 and the fixed seat 110 can be detachably connected by at least one of bolts, snap-fit structures, plug-in structures, mortise-and-tenon structures, and magnetic attraction structures. For example, mounting holes are formed in the mounting plate 1445, and bolts pass through the mounting holes and are connected to the fixed seat 110, so that the light-shielding member can be fixed on the fixed seat 110.

[0057] As Figure 1 and Figure 2 shown, in some possible embodiments provided by the present utility model, the light-emitting portion is configured to emit infrared light, and infrared light-transmitting portions 111 are provided at positions opposite to the photoelectric detection component 140 in front of, on the left side, and on the right side of the fixed seat 110.

[0058] Among them, the setting of the infrared light-transmitting portion 111 enables the infrared light emitted by the light-emitting portion to penetrate the infrared light-transmitting portion 111 smoothly, comprehensively, and freely, so as to improve the comprehensiveness and effectiveness of the infrared light emitted by the light-emitting portion and the reflected light received by the light-receiving portion after being reflected by an obstacle, thereby improving the detection accuracy. At the same time, the infrared light-transmitting portion 111 has a good protective effect on the light-emitting portion and the light-receiving portion, avoiding the problems that the light-emitting portion and the light-receiving portion are directly exposed to the external environment and are easily damaged by external objects colliding and are contaminated by impurities, which affects the detection accuracy, and further improving the service life and detection accuracy of the photoelectric detector.

[0059] Furthermore, the infrared light-transmitting portion 111 is also configured to have a filtering function. For example, the infrared light-transmitting portion 111 can allow infrared light to pass through, but has a certain filtering and blocking effect on other stray light. For example, the infrared light-transmitting portion 111 filters visible light and prevents visible light from passing through. Thus, the interference of stray light on infrared light can be reduced, and the ranging accuracy can be improved.

[0060] Furthermore, as Figure 1 and Figure 2As shown in the figure, the fixed seat 110 includes a base 112, a cover plate 113, and an infrared light-transmitting part 111. The base 112, the cover plate 113, and the infrared light-transmitting part enclose a receiving cavity for accommodating the photoelectric detection component 140. Among them, the light-shielding member 144 is also located in the receiving cavity. Specifically, the photoelectric detection component 140 can be installed on the base 112, and then the light-shielding member 144 is connected to the base 112 and plays a good light-shielding role for the photoelectric detection component 140. The infrared light-transmitting part 111 is connected to the base 112 and faces the photoelectric detection component 140 on the periphery of the fixed seat 110. Then, by connecting the cover plate 113 to the base 112 and the infrared light-transmitting part 111, the assembly of the fixed seat 110 can be realized.

[0061] Among them, the infrared light-transmitting part 111 and the base 112 can be connected by at least one of bolts, snap-fit structures, plug-in structures, tenon-and-mortise structures, and adhesives. The base 112 and the cover plate 113 can be detachably connected by at least one of bolts, snap-fit structures, plug-in structures, and tenon-and-mortise structures to facilitate the maintenance and replacement of the infrared light-transmitting part 111, the photoelectric detection component 140, and the light-shielding member 144.

[0062] As Figure 2 , Figure 3 and Figure 4 As shown in the figure, in some possible implementation embodiments provided by the present invention, the photoelectric detection component 140 includes a first photoelectric sensor 141 located in front of the fixed seat 110, a second photoelectric sensor 142 located on the left side of the fixed seat 110, and a third photoelectric sensor 143 located on the right side of the fixed seat 110. Thus, by detecting the environmental information in front of the fixed seat 110 through the first photoelectric sensor 141, detecting the environmental information on the left side of the fixed seat 110 through the second photoelectric sensor 142, and detecting the environmental information on the right side of the fixed seat 110 through the third photoelectric sensor 143, it is possible to detect the environmental information in front of, on the left side of, and on the right side of the fixed seat 110, and further realize the detection of obstacles within the movement range of the clamping arm 120, ensuring the comprehensiveness of the detection.

[0063] Among them, the light-emitting part and the light-receiving part of the same photoelectric sensor are located on the same side of the fixed seat 110. Thus, it is possible to improve the comprehensiveness and effectiveness of the light-receiving part receiving the reflected light of the infrared light emitted by the opposite light-emitting part after being reflected by the obstacle, reduce the light energy loss, improve the light energy utilization rate, and be beneficial to improving the detection accuracy of the photoelectric sensor. Specifically, the first light-emitting part 1411 and the first light-receiving part 1412 of the first photoelectric sensor 141 are located in front of the fixed seat 110, the second light-emitting part 1421 and the second light-receiving part 1422 of the second photoelectric sensor 142 are located on the left side of the fixed seat 110, and the third light-emitting part 1431 and the third light-receiving part 1432 of the third photoelectric sensor 143 are located on the right side of the fixed seat 110.

[0064] Among them, as Figure 3 shown, since the movement ranges of the two clamping arms 120 on the left and right sides of the fixed seat 110 are the same under normal circumstances, the light emitting parts and the light receiving parts of the second photoelectric sensor 142 and the third photoelectric sensor 143 are arranged opposite to each other, that is, the second photoelectric sensor 142 and the third photoelectric sensor 143 are arranged opposite to each other, which is beneficial to improving the consistency of the detection ranges of the second photoelectric sensor 142 and the third photoelectric sensor 143 on the left and right sides of the fixed seat 110 and can simplify the design process. For example, during design, when the detection range of the second photoelectric sensor 142 is greater than or equal to the movement range of the clamping arm 120 on the left side of the fixed seat 110, arranging the third photoelectric sensor 143 opposite to the second photoelectric sensor 142 can ensure that the detection range of the third photoelectric sensor 143 is greater than or equal to the movement range of the clamping arm 120 on the right side of the fixed seat 110, without the need to design and confirm the detection range of the third photoelectric sensor. Thus, the design process can be simplified.

[0065] Furthermore, as Figure 4 shown, the detection range of the first photoelectric sensor 141 is as shown in area A, the detection range of the second photoelectric sensor 142 is as shown in area B, and the detection range of the third photoelectric sensor 143 is as shown in area C. The detection range of the first photoelectric sensor 141 is adjacently arranged with the detection ranges of the second photoelectric sensor 142 and the third photoelectric sensor 143, that is, there is no overlapping area between A and B, and between A and C and they are continuously arranged. The union of the detection ranges of the first photoelectric sensor 141, the second photoelectric sensor 142, and the third photoelectric sensor 143 is equal to or greater than the union of the movement ranges of the two robotic arms 220. That is to say, the movement ranges of the two robotic arms 220 are within the area enclosed by A, B, and C.

[0066] In some possible implementation embodiments provided by the present utility model, the light receiving part of the first photoelectric sensor 141 located in front of the fixed seat 110 is further configured to receive an infrared remote control signal. That is to say, the first light receiving part 1412 of the first photoelectric sensor 141 cooperates with the component that emits the infrared remote control signal, and can realize the function of infrared remote control. Thus, the function of the first light receiving part 1412 is diversified, the setting of the light receiving part for the infrared remote control function is simplified, the structure is simplified, and the design requirements of the manipulator 100 with a compact structure and a small volume can be met.

[0067] Among them, the infrared remote control signal can be sent by an electronic device, and the electronic device can be a mobile electronic device. For example, the electronic device can be a mobile phone, a tablet, a remote control, etc. Specifically, the electronic device emits an infrared remote control signal. After the first light receiving part 1412 of the first photoelectric sensor 141 receives the infrared remote control signal, the instruction is transmitted to the control system of the cleaning device 200. The control system can adjust the state of the manipulator 100 according to the instruction, such as controlling the manipulator 100 to open or close, etc.

[0068] Such as Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown in, in some possible embodiments provided by the present invention, the detection module 130 includes a camera device 150. The camera device 150 is installed in front of the fixed seat 110. By acquiring images, the camera device 150 can acquire the environmental information in front of the fixed seat 110, thereby judging the obstacles in front of the fixed seat 110, and further reducing the possibility of the robotic arm 220 located in front of the fixed seat 110 colliding with obstacles such as walls and table legs, reducing the failure rate of the robotic arm 220, and extending the service life of the robotic arm 220.

[0069] Among them, the detection range of the camera device 150 at least partially overlaps with the detection range of the photoelectric sensor in front of the fixed seat 110. Thus, for dark obstacles such as black that cannot be accurately identified by the photoelectric sensor in front of the fixed seat 110, the camera device 150 can be used for accurate identification, further ensuring the comprehensiveness and accuracy of obstacle identification in front of the fixed seat 110, and further reducing the possibility of the clamping arm 120 colliding with obstacles such as walls and table legs, and extending the service life of the robotic arm 220.

[0070] Specifically, the detection range of the camera device 150 can be equal to the detection range of the photoelectric sensor in front of the fixed seat 110, or the detection range of the camera device 150 can be greater than or less than the detection range of the photoelectric sensor in front of the fixed seat 110. That is, the detection range of the camera device 150 can be equal to, greater than, or less than the detection range of the first photoelectric sensor 141.

[0071] Such as Figure 2 and Figure 3 As shown in, in some possible embodiments provided by the present invention, the camera device 150 is located between the light emitting part and the light receiving part of the first photoelectric sensor 141 of the photoelectric detection component 140. Thus, without interfering with the light emission and light reception of the first photoelectric sensor 141, the camera device 150 meets the design requirements of the manipulator 100 with a compact structure and a small volume, and further meets the design requirements of the cleaning device 200 with a compact structure and a small volume, and can improve the aesthetic appearance of the manipulator 100.

[0072] Specifically, the imaging device 150 can be a monocular camera or a binocular camera.

[0073] As Figure 8 shown, an embodiment of the second aspect of the present invention provides a robotic arm 220, including: the robotic hand 100 of any one of the first aspects. Since the robotic arm 220 includes the robotic hand 100 of any one of the foregoing, it has all the technical effects of the foregoing robotic hand 100, which will not be elaborated herein one by one.

[0074] Furthermore, the robotic arm 220 further includes a connecting seat and a connecting arm. The connecting seat is connected to the main body 210 of the cleaning device 200. The connecting arm connects the connecting seat and the robotic hand 100. The connecting arm is arranged to be able to flip, rotate, move horizontally, move vertically, or a combination of at least one of these relative to the connecting seat. Thus, the robotic hand 100 can be flexibly moved relative to the connecting seat in multiple ways, which is beneficial for the robotic hand 100 to be able to flexibly and accurately grasp objects near the cleaning device 200.

[0075] As Figure 8 shown, an embodiment of the third aspect of the present invention provides a cleaning device 200, including: a main body 210, and the robotic arm 220 provided in any one of the foregoing embodiments. The robotic arm 220 is connected to the main body 210. Since the cleaning device 200 includes the robotic arm 220 of any one of the foregoing, it has all the technical effects of the foregoing robotic arm 220, which will not be elaborated herein one by one.

[0076] Among them, the robotic arm 220 is connected to the main body 210, so that the robotic arm can move with the movement of the main body 210, and thus can move to the position of the waiting work station with the main body 210 to realize the grasping and moving of objects.

[0077] Furthermore, the main body 210 is provided with a receiving cavity. The connecting seat of the robotic arm 220 is connected in the receiving cavity. The robotic arm 220 can be received in the receiving cavity or extended to the outside of the receiving cavity. Thus, according to the object grasping requirement, the robotic arm 220 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, the structure of the main body 210 can be fully utilized to realize the storage of the robotic arm 220. The structure is simple and can meet the design requirements of the cleaning device 200 with a compact structure and a small volume. At the same time, when there is no need to grasp an object, receiving the robotic arm 220 in the receiving cavity can reduce the damage of the robotic arm 220 caused by an external object colliding with the robotic arm 220, and thus the service life of the robotic arm 220 can be improved.

[0078] The present utility model has been described through the above embodiments. However, it should be understood that the above embodiments are only for the purpose of illustration and exemplification, and are not intended to limit the present utility model within the scope of the described embodiments. In addition, those skilled in the art can understand that the present utility model is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present utility model, and these variations and modifications all fall within the scope of protection required by the present utility model. The scope of protection of the present utility model is defined by the appended claims and their equivalent scope.

Claims

1. A manipulator, characterized in that, Comprising: A fixed seat, and two clamping arms movably connected to the fixed seat and capable of approaching or separating from each other; A detection module disposed on the fixed seat, the detection module being configured to detect environmental information around the clamping arms; Wherein, the detection module includes a photoelectric sensor and a camera device.

2. The manipulator according to claim 1, wherein The ends of the two clamping arms extend in front of the fixed seat and are capable of approaching or separating from each other in the left-right direction of the fixed seat; The detection module includes a photoelectric detection component, and the photoelectric detection component includes a plurality of photoelectric sensors distributed in front of, on the left side, and on the right side of the fixed seat.

3. The manipulator according to claim 2, wherein The movement ranges of the two clamping arms are within the detection range of the photoelectric detection component; The detection range of the photoelectric detection component is equal to the union of the detection ranges of the plurality of photoelectric sensors.

4. The manipulator according to claim 2, wherein The photoelectric sensor includes a light emitting part and a light receiving part mounted on the fixed seat; The photoelectric detection component further includes a light shielding member mounted on the fixed seat, the light shielding member includes a first light shielding plate located between the light emitting part and the light receiving part of the same photoelectric sensor, and the light shielding member further includes a second light shielding plate located between two adjacent photoelectric sensors.

5. The manipulator according to claim 4, wherein The light shielding member further includes a connecting plate connecting the first light shielding plate and the second light shielding plate, and the light emitting part is received in a light shielding groove formed by the first light shielding plate, the second light shielding plate, and the connecting plate.

6. The manipulator according to claim 4, wherein The light emitting part is configured to emit infrared light, and positions on the front, left, and right sides of the fixed seat opposite to the photoelectric detection component are provided as infrared light transmissive parts.

7. The manipulator according to claim 4, wherein The photoelectric detection component includes a first photoelectric sensor located in front of the fixed seat, a second photoelectric sensor located on the left side of the fixed seat, and a third photoelectric sensor located on the right side of the fixed seat; Wherein, the light emitting part and the light receiving part of the same photoelectric sensor are located on the same side of the fixed seat, and the light emitting parts and the light receiving parts of the second photoelectric sensor and the third photoelectric sensor are oppositely arranged.

8. The manipulator according to claim 7, wherein The light receiving part of the first photoelectric sensor is further configured to receive an infrared remote control signal.

9. The manipulator according to claim 7, wherein The camera device is mounted in front of the fixed seat; Wherein, the detection range of the camera device at least partially overlaps with the detection range of the photoelectric sensor located in front of the fixed seat.

10. The manipulator according to claim 9, wherein The camera device is located between the light emitting part and the light receiving part of the first photoelectric sensor.

11. A robotic arm, characterized in that, Comprising: The manipulator according to any one of claims 1 to 10.

12. A cleaning device, characterized in that, Comprising: The main body, and the robotic arm as described in claim 11.

Images