Mechanical arm and cleaning equipment

Abstract

The utility model provides a mechanical arm and cleaning equipment, the mechanical arm comprises a first mechanical joint and two connecting arms connected through the first mechanical joint, and the first mechanical joint is configured to enable the two connecting arms to be mutually folded or unfolded; wherein at least one of the two connecting arms is provided with an inductance film, and the inductance film is configured to be contacted to send an electric signal. Therefore, the mechanical arm can make reasonable actions according to the electric signals sent by the inductance film, so that the possibility that the mechanical arm clamps or collides with a human hand or a foreign matter in the movement process is reduced, the use safety of the mechanical arm is improved, and the use satisfaction degree of a user is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, in particular to a mechanical 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 equipment, such as smart sweeping robots, have become increasingly integrated into our daily lives. To better achieve the cleaning function, current cleaning equipment is equipped with a robotic arm to grasp or move obstacles or garbage. Specifically, when the target object needs to be moved, the robotic arm unfolds to grasp it, and when the target object is no longer needed, the robotic arm folds and stores it. During the unfolding or folding process, there is a possibility that the robotic arm may pinch the user's hand or foreign objects, affecting the user experience. Utility Model Content

[0003] The Summary of the Utility Model introduces a series of simplified concepts that will be further described in the Detailed Description of the Utility Model. This section of the utility model is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] An embodiment of the first aspect of the present utility model provides a robotic arm, comprising: a first mechanical joint, and two connecting arms connected by the first mechanical joint, the first mechanical joint being configured to enable the two connecting arms to fold or unfold relative to each other; wherein, at least one of the two connecting arms is provided with an inductive film, and the inductive film is configured to be contacted to send an electrical signal.

[0005] Furthermore, the inductive film is located on a side wall of the connecting arm facing the other connecting arm.

[0006] Furthermore, the inductive film is located on side walls of the connecting arm facing toward and away from the other connecting arm.

[0007] Furthermore, the number of the connecting arms is at least two, and the number of the first mechanical joints is at least one.

[0008] Furthermore, when the number of the connecting arms is at least three and the number of the first mechanical joints is at least two, an inductive film is provided on the side walls of the connecting arm located between the two first mechanical joints facing toward and away from another adjacent connecting arm.

[0009] Furthermore, the robotic arm also includes: a fixed seat and a support arm, the fixed seat is connected to a connecting arm through the support arm, and the inductive film is located on one of the two connecting arms on both sides of the first mechanical joint, which is close to the fixed seat.

[0010] Furthermore, the support arm is connected to a connecting arm via a first mechanical joint, the first mechanical joint is configured to enable the connecting arm to be foldable or unfoldable relative to the support arm, and the inductive film is located on the support arm.

[0011] Furthermore, the fixing seat is connected to the support arm via a first mechanical joint, and the first mechanical joint is configured to enable the support arm to be foldable or unfoldable relative to the fixing seat, and the inductive film is located on the fixing seat.

[0012] Furthermore, the robotic arm also includes: a second mechanical joint, the fixing seat is further connected to the support arm via the second mechanical joint, and the second mechanical joint is configured to enable the support arm to rotate relative to the fixing seat.

[0013] Furthermore, the two connecting arms located on both sides of the first mechanical joint include a first arm and a second arm, the first end of the first arm is connected to the first end of the second arm through the first mechanical joint, the first mechanical joint is configured to make the second end of the first arm close to or away from the second end of the second arm, and the inductor film is located on the second arm.

[0014] Furthermore, the first mechanical joint is a non-self-locking structure.

[0015] Furthermore, the inductive film is detachably connected to the robotic arm.

[0016] Furthermore, the robotic arm further includes: a connecting piece, the inductive film is provided with a connecting hole, and the connecting piece is passed through the connecting hole and connected to the connecting arm.

[0017] Furthermore, the connecting member does not protrude from the outer surface of the inductor film away from the connecting arm.

[0018] Furthermore, a flange structure is provided on the outer edge of the inductor film along the width direction.

[0019] Furthermore, the robotic arm also includes: a control device, which is electrically connected to the first mechanical joint and the inductive film, and is used to control the first mechanical joint to stop working according to the electrical signal sent by the inductive film.

[0020] Furthermore, the robotic arm also includes: a control device, which is electrically connected to the inductive film, and is used to control the entire robotic arm to stop working according to the electrical signal sent by the inductive film.

[0021] An embodiment of the second aspect of the present invention provides a cleaning device, comprising: a machine body, and the robotic arm of any one of the first aspects, wherein the robotic arm is mounted on the machine body.

[0022] The embodiment of the present invention provides a robotic arm and a cleaning device, wherein the robotic arm includes a first mechanical joint and two connecting arms connected by the first mechanical joint, wherein the first mechanical joint can cause the two connecting arms connected thereto to fold or unfold with each other. By providing an inductive film on at least one of the two connecting arms located on both sides of the first mechanical joint, when the robotic arm is in the process of unfolding or folding, a human hand or foreign object near the connecting arm contacts the inductive film on the connecting arm, causing the inductive film to transmit an electrical signal. Based on the electrical signal transmitted by the inductive film, the robotic arm can promptly understand that the connecting arm is in contact with a human hand or foreign object, facilitating the robotic arm to perform corresponding actions, such as stopping the robotic arm from moving, thereby reducing the possibility of the connecting arm pinching a human hand or foreign object, or continuing to collide with a human hand or foreign object, and reducing personal injury or financial loss caused during the movement of the robotic arm, thereby improving the safety of the use of the robotic arm and enhancing user satisfaction.

[0023] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following drawings of the present invention are used as part of the embodiments of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention.

[0025] In the attached figure:

[0026] Figure 1 A line diagram showing one perspective of the robotic arm of the present invention is shown;

[0027] Figure 2 A partial structural diagram of a mechanical arm according to an embodiment of the present invention is shown;

[0028] Figure 3 A partial structural diagram of a robotic arm according to another embodiment of the present invention is shown;

[0029] Figure 4 The figure shows a schematic structural diagram of the inductor film of the present invention.

[0030] Description of Reference Numerals

[0031] 100 robotic arm, 110 mechanical joint, 111 first mechanical joint, 112 second mechanical joint, 113 first mechanical joint a, 114 first mechanical joint b, 120 connecting arm, 121 middle connecting arm c, 122 adjacent connecting arm a, 123 adjacent connecting arm b, 130 inductor film, 131 connecting hole, 132 flanging structure, 140 fixing seat, 150 robotic arm, 160 connecting part, 170 support arm. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] Now, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0035] like Figures 1 to 4 As shown, an embodiment of the first aspect of the present invention provides a robotic arm 100, and an embodiment of the second aspect of the present invention provides a cleaning device, wherein the robotic arm 100 is used for cleaning equipment, and the cleaning equipment can be a sweeping robot, a mopping robot, a sweeping and mopping machine, or other cleaning equipment that meets the requirements.

[0036] Specifically, the cleaning equipment includes, but is not limited to, a machine body, a cleaning system, a drive system, and the like. These systems coordinate with each other to enable the cleaning equipment to move autonomously to perform its cleaning function. The functional components of the cleaning equipment that constitute these systems are integrated within the machine body. It is understood that the cleaning equipment may be a self-propelled cleaning device, wherein a self-propelled cleaning device is a device that automatically performs cleaning operations within a specific area to be cleaned without user intervention.

[0037] Furthermore, the robotic arm 100 is applied to the cleaning device, for example, the robotic arm 100 is connected to the machine body of the cleaning device, so that the robotic arm 100 can move with the movement of the machine body to reach the target location, and then through the movement of the robotic arm 100, obstacles, objects, and garbage near the cleaning device can be grasped or moved to better achieve the autonomous cleaning function. It is understandable that the above-mentioned objects can also be objects required by the user, such as remote controls, apples, etc., which are not listed here one by one.

[0038] like Figure 1 and Figure 2 As shown, an embodiment of the first aspect of the present invention provides a robotic arm 100, comprising: a first mechanical joint 111, and two connecting arms 120 connected by the first mechanical joint, the first mechanical joint 111 being configured to enable the two connecting arms 120 to fold or unfold relative to each other; wherein, at least one of the two connecting arms 120 is provided with an inductive film 130, and the inductive film 130 is configured to be contacted to send electrical signals.

[0039] Among them, the inductive film 130 may include a piezoelectric film, a capacitive film, or other films that can be contacted to send electrical signals. Specifically, the piezoelectric film is a special piezoelectric material, and its piezoelectric effect refers to that when an external mechanical stress acts on the piezoelectric material, it causes the charge distribution inside the piezoelectric material to change in proportion to the stress, thereby generating a voltage difference to transmit electrical signals. Specifically, when a hand or a foreign object contacts or collides with the piezoelectric film, the piezoelectric film will send an electrical signal. It is understandable that when a hand or a foreign object contacts or collides with the capacitive film, the capacitive film will send an electrical signal.

[0040] The robotic arm 100 provided by an embodiment of the present invention includes a first mechanical joint 111 and two connecting arms 120 connected by the first mechanical joint 111. The first mechanical joint 111 can cause the two connecting arms 120 connected thereto to fold or unfold with each other, that is, the first mechanical joint 111 can cause two adjacent connecting arms 120 to fold or unfold with each other, thereby enabling part of the robotic arm 100 to achieve folding or unfolding movement. By setting an inductive film 130 on at least one of the two connecting arms 120 located on both sides of the first mechanical joint 111, when the robotic arm 100 is unfolding or folding, a human hand or foreign object near the connecting arm 120 contacts or collides with the inductive film 130 on the connecting arm 120, the inductive film 130 will transmit an electrical signal. The robotic arm 100 can promptly understand that the connecting arm 120 is in contact or collision with a human hand or foreign object based on the electrical signal transmitted by the inductive film 130, so that the robotic arm 100 can make corresponding actions based on the electrical signal, such as the control device of the robotic arm 100 controls the robotic arm 100 to stop moving based on the electrical signal, so as to reduce the possibility of the connecting arm 120 clamping a human hand or foreign object or continuing to collide with a human hand or foreign object, thereby reducing personal injury or financial loss caused during the movement of the robotic arm 100, which is conducive to improving the safety of the use of the robotic arm 100 and improving user satisfaction.

[0041] It is understood that the entire robotic arm 100 may include multiple mechanical joints 110 and multiple arms. The multiple mechanical joints 110 may be of the same type or different types. The first mechanical joint 111 is one of the multiple mechanical joints 100. The multiple arms of the robotic arm 100 are sequentially connected through each mechanical joint 110, enabling relative motion between two adjacent arms to achieve movement of the robotic arm 100, thereby enabling the robotic arm 100 to unfold and grasp objects or fold and store objects. The connecting arms 120 are two arms located on both sides of the first mechanical joint 111 among the multiple arms.

[0042] In some possible embodiments provided by the present invention, the robotic arm 100 further includes a control device, which is used to control the working state of each connecting arm 120 in the robotic arm 100. It can be understood that the control device can control the working state of each connecting arm 120 by controlling the working state of each mechanical joint 110. The control device is electrically connected to the inductive film 130. In this way, when a human hand or foreign object contacts the inductive film 130 during the movement of the robotic arm 100, causing the inductive film 130 to send an electrical signal, the control device can control the robotic arm 100 to stop moving according to the electrical signal sent by the inductive film 130. In this way, the possibility of the robotic arm 100 continuing to move and pinching or colliding with a human hand or foreign object can be avoided, and personal injury or financial loss caused by the robotic arm 100 can be avoided, which is conducive to improving the safety of the use of the robotic arm 100 and improving user satisfaction.

[0043] In some possible embodiments provided by the present invention, the control device is electrically connected to the first mechanical joint 111, and the control device can control the first mechanical joint 111 to stop working according to the electrical signal sent by the inductive film 130. Since the inductive film 130 is set on at least one of the two connecting arms 120 connected to the first mechanical joint 111, when the inductive film 130 sends a signal, it indicates that a human hand or a foreign object is located near the two connecting arms 120 connected to the first mechanical joint 111. It is very likely that the movement of the first mechanical joint 111 causes the two connecting arms 120 connected thereto to unfold or fold, causing the inductive film 130 to come into contact with the human hand or foreign object. Therefore, by controlling the first mechanical joint 111 to stop working according to the electrical signal sent by the inductive film 130, the possibility of the first mechanical joint 111 continuing to move and causing human hand injury or foreign object damage can be greatly reduced, which is conducive to improving the safety of the use of the robotic arm 100 and improving user satisfaction.

[0044] In some possible embodiments provided by the present invention, a control device controls the entire robotic arm 100 to stop working based on an electrical signal sent by the inductive film 130. Specifically, the robotic arm 100 includes multiple mechanical joints 110 and multiple arms. The multiple mechanical joints 110 also include other joints in addition to the first mechanical joint 111, such as the mechanical joint 110 including the second mechanical joint 112 mentioned later, and / or the mechanical joint 110 also includes other mechanical joints 110 not mentioned in the embodiments of the present invention. The control device is electrically connected to each mechanical joint 110 and can control each mechanical joint 110 to stop working based on the electrical signal sent by the inductive film 130, thereby controlling the entire robotic arm 100 to stop working. Because both ends of the middle arm in the robotic arm 100 need to be connected to a mechanical joint 110, the movement of one mechanical joint 110 will drive the synchronous movement of the arm and the other arms connected to it via another mechanical joint 110. In other words, the movement of the other mechanical joints 110 in the robotic arm 100 may also drive the movement of the two connected arms 120 connected to the first mechanical joint 111. Since the inductive film 130 is arranged on at least one of the two connecting arms 120 connected to the first mechanical joint 111, when the inductive film 130 sends an electrical signal, it indicates that a human hand or a foreign object is located near the two connecting arms 120 connected to the first mechanical joint 111. It is also possible that the movement of other mechanical joints 110 drives the movement of the two connecting arms 120 connected to the first mechanical joint 111, causing the inductive film 130 to contact the human hand or the foreign object. Therefore, the control device controls each mechanical joint 110 to stop working according to the electrical signal sent by the inductive film 130, that is, the control device controls the entire mechanical arm 100 to stop moving, which can reduce the possibility of other mechanical joints 110 continuing to move and causing human hand injuries or foreign object damage, which is beneficial to improving the safety of the use of the robotic arm 100 and improving user satisfaction.

[0045] In the above embodiment, the number of arms in the robotic arm 100 is at least two. For example, the number of arms can be two, three, four, five, or any other number to meet the requirements of different motion ranges and motion functions of the robotic arm 100 and expand the product's range of use. The connecting arms 120 are two of the multiple arms located on either side of the first mechanical joint 111.

[0046] In the above embodiments, the number of first mechanical joints 111 may be at least one, such as when the multiple arms of the robotic arm 100 include two connecting arms 120, the mechanical joint 110 may include one first mechanical joint 111; when the multiple arms of the robotic arm 100 include three connecting arms 120, the mechanical joint 110 may include two first mechanical joints 111, or one first mechanical joint 111; when the multiple arms of the robotic arm 100 include four connecting arms 120, the mechanical joint 110 may include three first mechanical joints 111, two first mechanical joints 111, or one first mechanical joint 111. It can be understood that in the above-mentioned various situations, the mechanical joint 110 may also include other mechanical joints 110, and the other mechanical joints 110 may be the second mechanical joint 112 mentioned later, or other mechanical joints 110 with other functions other than the first mechanical joint 111 and the second mechanical joint 112. That is, the two connecting arms 120 connected to the first mechanical joint 111 may be connected only through the first mechanical joint 111 , or may be connected through both the first mechanical joint 111 and other mechanical joints 110 .

[0047] like Figure 2 As shown, in the above embodiment, the two connecting arms 120 located on both sides of the first mechanical joint 111 can be provided with an inductive film 130 at the same time, or the inductive film 130 can be provided on one of the two connecting arms 120 located on both sides of the first mechanical joint 111, while the inductive film 130 is not provided on the other connecting arm 120. It can be understood that providing the inductive film 130 on both connecting arms 120 simultaneously increases the coverage area of ​​the inductive film 130, thereby increasing the anti-pinch and anti-collision protection range near the robotic arm 100, which is conducive to further improving the safety and satisfaction of the use of the robotic arm 100. Providing the inductive film 130 on one connecting arm 120 can reduce the material used for the inductive film 130, which is conducive to reducing manufacturing costs. Therefore, based on the requirements of various factors such as the anti-pinch and anti-collision protection range and manufacturing costs, it is reasonable to choose to provide the inductive film 130 on one or both of the two connecting arms 120 on both sides of the first mechanical joint 111.

[0048] like Figure 1 and Figure 2 As shown, in some possible embodiments provided by the present invention, for two connecting arms 120 connected by the first mechanical joint 111 , the inductive film 130 may be located on the side wall of the connecting arm 120 facing the other connecting arm 120 .

[0049] Among them, in the two connecting arms 120 located on both sides of the first mechanical joint 111, in the process of the two connecting arms 120 folding each other, the side walls of one connecting arm 120 facing the other connecting arm 120 will approach each other. If a human hand or a foreign object is in the space between the side walls of the two connecting arms 120 facing each other, that is, the human hand or the foreign object is located between the side walls of the two connecting arms 120 facing each other, if the two connecting arms 120 continue to fold through the first mechanical joint 111, the possibility of the human hand or the foreign object being pinched will be greater. Therefore, the inductive film 130 is set on the side wall of the connecting arm 120 facing the other connecting arm 120 connected by the same first mechanical joint 111. In this way, when a human hand or a foreign object touches the inductive film 130, the inductive film 130 will send an electrical signal, and the robotic arm 100 will take corresponding actions according to the electrical signal sent by the inductive film 130, such as the first mechanical joint 111 of the robotic arm 100 stops moving, or the entire robotic arm 100 stops moving. In this way, the possibility of the connecting arm 120 pinching a human hand or a foreign object can be reduced, which plays a good anti-pinch protection role, is conducive to improving the safety of the use of the robotic arm 100, and improves user satisfaction.

[0050] It can be understood that in this case, an inductor film 130 can be set on any one of the connecting arms 120 on both sides of the first mechanical joint 111, so that the inductor film 130 is located on the side wall of the connecting arm 120 facing the other connecting arm 120, or, an inductor film 130 can be set on both connecting arms 120 on both sides of the first mechanical joint 111, so that the inductor film 130 is located on the side wall of any one of the connecting arms 120 facing the other connecting arm 120.

[0051] like Figure 1 and Figure 2 As shown, in some possible embodiments provided by the present invention, for two connecting arms 120 connected by the first mechanical joint 111 , the inductive film 130 is located on the side walls of the connecting arm 120 facing toward and away from the other connecting arm 120 .

[0052] That is to say, the connecting arms 120 located on both sides of the first mechanical joint 111 can be provided with inductive films 130 on two opposite side walls of the connecting arms 120 , and the two side walls where the inductive films 130 are located are the two side walls of the robotic arm 100 facing and away from the other connecting arm 120 .

[0053] The inductive film 130 located on the side wall of the connecting arm 120 facing the other connecting arm 120 can effectively prevent the pinching of a human hand or foreign object when the two connecting arms 120 are folded. The inductive film 130 located on the side wall of the connecting arm 120 facing away from the other connecting arm 120 can effectively prevent the collision of a human hand or foreign object when the two connecting arms 120 are unfolded.

[0054] Specifically, since the human hand or foreign object is on the side of the connecting arm 120 away from the other connecting arm 120, that is, the human hand or foreign object is located on the outside of the two connecting arms 120 connected by the same first mechanical joint 111, when the first mechanical joint 111 drives the two connecting arms 120 to expand each other, there is a possibility of collision with the human hand or foreign object located on the outside of the two connecting arms 120. If the human hand fails to avoid in time or the foreign object cannot be moved, there is a possibility of harming the user's personal safety or damaging the foreign object. To this end, the inductive film 130 is set on the side wall of the connecting arm 120 away from the other connecting arm 120 connected by the same first mechanical joint 111. In this way, when a human hand or foreign object collides with the inductive film 130, the inductive film 130 will send an electrical signal, and the robotic arm 100 will take corresponding actions according to the electrical signal sent by the inductive film 130. For example, the control device of the robotic arm 100 controls the first mechanical joint 111 connected to the corresponding connecting arm 120 to stop moving, or controls the entire robotic arm 100 to stop moving. In this way, the possibility of the connecting arm 120 continuing to unfold and injuring human hands or damaging foreign objects can be reduced, which plays a good anti-collision protection role, is conducive to improving the safety of the use of the robotic arm 100, and improves user satisfaction.

[0055] Therefore, by arranging the inductive film 130 on the side walls of the connecting arm 120 facing toward and away from the other connecting arm 120, it can play a good anti-pinch protection role during the folding process of the two connecting arms 120, and play a good anti-collision protection role during the unfolding process of the two connecting arms 120, further improving the safety of the use of the robotic arm 100 and enhancing user satisfaction.

[0056] It is understood that in this case, the inductive film 130 can be provided on any one of the connecting arms 120 on both sides of the first mechanical joint 111, such that the inductive film 130 is located on the sidewall of the connecting arm 120 facing toward and away from the other connecting arm 120, that is, the inductive film 130 is provided on opposite sides of the connecting arm 120. Alternatively, the inductive film 130 can be provided on both connecting arms 120 on both sides of the first mechanical joint 111, such that the inductive film 130 is located on the sidewall of any one of the connecting arms 120 facing toward and away from the other connecting arm 120.

[0057] like Figure 3 As shown, in some possible embodiments provided by the present invention, the number of connecting arms 120 is at least three, the number of first mechanical joints 111 is at least two, and an inductive film 130 is provided on the side walls of the connecting arm 120 located between the two first mechanical joints 111 facing toward and away from another adjacent connecting arm 120.

[0058] Since the connecting arm 120 is located between the two first mechanical joints 111, it needs to be folded and unfolded with the two adjacent connecting arms 120 respectively through the action of different first mechanical joints 111. Therefore, by arranging an inductive film 130 on the side wall of the connecting arm 120 located between the first mechanical joints 111 toward and away from the other adjacent connecting arm 120, the connecting arm 120 can play a good anti-pinch and anti-collision protection role during the folding process with the adjacent connecting arm 120 under the action of any first mechanical joint 111.

[0059] Specifically, if Figure 3 As shown, taking the connecting arm 120 located between the two first mechanical joints 111 as the middle connecting arm c121, and the two first mechanical joints 111 on both sides of the connecting arm 120 as the first mechanical joint a113 and the first mechanical joint b114 as an example, the other connecting arm 120 connected to the first mechanical joint a113 is the adjacent connecting arm a122, and the other connecting arm 120 connected to the first mechanical joint b114 is the adjacent connecting arm b123. When the first mechanical joint a113 moves to fold the intermediate connecting arm c121 and the adjacent connecting arm a122, the inductive film 130 on the side wall of the intermediate connecting arm c121 facing the adjacent connecting arm a122 can provide anti-pinch protection for the intermediate connecting arm c121 and the adjacent connecting arm a122. At the same time, since the inductive film 130 on the side wall of the intermediate connecting arm c121 facing the adjacent connecting arm a122 is set away from the adjacent connecting arm b123, when the first mechanical joint b114 moves to unfold the intermediate connecting arm c121 and the adjacent connecting arm b123, the inductive film 130 on the side wall of the intermediate connecting arm c121 facing the adjacent connecting arm a122 can provide anti-collision protection for the intermediate connecting arm c121 and the adjacent connecting arm b123. Similarly, when the first mechanical joint a113 moves to unfold the intermediate connecting arm c121 and the adjacent connecting arm a122, the inductive film 130 on the side wall of the intermediate connecting arm c121 facing away from the adjacent connecting arm a122 can provide anti-collision protection for the intermediate connecting arm c121 and the adjacent connecting arm a122. At the same time, because the inductive film 130 on the side wall of the intermediate connecting arm c121 facing away from the adjacent connecting arm a122 is positioned toward the adjacent connecting arm b123, when the first mechanical joint b114 moves to fold the intermediate connecting arm c121 and the adjacent connecting arm b123, the inductive film 130 on the side wall of the intermediate connecting arm c121 facing away from the adjacent connecting arm a122 can provide anti-pinch protection for the intermediate connecting arm c121 and the adjacent connecting arm b123. This greatly improves the comprehensiveness of the anti-pinch and anti-collision protection of the robotic arm 100, thereby enhancing the safety of the robotic arm 100 and improving user satisfaction.

[0060] like Figure 1As shown, in some possible embodiments provided by the present invention, the robotic arm 100 further includes: a fixing base 140 and a support arm 170. The fixing base 140 is connected to a connecting arm 120 via the support arm 170. It is understood that the fixing base 140 can fix the entire robotic arm 100 in an appropriate position. If the robotic arm 100 is used in a cleaning device, the fixing base 140 can be connected to the main body of the cleaning device to fix the entire robotic arm 100 to the main body of the cleaning device.

[0061] In the above embodiment, the inductive film 130 is located on one of the two connecting arms 120 on either side of the first mechanical joint 111, the one closest to the fixing base 140. Since the electrical wiring of the robotic arm 100 is typically routed from the fixing base 140 toward the end of the robotic arm 100, and the inductive film 130 needs to be electrically connected to the control device of the robotic arm 100, the inductive film 130 is disposed on one of the two connecting arms 120 on either side of the first mechanical joint 111, the one closest to the fixing base 140. This shortens the distance between the inductive film 130 and the fixing base 140, facilitates the routing of the electrical wiring, reduces wiring costs, and improves wiring convenience.

[0062] It is understandable that if Figure 1 As shown, the robotic arm 100 may further include a manipulator 150. The manipulator 150 and the fixed base 140 are located at both ends of the robotic arm 100. The multiple arms of the robotic arm 100 are connected in sequence, and the ends of the whole formed by the multiple arms are connected to the fixed base 140 and the manipulator 150 respectively. In other words, the manipulator 150 can be understood as the end of the robotic arm 100. The wiring method of the robotic arm 100 is generally arranged in a sequential manner from the fixed base 140 through each arm toward the manipulator 150. Therefore, placing the inductive film 130 on the connecting arm 120 closer to the fixed base 140 can reduce the length of the electrical connection wires and facilitate layout.

[0063] Specifically, if Figure 1 As shown, when the number of the first mechanical joint 111 is one, the support arm 170 is connected to the connecting arm 120, and the inductive film 130 can be located on the connecting arm 120 connected to the support arm 170. When the number of the first mechanical joint 111 is two, as shown Figure 1 The support arm 170 and Figure 3 A connecting arm 120 is shown at the end to connect Figure 1 The support arm 170 and Figure 3For example, for the first mechanical joint b114 near the fixed base 170, the intermediate connecting arms c121 and adjacent connecting arms b123 at its ends, the adjacent connecting arms b123 connected to the support arm 170, are provided with an inductive film. In other words, the adjacent connecting arms b123 near the fixed base 140 are provided with an inductive film. For the first mechanical joint a113 far from the fixed base 170, the intermediate connecting arms c121 and adjacent connecting arms a122 at its ends, the intermediate connecting arms c121 near the fixed base, are provided with an inductive film. This facilitates the arrangement of electrical connections, helps save wiring costs, and improves wiring convenience.

[0064] like Figure 1 As shown, in some possible embodiments provided by the present invention, the support arm 170 is connected to a connecting arm 120 through a first mechanical joint 111, and the first mechanical joint 111 is configured to enable the connecting arm 120 to be folded or unfolded relative to the support arm 170, and the inductive film 130 is located on the support arm 170.

[0065] That is to say, the support arm 170 can also be understood as the connecting arm 120. The support arm 170 is connected to the adjacent connecting arm 120 through the first mechanical joint 111. Since the distance between the support arm 170 and the fixed seat 140 is relatively close, the inductive film 130 is set on the support arm 170, which can reduce the length of the electrical connection line and facilitate layout.

[0066] like Figure 1As shown, in some possible embodiments of the present invention, the fixing base 140 is connected to the support arm 170 via a first mechanical joint 111. The first mechanical joint 111 is configured to allow the support arm 170 to be folded or unfolded relative to the fixing base 140. In other words, the support arm 170 near the fixing base 140 can be folded or unfolded relative to the fixing base 140 under the action of the first mechanical joint 111. However, the folding or unfolding operation of the support arm 170 and the fixing base 140 may also cause the support arm 170 and the fixing base 140 to pinch or hit a person's hand or foreign objects. Therefore, in this embodiment, the inductive film 130 is set on the fixed base 140, so that when a human hand or a foreign object touches the inductive film 130, the inductive film 130 will send an electrical signal, and the robotic arm 100 will take corresponding actions according to the electrical signal sent by the inductive film 130, such as controlling the first mechanical joint 111 connecting the fixed base 140 and the support arm 170 to stop moving to control part of the robotic arm 100 to stop moving, or the control device controls each mechanical joint 110 to stop moving, that is, the control device controls the entire robotic arm 100 to stop moving, thereby reducing the possibility of the support arm 170 and the fixed base 140 continuing to fold or continue to unfold and pinching a human hand or damaging a foreign object, thereby playing a good anti-pinch protection role, which is beneficial to improving the safety of the use of the robotic arm 100 and improving user satisfaction.

[0067] Furthermore, the inductor film 130 is set on the fixing base 140, so that the distance between the inductor film 130 and the fixing base 140 is very short, which greatly reduces the length of the electrical connection line between the inductor film 130 and the fixing base 140, which is beneficial to saving wiring costs and improving wiring convenience.

[0068] Furthermore, the inductor film 130 and the fixing base 140 are detachably connected, which facilitates the disassembly and assembly of the inductor film 130 and the fixing base 140. At the same time, it is convenient to remove the inductor film 130 from the fixing base 140 for repair or replacement, which is beneficial to improving the repair efficiency and replacement efficiency. Compared with the case where the inductor film 130 is integrated on the fixing base 140 and the entire fixing base 140 needs to be replaced if the inductor film 130 fails, it is beneficial to reduce the replacement cost.

[0069] Specifically, the inductive film 130 is detachably connected to the fixing base 140 through at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic structure.

[0070] In some possible embodiments provided by the present invention, a flange structure 132 is provided on the outer edge of the inductor film 130 along the width direction.

[0071] Specifically, if Figure 4 As shown, the length direction of the inductor film 130 is as follows Figure 4 As shown by the arrow X, the width direction of the inductor film 130 is as shown in FIG. Figure 4As shown by the arrow Y. The length and width directions of the inductor film 130 are consistent with the length and width directions of the connecting arm to which it is connected. The connecting arm 120 is connected to the mechanical joint 110 at both ends along the length direction, and the width direction of the connecting arm 120 is perpendicular to the length direction. Specifically, Figure 2 The connecting arm 120 located at the top is taken as an example to illustrate that the length direction of the connecting arm 120 can be as follows Figure 2 As shown by the arrow X in FIG. 1 , the width direction of the connecting arm 120 can be as follows: Figure 2 As shown by the arrow Y in .

[0072] In this embodiment, the setting of the flange structure 132 can increase the coverage rate of the inductor film 130 on the side wall of the connecting arm 120 toward or away from the other connecting arm 120, for the two connecting arms 120 connected by the first mechanical joint 111, so that the inductor film 130 can cover the side wall more comprehensively and completely, and the flange structure 132 can extend to the side wall adjacent to the side wall where the inductor film 130 is located, further ensuring that the inductor film 130 has a better coverage effect on the side wall of the connecting arm 120 toward or away from the adjacent connecting arm 120 connected to it by the same first mechanical joint 111, ensuring good anti-pinch and anti-collision protection.

[0073] Furthermore, the provision of the flange structure 132 enables the flange structure 132 to cooperate with part of the side wall of the connecting arm 120 , which can play a good pre-positioning role and is beneficial to improving the installation efficiency and assembly accuracy of the inductive film 130 and the connecting arm 120 .

[0074] It is understandable that the flange structure 132 may be located at one outer edge of the inductor film 130 along the width direction of the connecting arm 120 , or the flange structure 132 may be located at both outer edges of the inductor film 130 along the width direction of the connecting arm 120 .

[0075] In some possible embodiments provided by the present invention, the inductive film 130 can cover the side wall. Specifically, the inductive film 130 can cover the entire side wall or a portion of the side wall. It is understandable that the larger the coverage area of ​​the side wall by the inductive film 130, the better the anti-pinch and anti-collision protection effect, but the cost will also be relatively high. Therefore, the coverage rate of the side wall by the inductive film 130 can be reasonably designed based on factors such as anti-pinch and anti-collision requirements and cost. Specifically, the coverage rate of the side wall by the inductive film 130 can be 100%, 98%, 95%, 90%, 85%, 80%, or other values.

[0076] like Figure 1As shown, in some possible embodiments provided by the present invention, the robotic arm 100 also includes a second mechanical joint 112, and the fixed base 140 is also connected to the support arm 170 through the second mechanical joint 112, and the second mechanical joint 112 is configured to enable the support arm 170 to rotate relative to the fixed base 140.

[0077] That is to say, the fixed seat 140 and the adjacent support arm 170 are connected simultaneously through the first mechanical joint 111 and the second mechanical joint 112, so that the support arm 170 can be unfolded or folded relative to the fixed seat 140, and the support arm 170 can be rotated relative to the fixed seat 140. As a result, the motion range of the robotic arm 100 can be increased, so that the robotic arm 150 located at the end of the robotic arm 100 has a larger motion range, thereby increasing the grasping range and improving the accuracy of the grasping operation.

[0078] In some possible embodiments provided by the present invention, the two connecting arms 120 located on both sides of the first mechanical joint 111 include a first arm and a second arm, the first end of the first arm is connected to the first end of the second arm through the first mechanical joint 111, and the first mechanical joint 111 is configured to make the second end of the first arm close to or away from the second end of the second arm.

[0079] That is, of the two connecting arms 120 located on either side of first mechanical joint 111, the first arm is a movable arm and the second arm is a stationary arm. During the relative motion of the first and second arms caused by the movement of first mechanical joint 111, the second arm remains stationary, with the second end of the first arm moving toward or away from the second end of the second arm. By disposing inductive film 130 on the second arm—that is, disposing inductive film 130 on the second arm while first mechanical joint 111 moves while the inductive film itself remains stationary—the reliability and stability of the connection between inductive film 130 and the second arm can be improved, thereby increasing the sensing accuracy of inductive film 130 and enhancing the anti-pinch and anti-collision protection provided by robotic arm 100.

[0080] In some possible embodiments provided by the present invention, the first mechanical joint 111 is set to a non-self-locking structure. Thus, when the user's hand or foreign object touches the inductive film 130, causing the inductive film 130 to send an electrical signal and causing the robotic arm 100 to partially or completely stop moving, if the user's hand or foreign object is still clamped or stuck, since the first mechanical joint 111 is a non-self-locking structure, the two connecting arms 120 on both sides of the first mechanical joint 111 can be pushed in reverse by external force to expand or fold the two connecting arms 120, or the fixing base 140 and the connecting arm 120 on both sides of the first mechanical joint 111 can be pushed in reverse to expand or fold the fixing base 140 and the connecting arm 120 to release the clamped hand or foreign object, thereby removing the hand or foreign object from the robotic arm 100, improving the safety of using the robotic arm 100 and improving user satisfaction.

[0081] like Figure 1 、 Figure 2 and Figure 3 As shown, in some possible embodiments of the present invention, the inductive film 130 is detachably connected to the connecting arm 120. This facilitates assembly and disassembly of the inductive film 130 and the connecting arm 120. Furthermore, it facilitates removal of the inductive film 130 from the connecting arm 120 for repair or replacement, thereby improving repair and replacement efficiency. This also reduces replacement costs compared to a case where the inductive film 130 is integrated into the connecting arm 120 and the entire connecting arm 120 needs to be replaced if the inductive film 130 fails.

[0082] Specifically, the inductive film 130 is detachably connected to the connecting arm 120 through at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic structure.

[0083] like Figure 2 As shown, in some possible embodiments provided by the present invention, the robotic arm 100 also includes a connecting piece 160, the inductive film 130 is provided with a connecting hole 131, and the connecting piece 160 is passed through the connecting hole 131 and connected to the connecting arm 120. Thus, the inductive film 130 and the connecting arm 120 can be detachably connected, which is convenient for assembly and disassembly, easy to implement, and can ensure the reliability and stability of the connection between the inductive film 130 and the connecting arm 120.

[0084] Specifically, the connecting member 160 can be a bolt, which is a standard part, easy to produce, and low in cost. It is understandable that the connecting member 160 can also be a bayonet, a latch, etc.

[0085] In the above embodiment, the connector 160 does not protrude from the outer surface of the inductive film 130 away from the connecting arm 120. Consequently, the connector 160 does not interfere with the folding movement of two adjacent connecting arms 120. This results in a smaller volume when the two adjacent connecting arms 120 are folded, thus meeting the design requirements for a compact and compact structure of the robotic arm 100. Furthermore, the connector 160 does not protrude from the outer surface of the inductive film 130 away from the connecting arm 120, thus preventing the connector 160 from protruding from the outer surface of the inductive film 130 away from the connecting arm 120 and potentially colliding with a human hand or foreign objects. This improves the safety of the robotic arm 100 and enhances its aesthetic appearance.

[0086] like Figure 4 As shown, in some possible embodiments provided by the present invention, the thickness of the inductor film 130 is less than or equal to 2 mm, such as the thickness of the inductor film 130 is 0.05 mm, 1 mm, 1.5 mm, 2 mm, or other sizes, so that the thickness of the inductor film 130 is relatively small and does not significantly increase the size of the connecting arm 120, so that the robotic arm 100 can meet the design requirements without changing the original structure, and is easy to implement.

[0087] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, those skilled in the art will appreciate that the present invention is not limited to the above embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm (100), characterized in that: include: A first mechanical joint (111), and two connecting arms (120) connected by the first mechanical joint (111), wherein the first mechanical joint (111) is configured to enable the two connecting arms (120) to be folded or unfolded relative to each other; At least one of the two connecting arms (120) is provided with an inductor film (130), and the inductor film (130) is configured to be contacted to transmit an electrical signal.

2. The robotic arm (100) according to claim 1, characterized in that The inductive film (130) is located on a side wall of the connecting arm (120) facing the other connecting arm (120).

3. The robotic arm (100) according to claim 1, characterized in that The inductive film (130) is located on the side walls of the connecting arm (120) facing toward and away from the other connecting arm (120).

4. The robotic arm (100) according to claim 1, characterized in that The number of the connecting arms (120) is at least two, and the number of the first mechanical joints (111) is at least one.

5. The robotic arm (100) according to claim 4, characterized in that When the number of the connecting arms (120) is at least three and the number of the first mechanical joints (111) is at least two, the inductor film (130) is provided on the side wall of the connecting arm (120) located between two of the first mechanical joints (111) facing toward and away from another adjacent connecting arm (120).

6. The robotic arm (100) according to claim 1 or 5, characterized in that: The robotic arm (100) further comprises: A fixing seat (140) and a support arm (170), wherein the fixing seat (140) is connected to one of the connecting arms (120) via the support arm (170), and the inductive film (130) is located on one of the connecting arms (120) on both sides of the first mechanical joint (111) and close to the fixing seat (140).

7. The robotic arm (100) according to claim 6, characterized in that The support arm (170) is connected to one of the connecting arms (120) via the first mechanical joint (111), and the first mechanical joint (111) is configured to enable the connecting arm (120) to be folded or unfolded relative to the support arm (170), and the inductive film (130) is located on the support arm (170).

8. The robotic arm (100) according to claim 6, characterized in that The fixing seat (140) is connected to the support arm (170) via the first mechanical joint (111), and the first mechanical joint (111) is configured to enable the support arm (170) to be folded or unfolded relative to the fixing seat (140), and the inductive film (130) is located on the fixing seat (140).

9. The robotic arm (100) according to claim 6, characterized in that Also includes: A second mechanical joint (112), the fixing seat (140) is further connected to the support arm (170) via the second mechanical joint (112), and the second mechanical joint (112) is configured to enable the support arm (170) to rotate relative to the fixing seat (140).

10. The robotic arm (100) according to claim 1, characterized in that The two connecting arms (120) located on both sides of the first mechanical joint (111) include a first arm and a second arm, the first end of the first arm is connected to the first end of the second arm through the first mechanical joint (111), the first mechanical joint (111) is configured to make the second end of the first arm close to or away from the second end of the second arm, and the inductive film (130) is located on the second arm.

11. The robotic arm (100) according to claim 1, characterized in that The first mechanical joint (111) is a non-self-locking structure.

12. The robotic arm (100) according to claim 1, characterized in that The inductive film (130) is detachably connected to the mechanical arm (100).

13. The robotic arm (100) according to claim 1, characterized in that Also includes: The connecting piece (160) is provided with a connecting hole (131) in the inductor film (130), and the connecting piece (160) is passed through the connecting hole (131) and connected to the connecting arm (120).

14. The robotic arm (100) according to claim 13, characterized in that The connecting member (160) does not protrude from the outer surface of the inductive film (130) away from the connecting arm (120).

15. The robotic arm (100) according to claim 1, characterized in that The outer edge of the inductor film (130) along the width direction is provided with a flange structure (132).

16. The robotic arm (100) according to claim 1, characterized in that Also includes: A control device is electrically connected to the first mechanical joint (111) and the inductor film (130), and is used to control the first mechanical joint (111) to stop working according to an electrical signal sent by the inductor film (130).

17. The robotic arm (100) according to claim 1, characterized in that Also includes: A control device is electrically connected to the inductive film (130), and is used to control the entire robotic arm (100) to stop working according to an electrical signal sent by the inductive film (130).

18. A cleaning device, characterized in that: include: A machine body, and a robot arm (100) according to any one of claims 1 to 17, wherein the robot arm (100) is mounted on the machine body.

Images