Connecting arm, mechanical arm and cleaning equipment

Abstract

The utility model provides a connecting arm, a mechanical arm and cleaning equipment. The mechanical arm comprises a joint arm and mechanical joints which correspond to and are connected with the joint arm, the mechanical joints are installed on the corresponding joint arm through installation structures, the connecting arm comprises an arm body, and the two ends of the arm body are each provided with a connecting part which is connected with one mechanical joint. The mechanical joints are configured to enable the connecting arms and the corresponding joint arms to be mutually folded or unfolded; and the connecting parts are configured to be accommodated in accommodating spaces formed in the corresponding articulated arms, and can move in the accommodating spaces. Therefore, the connecting parts and the joint arms which correspond to each other can be arranged in a relatively attached manner, the connecting arms can be accommodated in the accommodating spaces of the joint arms after being unfolded or folded relative to the joint arms, and the design requirements of compact structure and relatively small size of the mechanical arm are met.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, in particular to a connecting arm, a mechanical arm and a cleaning device. Background Art

[0002] With the continuous advancement 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 cleaning functions, current cleaning equipment often incorporates robotic arms to grasp or move obstacles, objects, and garbage. Typically, these robotic arms consist of multiple interconnected arms. To ensure reliable connection and smooth movement between adjacent arms, these arms are bulky and inconvenient to store. 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 connecting arm for a robotic arm, the robotic arm including an articulated arm and a mechanical joint corresponding to and connected to the articulated arm, the mechanical joint being installed on the corresponding articulated arm through an installation structure, the connecting arm including: an arm body, each end of the arm body having a connecting portion connected to a mechanical joint respectively, the mechanical joint being configured so that the connecting arm and the corresponding articulated arm can be folded or unfolded with each other; wherein the connecting portion is configured to be accommodated in a accommodating space provided with the corresponding articulated arm, and can move in the accommodating space.

[0005] Furthermore, the arm body is rectangular, the connecting parts are located at both ends of the length direction of the arm body, the connecting parts protrude from the arm body along the height direction of the arm body, and the connecting parts do not protrude from the arm body along the width direction of the arm body.

[0006] Furthermore, the connecting portion is configured as a claw, and the claw can be clamped on the output shaft of the mechanical joint or release the output shaft.

[0007] Furthermore, the clamping claw includes a first clamping portion and a second clamping portion, the first ends of the first clamping portion and the second clamping portion are connected, the second ends of the first clamping portion and the second clamping portion can move away from or approach each other, and the second ends of the first clamping portion and the second clamping portion are in contact or close to enclose a limiting hole that matches the output shaft.

[0008] Furthermore, the connecting arm further includes a locking member, which is used to lock the first clamping portion and the second end of the second clamping portion.

[0009] Furthermore, the first clamping portion is provided with a connecting hole, and the second clamping portion is provided with a through hole at a position opposite to the connecting hole, and the locking member passes through the through hole and is connected to the connecting hole.

[0010] Furthermore, the second clamping portion is provided with a recessed structure on a side of the through hole away from the connecting hole, and the locking member located outside the through hole is accommodated in the recessed structure.

[0011] Furthermore, the first ends of the first clamping portion and the second clamping portion are hinged; or the first ends of the first clamping portion and the second clamping portion are fixedly connected or integrally formed, and the first clamping portion and the second clamping portion are configured as elastic members.

[0012] Furthermore, the arm body includes a base and a cover that are detachably connected, and the base and the cover together form an installation cavity, which is configured to accommodate at least a circuit board of the robotic arm.

[0013] Furthermore, a wire hole communicating with the mounting cavity is provided on the base and / or the cover, and the wire hole is arranged near the end of the arm body; wherein, there are two wire holes, and the two wire holes are located on the same side or different sides of the arm body.

[0014] Furthermore, an inductive film is connected to the outside of the cover, and the inductive film is configured to be touched or approached to transmit an electrical signal.

[0015] Furthermore, an inductive film is provided on the top and / or bottom of the arm body, and the inductive film is configured to be contacted or approached to transmit an electrical signal.

[0016] Furthermore, the connecting part includes a first connecting part protruding downward along the height direction of the arm body, and the articulated arm includes a first articulated arm connected to the first connecting part; wherein, when the first articulated arm and the connecting arm are in a folded state, the first articulated arm is located below the connecting arm and is arranged in close contact with the connecting arm.

[0017] Furthermore, the connecting portion includes a second connecting portion protruding upward along the height direction of the arm body, and the articulated arm includes a second articulated arm connected to the second connecting portion; wherein, when the second articulated arm and the connecting arm are in a folded state, the second articulated arm is located above the connecting arm and is arranged in close contact with the connecting arm.

[0018] Furthermore, the robotic arm is configured as a foldable structure, and the difference between the width of the horizontal projection area of ​​the robotic arm in the folded state and the width of the horizontal projection area of ​​the connecting arm is less than or equal to 10 mm, and the difference between the length of the horizontal projection area of ​​the robotic arm in the folded state and the length of the horizontal projection area of ​​the connecting arm is less than or equal to 20 mm.

[0019] Furthermore, at least the arm body is made of aluminum alloy; and / or the arm body and the connecting portion are an integrated structure or a split structure.

[0020] Furthermore, the length of the connecting arm is 190 mm to 210 mm; the width of the connecting arm is 27 mm to 37 mm; the height of the connecting arm is 26 mm to 36 mm; and the thickness of the arm body is 5.7 mm to 7.5 mm.

[0021] An embodiment of the second aspect of the present invention provides a robotic arm, comprising: an articulated arm, a mechanical joint, and a connecting arm of any one of the foregoing.

[0022] Furthermore, the robotic arm also includes: a connecting seat assembly and a lifting joint, the articulated arm includes a first articulated arm rotatably connected to the connecting seat assembly, the lifting joint is installed inside the first articulated arm and connected to the connecting seat assembly, and the lifting joint is configured to drive the first articulated arm to fold or unfold relative to the connecting seat assembly, wherein, when the first articulated arm and the connecting seat assembly are in a folded state and the first articulated arm and the connecting arm are in a folded state, the horizontal projection area of ​​the first articulated arm and the connecting seat assembly does not exceed the horizontal projection area of ​​the connecting arm in the width direction, and the difference between the horizontal projection area of ​​the first articulated arm and the connecting seat assembly and the horizontal projection area of ​​the connecting arm in the length direction is less than or equal to 10 mm.

[0023] Furthermore, the robotic arm also includes: a robotic arm, the articulated arm includes a second articulated arm connected to the robotic arm, and the robotic arm is connected to an end of the second articulated arm away from the connecting arm, wherein when the entire robotic arm is in a folded state, the horizontal projection area of ​​the second articulated arm and the robotic arm does not exceed the horizontal projection area of ​​the connecting arm in the width direction, and the difference between the horizontal projection area of ​​the second articulated arm and the robotic arm and the horizontal projection area of ​​the connecting arm in the length direction is less than or equal to 10 mm.

[0024] An embodiment of the third aspect of the present invention provides a cleaning device, including: the robotic arm of the second aspect.

[0025] The embodiment of the present invention provides a connecting arm, a robotic arm and a cleaning device, wherein the connecting arm includes an arm body and two connecting parts, each end of the arm body is provided with a connecting part, and is connected to a mechanical joint through the two connecting parts at the end of the arm body, respectively, and the mechanical joint is also connected to its corresponding articulated arm, that is, each connecting part is connected to an articulated arm through a mechanical joint, and the robotic arm includes at least a connecting arm, two articulated arms and two mechanical joints. Since the mechanical joint can make the connecting arm and the corresponding articulated arm fold or unfold with each other, the range of motion of the robotic arm can be increased. The connecting part of the connecting arm is configured to be accommodated in a accommodating space provided by the corresponding articulated arm and can move in the accommodating space, that is, the connecting part can be accommodated in a accommodating space provided by the articulated arm connected to it through the same mechanical joint, and can move in the accommodating space. Therefore, the articulated arm is utilized to provide accommodation space and movement space for the corresponding connecting part, so that the corresponding connecting part and the articulated arm can be arranged more closely without affecting the range of relative movement of the connecting arm and the articulated arm. As a result, the connecting arm can be accommodated in the accommodation space of the articulated arm after being unfolded or folded relative to the articulated arm. While ensuring that the connecting arm and the robotic arm can move smoothly relative to each other, the connecting arm and the articulated arm can be designed compactly, reducing the overall volume of the robotic arm, meeting the design requirements of a compact structure and a small volume of the robotic arm, and at the same time, reducing the space occupied by the robotic arm in a folded state, making the robotic arm highly storable and easy to fold and store.

[0026] 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

[0027] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to denote the same components.

[0028] Figure 1 A schematic structural diagram of a connecting arm provided by an embodiment of the present utility model from a first perspective is shown;

[0029] Figure 2 A schematic structural diagram of a connecting arm provided by an embodiment of the present utility model from a second viewing angle is shown;

[0030] Figure 3 A schematic structural diagram of a connecting arm provided by an embodiment of the present utility model from a third perspective is shown;

[0031] Figure 4 A partial structural schematic diagram of a connecting arm provided in an embodiment of the present utility model is shown;

[0032] Figure 5 A partial exploded schematic diagram of a connecting arm and a mechanical joint provided by an embodiment of the present utility model is shown;

[0033] Figure 6 A schematic structural diagram of a first perspective of a robotic arm provided by an embodiment of the present invention in a folded state is shown;

[0034] Figure 7 A schematic structural diagram of a second perspective of a robotic arm provided by an embodiment of the present invention in a folded state is shown;

[0035] Figure 8 A schematic structural diagram of a first perspective of a robotic arm provided by an embodiment of the present invention in an unfolded state is shown;

[0036] Figure 9 It shows a schematic structural diagram of the articulated arm provided by an embodiment of the present invention from a first perspective;

[0037] Figure 10 A partial structural schematic diagram of a second viewing angle of a robotic arm provided by an embodiment of the present utility model in an unfolded state is shown.

[0038] Description of Reference Numerals

[0039] 100 connecting arm, 110 arm body, 111 base, 112 cover plate, 113 wire hole, 120 connecting part, 121 limiting hole, 122 first clamping part, 123 second clamping part, 1231 through hole, 1232 recessed structure, 124 first connecting part, 125 second connecting part, 130 locking piece, 140 circuit board, 150 connecting wire, 200 robotic arm, 210 joint arm, 211 accommodating space, 212 first joint arm, 213 second joint arm, 214 half shell, 215 lug, 220 mechanical joint, 221 first mechanical joint, 222 second mechanical joint, 230 connecting seat assembly, 231 bottom plate, 232 rotating seat, 233 rotating joint, 240 robotic arm, 250 lifting joint, 251 motor, 2511 cylindrical boss, 252 screw rod, 253 articulated shaft. DETAILED DESCRIPTION

[0040] 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.

[0041] 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.

[0042] 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.

[0043] like Figures 1 to 10 As shown, an embodiment of the present invention provides a connecting arm 100, a robotic arm 200, and a cleaning device. The connecting arm 100 is applied to the robotic arm 200, and the robotic arm 200 is applied to the cleaning device. The cleaning device can be a sweeping robot, a sweeping and mopping machine, or other self-propelled cleaning devices that meet the requirements.

[0044] Specifically, the cleaning equipment includes, but is not limited to, an equipment body, a cleaning system, a drive system, a sensing system, a control system, an energy system, and a human-computer interaction system. The aforementioned systems coordinate with each other to enable the cleaning equipment to move autonomously to achieve its cleaning function. The functional components of the cleaning equipment that constitute the aforementioned systems are integrated within the equipment body. The robotic arm 200 can be connected to the equipment body of the cleaning equipment to enable the grabbing or movement of obstacles, objects, and garbage near the cleaning equipment to better achieve its autonomous cleaning function.

[0045] like Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 and Figure 7As shown, the connecting arm 100 provided by the embodiment of the present invention is applied to a robotic arm 200. The robotic arm 200 includes an articulated arm 210 and a mechanical joint 220 corresponding to and connected to the articulated arm 210. The mechanical joint 220 is installed on the corresponding articulated arm 210 through an installation structure. The connecting arm 100 includes: an arm body 110, and each end of the arm body 110 has a connecting portion 120 connected to a mechanical joint 220 respectively. The mechanical joint 220 is configured to enable the connecting arm 100 and the corresponding articulated arm 210 to be folded or unfolded with each other; wherein the connecting portion 120 is configured to be accommodated in a accommodating space 211 provided in the corresponding articulated arm 210, and can move in the accommodating space 211.

[0046] The connecting arm 100 provided by the embodiment of the present invention includes an arm body 110 and two connecting parts 120, each end of the arm body 110 is provided with a connecting part 120, which is connected to a mechanical joint 220 respectively through the two connecting parts 120 located at the end of the arm body 110, and the mechanical joint 220 is also connected to its corresponding articulated arm 210, that is, the connecting part 120, the mechanical joint 220, and the articulated arm 210 are one-to-one corresponding, each connecting part 120 is connected to an articulated arm 210 through a mechanical joint 220, and the two connecting parts 120 of the connecting arm 100 are connected to two articulated arms 210 through two mechanical joints 220, that is, the mechanical arm 200 includes at least the connecting arm 100, the two articulated arms 210 and the two mechanical joints 220. Since the mechanical joints 220 can make the connecting arm 100 and the corresponding articulated arm 210 fold or unfold with each other, the range of motion of the mechanical arm 200 can be increased, thereby improving the cleaning range of the cleaning equipment and expanding the scope of use of the product. The connecting portion 120 of the connecting arm 100 is configured to be accommodated in the accommodating space 211 set in the corresponding articulated arm 210, and can move in the accommodating space 211, that is, the connecting portion 120 can be accommodated in the accommodating space set in the articulated arm 210 connected to it through the same mechanical joint 220, and can move in the accommodating space. Therefore, the articulated arm 210 is utilized to provide a accommodating space 211 and a movement space for the corresponding connecting part 120, so that the corresponding connecting part 120 and the articulated arm 210 can be arranged more closely without affecting the range of relative movement of the connecting arm 100 and the articulated arm 210. As a result, the corresponding connecting arm 100 and the articulated arm 210 can be accommodated in the accommodating space 211 of the corresponding articulated arm 210 after being unfolded or folded. While ensuring that the connecting arm 100 and the robotic arm 200 can move smoothly relative to each other, the connecting arm 100 and the articulated arm 210 can be designed compactly, reducing the overall volume of the robotic arm 200 and meeting the design requirements of the robotic arm 200 with a compact structure and a small volume. At the same time, the space occupied by the robotic arm 200 in the folded state is reduced, so that the robotic arm 200 has strong storage capacity and is easy to fold and store.

[0047] Among them, Figure 7 and Figure 9 As shown, the accommodation space 211 provided in the articulated arm 210 can be located at the end of the articulated arm 210, so as to facilitate the connection of the connecting arm 100 with the corresponding articulated arm 210 through the corresponding mechanical joint 220, and facilitate the relative folding or unfolding of the corresponding articulated arm 210 and the connecting arm 100. Specifically, the accommodation space 211 can be a lateral notch located at the end of the articulated arm 210, such as only a portion of the circumferential direction of the accommodation space 211 is blocked, and the other circumferential portions of the accommodation space 211 are openings connected to the external environment, thereby increasing the area of ​​the accommodation space 211 connected to the external environment, facilitating the accommodation of the connecting portion 120 of the connecting arm 100 in the accommodation space 211, and providing space for the movement of the connecting arm 100 and the articulated arm 210 to fold and unfold with each other, reducing the possibility of the connecting arm 100 and the articulated arm 210 colliding with the structure near the accommodation space 211 during the movement of folding or unfolding with each other, so that the connecting portion 120 can move smoothly in the accommodation space 211.

[0048] Specifically, if Figure 9 As shown, the articulated arm 210 includes two half shells 214 arranged opposite to each other. The two half shells 214 are connected to form an installation space to accommodate a circuit board or other components of the articulated arm 210. The ends of the two half shells 214 are provided with lugs 215, which are arranged at intervals and together form an accommodation space 211. Specifically, as Figure 9 As shown, because the lugs 215 are connected to the half shell 214, the accommodating space 211 formed between the two lugs 215 is only shielded by the half shell 214 on one side thereof, while the rest of the accommodating space 211 is connected to the external environment through the opening, thereby increasing the area of ​​the accommodating space 211 connected to the external environment. Specifically, the lugs 215 may be circular, arc-shaped, or other shapes.

[0049] Specifically, if Figure 7 and Figure 9As shown, the mechanical joint 220 is mounted on the articulated arm 210 via a mounting structure. It can be understood that the mechanical joint 220 includes a housing and an output shaft extending outside the housing and capable of rotating relative to the housing. The housing of the mechanical joint 220 is mounted on a portion of the articulated arm 210 via a portion of the mounting structure, while the output shaft of the mechanical joint 220 is rotatably connected to the portion of the mechanical joint 220 via another portion of the mounting structure. Specifically, the articulated arm 210 includes the two aforementioned half-shells 214 and two lugs 215. The two lugs 215 can be a first lug and a second lug, respectively. Mounting holes are provided at opposing positions of the first lug and the second lug. The output shaft of the mechanical joint 220 passes through the through hole on the first lug and the through hole on the second lug in sequence. The housing of the mechanical joint 220 is fixed to the first lug by screws. The output shaft of the mechanical joint 220 is rotatably connected to the second lug via a flange bearing. A gasket is placed on the side of the second lug away from the first lug, and the gasket is clamped on the side of the second lug away from the first lug. A locking screw passes through the gasket and is connected to the threaded hole at the end of the output shaft, thereby fixing the flange bearing to the second lug and simultaneously rotatably connecting the output shaft of the mechanical joint 220 to the second lug. The housing of the mechanical joint 220 is then mounted on the articulated arm 210, and the output shaft of the mechanical joint 220 is rotatably connected to the articulated arm 210. In other words, the mounting structure may include screws and flange bearings, etc.

[0050] The connection between the connecting portion 120 and the mechanical joint 220 may be achieved by at least one of a snap-fit ​​structure, a plug-fit structure, a mortise and tenon structure, and a threaded structure to achieve a detachable connection with the mechanical joint 220. It is understood that the mechanical joint 220 may include an output shaft. Typically, the connecting portion 120 is connected to the output shaft, so that the output shaft rotates, thereby driving the connecting arm 100 and the articulated arm 210 to fold or unfold relative to each other through the connecting portion 120.

[0051] Specifically, the output shaft of the mechanical joint 220 can be the output end of the entire mechanical joint 220. For example, if the mechanical joint 220 includes a motor and a reduction mechanism, the output shaft of the reduction mechanism is the output end of the entire mechanical joint 220. That is, the power output by the motor is reduced by the reduction mechanism and then transmitted to the connecting portion 120 of the connecting arm 100 via the output shaft. In this case, the output shaft is the output shaft of the reduction mechanism. The reduction mechanism can be a harmonic reducer, a planetary gear reduction structure, etc. For example, the mechanical joint 220 can be composed of a motor and a harmonic reducer, or it can be composed of a motor and a planetary gear reduction structure.

[0052] Among them, the number of connecting parts 120 is two, and the two connecting parts 120 are respectively located at both ends of the arm body 110, that is, a connecting part 120 is provided at one end of the arm body 110, and the number of articulated arms 210 and mechanical joints 220 can be two. The two articulated arms 210 are respectively connected to the connecting parts 120 at the ends of the connecting arm 100 through two mechanical joints 220, so that the entire mechanical arm 200 can be a three-arm segment foldable design, thereby increasing the motion range of the mechanical arm 200.

[0053] It is understandable that if Figure 6 、 Figure 7 and Figure 8 As shown, the robotic arm 200 may also include a connecting seat assembly 230, a lifting joint 250, and a robotic arm 240, wherein the articulated arm 210 includes a first articulated arm 212 and a second articulated arm 213, the mechanical joint 220 includes a first mechanical joint 221 and a second mechanical joint 222, the connecting part 120 includes a first connecting part 124 and a second connecting part 125, the first connecting part 124 is connected to the first articulated arm 212 through the first mechanical joint 221, and the other end of the first articulated arm 212 is hinged to the rotating seat 232, the lifting joint 250 is installed on the first articulated arm 212 and is hinged to the rotating seat 232, the second connecting part 125 of the connecting arm 100 is connected to the second articulated arm 213 through the second mechanical joint 222, and the other end of the second articulated arm 213 is connected to the robotic arm 240.

[0054] The connecting base assembly 230 includes a base plate 231, a rotating base 232, and a rotating joint 233 mounted on the base plate 231. Since the first articulated arm 212 is hingedly connected to the rotating base 232, the rotating joint 233 drives the rotating base 232 to rotate, thereby driving the first articulated arm 212 to rotate, thereby driving the first articulated arm 212, the connecting arm 100, the second articulated arm 213, and the manipulator 240 to rotate synchronously. Since the lifting joint 250 is mounted on the first articulated arm 212 and is hingedly connected to the rotating base 232, the lifting joint 250 can drive the first articulated arm 212 to rise or fall relative to the rotating base 232, thereby achieving the folding or unfolding of the first articulated arm 212 relative to the base plate 231. At the same time, the first mechanical joint 221 can drive the connecting arm 100 and the first articulated arm 212 to fold or unfold relative to each other, and the second mechanical joint 222 can drive the connecting arm 100 and the second articulated arm 213 to fold or unfold relative to each other. The rotating joint 233, the lifting joint 250, the first mechanical joint 221, and the second mechanical joint 222 cooperate with each other to adjust the posture of the robotic arm 200 to adjust the working angle of the robotic arm 200 and increase the range of motion of the robotic arm 200. Among them, the bottom plate 231 can be connected to the device body to install the entire robotic arm 200 on the device body. Another articulated arm 210 is connected to the manipulator 240 to achieve the grabbing or moving of obstacles or objects around the cleaning device through the manipulator 240.

[0055] Further, if Figure 10 As shown, the lifting joint 250 is mounted on the first joint arm 212, which can achieve a compact layout of the lifting joint 250 and the first joint arm 212. Specifically, the lifting joint 250 is mounted inside the first joint arm 212, which is conducive to using the first joint arm 212 to provide good protection for the lifting joint 250 and extend the service life of the lifting joint 250.

[0056] Specifically, if Figure 10As shown, an axial hole is provided on the rotating seat 232, and the end of the first articulated arm 212 is connected to the hinge shaft 253 through a bearing, so that the first articulated arm 212 can swing relative to the hinge shaft 236. The hinge shaft 253 is installed in the axial hole, thereby enabling the first articulated arm 212 to be rotatably connected to the rotating seat 232, thereby realizing the articulation of the first articulated arm 212 and the rotating seat 232. Specifically, a guide nut is also connected to the rotating seat 232, and the output shaft of the motor 251 of the lifting joint 250 is threadedly connected to the guide nut through the screw rod 252, so that the lifting joint 250 is rotatably connected to the rotating seat 232. As a result, the rotating seat 232 rotates relative to the base plate 231 under the drive of the rotating joint, which can drive the first articulated arm 212 and the lifting joint 250 to rotate synchronously relative to the base plate 231, thereby enabling the connecting arm 100 connected to the first articulated arm 212, the second articulated arm 212, and the manipulator 240 to rotate synchronously.

[0057] Among them, such as Figure 10 As shown, the housing of the motor 251 of the lifting joint 250 can be hinged to the first joint arm 212, such as the housing of the motor 251 is connected to a motor base, cylindrical bosses 2511 are provided at both ends of the motor base, and a circular groove is provided on the inner wall of the first joint arm 212. The cylindrical boss 2511 is accommodated in the circular groove and can rotate relative to the circular groove, thereby making the housing of the motor 251 hinged to the first joint arm 212. The output shaft of the motor 251 of the lifting joint 250 is threadedly connected to the guide nut on the rotating seat 232 through the screw rod 252, the guide nut is hinged to the rotating seat 232, and the first joint arm 212 is hinged to the rotating seat 232 through the hinge shaft 253, thereby forming a movable triangle structure. The three vertices of the movable triangle are the hinge point N between the guide nut and the rotating seat 232, the hinge point O between the first joint arm 212 and the rotating seat 232, and the hinge point M between the housing of the motor 251 and the first joint arm 212, so that the output shaft of the motor 251 of the lifting joint 250 rotates, driving the screw rod 252 and the guide nut to move relative to each other, so that the first joint arm 212 can be lifted or lowered relative to the rotating seat 232, and the structure is simple.

[0058] Specifically, if Figure 10As shown, the hinge point O between the first articulated arm 212 and the rotating seat 232 can be understood as the first matching part, O is set on the rotating seat 232, and the hinge point N between the guide nut and the rotating seat 232 is also set on the rotating seat 232, so that the distance ON between O and N is constant. Similarly, the housing of the motor 251 and the hinge point M of the first articulated arm 212 are set on the first articulated arm 212, so that the distance OM between O and M is constant. When the rotating seat 232 is stationary, it is only necessary to adjust the distance between MN to achieve the lifting and lowering of the first articulated arm 212 relative to the rotating seat 232. Since the screw rod 252 and the guide nut are engaged through a threaded structure, when the motor drives the screw rod 252 to rotate, the guide nut will move away from or approach the motor, that is, change the distance MN between the hinge point N between the guide nut and the rotating seat 232 and the housing of the motor 251 and the hinge point M of the first articulated arm 212. Therefore, by driving the lead screw 252 and the guide nut to move relative to each other through the motor 251, the first articulated arm 212 can be lifted and lowered relative to the rotating base 232, which has a simple structure and is easy to operate.

[0059] like Figure 1 and Figure 2 As shown in some possible embodiments provided by the present invention, the arm body 110 is rectangular, and the connecting portion 120 is located at both ends of the length direction of the arm body 110, that is, the connecting portion 120 protrudes from the arm body 110 along the length direction of the arm body 110. Figure 2 As shown by the arrow X in the figure. This arrangement makes the shape of the arm body 110 more regular, and the connecting parts 120 are relatively independent and neatly located at both ends of the arm body 110, so that the connecting parts 120 can be smoothly connected to the mechanical joint 220 and smoothly move or be accommodated in the accommodating space 211 provided in the articulated arm 210. It can also reduce the possibility of interference between the arm body 110 and the articulated arm 210, so that the connecting arm 100, the mechanical joint 220, and the articulated arm 210 can be compact components, meeting the design requirements of the robot arm 200 for a compact structure and a small size, making the robot arm 200 highly storable, meeting the requirements of easy movement and storage of cleaning equipment, and expanding the scope of use.

[0060] like Figure 1 and Figure 3 As shown, in the above embodiment, the connecting portion 120 protrudes from the arm body 110 along the height direction of the arm body 110, wherein the height direction of the arm body 110 can be as follows: Figure 3As shown by the arrow Z in FIG. , since the connecting arm 100 and the articulated arm 210 are folded or unfolded along the height direction of the arm body 110 , the connecting arm 100 protrudes from the arm body 110 along the height direction of the arm body 110 , thereby facilitating the connection between the connecting portion 120 and the mechanical joint 220 , so that under the action of the mechanical joint 220 , the connecting arm 100 and the articulated arm 210 are driven to fold or unfold relative to each other along the height direction. At the same time, this arrangement enables the connecting portion 120 to be more fully accommodated in the accommodation space 211 provided in the articulated arm 210 and to move within the accommodation space 211 , that is, along the height direction of the arm body 110 , the height of the connecting portion 120 does not protrude from the articulated arm 210 , so that the connecting arm 100 , the mechanical joint 220 , and the articulated arm 210 are compactly arranged, and the overall height of the robotic arm 200 is small, which can meet the design requirements of the robotic arm 200 having a compact structure, a small size, and a light weight.

[0061] like Figure 1 and Figure 2 As shown, in the above embodiment, the connecting portion 120 does not protrude from the arm body 110 along the width direction of the arm body 110. Thus, the space occupied by the connecting portion 120 can be reduced, so that the overall width of the connecting arm 100 is the width of the arm body 110, which can meet the design requirement of a smaller volume of the robotic arm 200.

[0062] In some possible embodiments provided in the application, the length of the connecting arm 100 is 190 mm to 210 mm, the width of the connecting arm 100 is 27 mm to 37 mm, and the height of the connecting arm 100 is 26 mm to 36 mm. This results in a smaller overall volume of the connecting arm 100 and occupies less space, meeting the design requirements of the robotic arm 200 for a compact structure and small size.

[0063] Specifically, the length direction of the connecting arm 100 can be as follows Figure 2 and Figure 3 As shown by the arrow X in FIG. 1 , the width direction of the connecting arm 100 can be as shown in FIG. Figure 2 As shown by the arrow Y in FIG. 1 , the height direction of the connecting arm 100 can be as follows: Figure 3 As shown by the arrow Z in FIG. 1 , the length of the connecting arm 100 can be as follows: Figure 2 As shown by L in FIG, the length of the connecting arm 100 can be 190 mm, 195 mm, 200 mm, 205 mm, 210 mm, or any size between 190 mm and 210 mm. Figure 2 As shown by W in FIG, the width of the connecting arm 100 can be 27 mm, 30 mm, 32 mm, 35 mm, 37 mm, or any size between 27 mm and 37 mm. Figure 3As shown by H in FIG, the height of the connecting arm 100 can be 26 mm, 29 mm, 30 mm, 33 mm, 36 mm, or any size between 26 mm and 36 mm.

[0064] like Figure 3 As shown, in the above embodiment, the thickness of the arm body 110 is 5.7 mm to 7.5 mm, wherein the thickness direction of the arm body 110 is the same as the height direction of the connecting arm 100. The thickness of the arm body 110 can be as follows: Figure 3 By properly setting the thickness of the arm body 110, while ensuring sufficient strength, the arm body 110 is compact, making the connecting arm 100 thinner and lighter, thereby meeting the design requirements of the robotic arm 200 for a smaller and thinner structure. Specifically, the thickness of the arm body 110 can be 5.7 mm, 6 mm, 6.5 mm, 7 mm, 7.5 mm, or any other thickness between 5.7 mm and 7.5 mm.

[0065] In some possible embodiments provided by the present invention, at least the arm body 110 is made of an aluminum alloy. The advantages of the aluminum alloy being high strength and light weight provide the connecting arm 100 with reliable strength, enabling the upper and lower articulated arms 210 to be reliably connected together and providing good support for the articulated arms 210, ensuring that the robotic arm 200 is reliable and does not shake during operation. Furthermore, while ensuring the reliable strength of the connecting arm 100, the design thickness of the connecting arm 100 can be minimized, achieving a lightweight design for the connecting arm 100 to meet the design requirements of the robotic arm 200 being small and thin. Furthermore, the aluminum alloy also has the advantage of being corrosion-resistant, enabling the connecting arm 100 to meet the dirty working environment of cleaning equipment and having a long service life. Furthermore, the aluminum alloy has the advantage of being easy to process, facilitating the processing of the arm body 110. When both the arm body 110 and the connecting portion 120 are made of aluminum alloy, the processing of the connecting portion 120 is also facilitated, thereby reducing manufacturing costs.

[0066] It is understandable that the arm body 110 may be made of aluminum alloy, or both the arm body 110 and the connecting portion 120 may be made of aluminum alloy; or a portion of the arm body 110 and the connecting portion 120 may be made of aluminum alloy.

[0067] In the above embodiment, the arm body 110 and the connecting portion 120 may be separate structures, and the connecting portion 120 may be connected to the arm body 110 by welding, adhesive, threaded structure, clamping structure, plug-in structure, or mortise and tenon structure. In this case, the arm body 110 and the connecting portion 120 may be made of the same material or different materials. For example, the arm body 110 and the connecting portion 120 may both be made of aluminum alloy, or the arm body 110 may be made of aluminum alloy and the connecting portion 120 may be made of other materials.

[0068] Alternatively, the arm body 110 and the connecting portion 120 may be an integrated structure, which facilitates processing and production, helps save manufacturing costs, and can simplify the configuration of the connecting structure, which helps reduce the volume of the arm body 110 and the connecting portion 120. In this case, the arm body 110 and the connecting portion 120 may be made of the same material.

[0069] Alternatively, the arm body 110 and a portion of the connecting portion 120 may be an integral structure, while another portion of the connecting portion 120 may be processed separately from the arm body 110. That is, the connecting portion 120 may be a split structure, thereby meeting the requirements of different structures of the connecting portion 120. In this case, the arm body 110 and the connecting portion 120 may be made of the same material or different materials. Since the connecting portion 120 is a split structure, the connecting portion 120 may be made of the same material or different materials.

[0070] like Figure 1 、 Figure 2 、 Figure 3 As shown, in some possible embodiments provided by the present invention, the connecting portion 120 is configured as a claw, and the claw configuration can be clamped on the drive portion or release drive portion of the mechanical joint 220. As a result, the connecting arm 100 can be quickly connected and separated from the drive portion of the mechanical joint 220 through the claw, thereby achieving quick connection and separation between the connecting arm 100 and the articulated arm 210, facilitating the assembly and disassembly of the mechanical arm 200, and helping to improve the installation efficiency and maintenance efficiency of the mechanical arm 200. At the same time, the claw has a simple structure and a small size, which can greatly reduce the volume and weight of the entire connecting arm 100, thereby meeting the design requirements of the mechanical arm 200 being small and thin. In addition, the claw can improve the reliability and stability of the connection between the connecting arm 100 and the mechanical joint 220, so that the connecting arm 100 and the articulated arm 210 can be reliably and stably connected, making the folding or unfolding movement of the connecting arm 100 and the articulated arm 210 stable and not prone to shaking.

[0071] like Figure 1 、 Figure 4 and Figure 5 As shown, in some possible embodiments provided by the present invention, the claw includes a first clamping portion 122 and a second clamping portion 123, the first ends of the first clamping portion 122 and the second clamping portion 123 are connected, the second ends of the first clamping portion 122 and the second clamping portion 123 can move away from or approach each other, and the second ends of the first clamping portion 122 and the second clamping portion 123 are in contact or close to form a limiting hole 121 that matches the driving portion, thereby being able to clamp with the output shaft of the mechanical joint 220 to realize the connection between the claw and the mechanical joint 220, and further realize the connection between the connecting arm 100 and the joint arm 210.

[0072] Specifically, the output shaft of the mechanical joint 220 is provided with a limiting surface. For example, if the output shaft is a flat shaft or a D-shaped shaft, the limiting hole 121 is a corresponding flat hole or D-shaped hole. When the second ends of the first clamping portion 122 and the second clamping portion 123 are in contact or close to a specified position, the limiting hole 121 cooperates with the limiting surface of the output shaft, so that the rotation of the output shaft drives the connecting arm 100 and the articulated arm 210 to move relative to each other. It is understandable that when the second ends of the first clamping portion 122 and the second clamping portion 123 are separated from each other, the limiting hole 121 can be opened, so that the limiting hole 121 releases the limiting effect on the limiting surface on the output shaft, so that the output shaft can be pulled out from the first clamping portion 122 and the second clamping portion 123, thereby realizing the disassembly and separation of the mechanical joint 220 and the connecting arm 100, which is simple to operate and convenient to assemble and disassemble.

[0073] like Figure 1 、 Figure 2 and Figure 5 As shown, in some possible embodiments provided by the present invention, the connecting arm 100 also includes a locking member 130, which is used to lock the second ends of the first clamping portion 122 and the second clamping portion 123. The provision of the locking member 130 can ensure that the second ends of the first clamping portion 122 and the second clamping portion 123 are reliably and firmly locked together after contacting or approaching the specified position, so as to ensure that the limiting hole 121 is reliably fitted with the limiting surface on the output shaft and firmly limited, so as to ensure the reliability and firmness of the connection between the output shaft of the driving portion and the claw. It can be understood that through the locking member 130, the restriction on the second ends of the first clamping portion 122 and the second clamping portion 123 can be released, so that the second ends of the first clamping portion 122 and the second clamping portion 123 can be separated, and then the output shaft and the claw are disassembled and separated to achieve the disassembly and separation of the mechanical joint 220 from the connecting arm 100.

[0074] like Figure 1 and Figure 4 As shown, in some possible embodiments provided by the present invention, the clamping claw includes a first clamping portion 122 and a second clamping portion 123, wherein the first clamping portion 122 is provided with a connecting hole, and the second clamping portion 123 is provided with a through hole 1231 at a position opposite to the connecting hole. Thus, by passing the locking member 130 through the through hole 1231 on the second clamping portion 123 and connecting it to the connecting hole on the first clamping portion 122, the second ends of the first clamping portion 122 and the second clamping portion 123 can be reliably locked after contacting or approaching the specified position, thereby ensuring that the limiting hole 121 is reliably aligned with the limiting surface on the output shaft and having a good limiting effect. Specifically, the locking member 130 is a locking screw, which is easy to process, low in cost, and small in size. Furthermore, by setting the locking member 130 as a locking screw, the second ends of the first clamping portion 122 and the second clamping portion 123 can be locked or unlocked by turning the locking screw, which is simple to operate and easy to disassemble and disassemble.

[0075] like Figure 1 and 4 As shown, in some possible embodiments provided by the present invention, the second clamping portion 123 is provided with a recessed structure 1232 on the side of the through hole 1231 away from the connecting hole, and the locking member 130 located outside the through hole 1231 is accommodated in the recessed structure 1232 . The setting of the recessed structure 1232 provides an accommodating position for the locking member 130 located outside the through hole 1231. That is to say, the second clamping portion 123 uses its own structure to set the recessed structure 1232, which provides an accommodating position for the locking member 130 outside the through hole 1231, so that the second clamping portion 123 and the locking member 130 outside the through hole 1231 achieve a concave-convex fit, that is, the end of the locking member 130 away from the first clamping portion 122 will not exceed the end of the second clamping portion 123 away from the first clamping portion 122, avoiding the problem that the locking member 130 outside the through hole 1231 protrudes from the second clamping portion 123 in the direction away from the first clamping portion 122 and occupies extra space. As a result, the locking member 130 and the second clamping portion 123 have a compact structure, a reasonable layout of the claws, a compact layout, and a small size. The connecting arm 100 has a compact structure and a small size, which can meet the design requirements of the robotic arm 200 with a compact structure and a small size.

[0076] In some possible embodiments of the present invention, the first ends of the first clamping portion 122 and the second clamping portion 123 are hingedly connected, allowing the second ends of the first clamping portion 122 and the second clamping portion 123 to move toward or away from each other, thereby achieving separation or contact between the second ends of the first clamping portion 122 and the second clamping portion 123. It is understood that in this case, at least some of the claws are separate structures from the arm body 110. For example, if the first clamping portion 122 and the arm body 110 are integrally formed, and the second clamping portion 123 and the arm body 110 are separate structures, the first end of the second clamping portion 123 is hingedly connected to the first end of the first clamping portion 122, allowing the second end of the second clamping portion 123 to move toward or away from the second end of the first clamping portion 122. For example, the second end of the second clamping portion 123 can be manually moved to move toward or away from the second end of the first clamping portion 122, or the second end of the second clamping portion 123 can be driven toward or away from the second end of the first clamping portion 122 by an elastic mechanism, a driving mechanism, or the like.

[0077] In some possible embodiments provided by the present invention, the first ends of the first clamping portion 122 and the second clamping portion 123 are fixedly connected or integrally formed, and the first clamping portion 122 and the second clamping portion 123 are configured as elastic members. Thus, under the action of the elastic member, the second ends of the first clamping portion 122 and the second clamping portion 123 can move closer to or farther from each other to achieve separation or contact between the second ends of the first clamping portion 122 and the second clamping portion 123. It can be understood that in this case, the claw and the arm body 110 are an integral structure or fixedly connected. The first clamping portion 122 and the second clamping portion 123 can be made of metal or plastic, such as the first clamping portion 122 and the second clamping portion 123 can be made of aluminum alloy.

[0078] Specifically, when the connecting part 120 and the arm body 110 are both made of aluminum alloy and are integrally formed, since the aluminum alloy has a certain elasticity, the second ends of the first clamping part 122 and the second clamping part 123 are slightly separated during processing, and then the elasticity of the aluminum alloy is utilized to manually move the second ends of the first clamping part 122 and the second clamping part 123 to make the second ends of the first clamping part 122 and the second clamping part 123 contact each other, and then the locking part 130 is used to lock the second ends of the first clamping part 122 and the second clamping part 123 so that the limiting hole 121 and the limiting surface on the output shaft of the driving part of the mechanical joint 220 can be reliably limited.

[0079] like Figure 4 and Figure 5 As shown, in some possible embodiments provided by the present invention, the arm body 110 includes a detachably connected base 111 and a cover 112. The base 111 and the cover 112 together form an installation cavity, which is configured to accommodate at least the circuit board 140 of the robotic arm 200. The robotic arm 200 may include the circuit board 140, which is electrically connected to the mechanical joint 220 via the circuit board 140 to achieve control of the mechanical joint 220.

[0080] In this embodiment, the arm body 110 is configured as an openable or closable cavity structure through the base 111 and the cover 112, so that the circuit board 140 of the robotic arm 200 can be installed in the installation cavity. The arm body 110 provides good protection for the circuit board 140, which is conducive to improving the service life of the circuit board 140. At the same time, the structure of the arm body 110 itself provides installation space for the circuit board 140 of the robotic arm 200 without increasing the volume of the arm body 110. At the same time, the arrangement of the accommodating space 211 for the circuit board 140 installed in the installation cavity can be simplified for other structures of the robotic arm 200, thereby facilitating the reduction of the volume of other structures of the robotic arm 200, so that the robotic arm 200 as a whole meets the design requirements of a compact structure and a small volume.

[0081] The base 111 and the cover 112 are detachably connected to facilitate disassembly and maintenance of the circuit board 140. Specifically, the base 111 and the cover 112 can be detachably connected by at least one of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure, and a magnetic structure.

[0082] like Figure 4 and Figure 5 As shown, in some possible embodiments provided by the present invention, a wire hole 113 connected to the installation cavity is provided on the base 111 and / or the cover 112, so that the connecting wire 150 passes through the wire hole 113, thereby electrically connecting the mechanical joint 220 located outside the accommodating cavity and the circuit board 140 located inside the accommodating cavity.

[0083] The wire hole 113 may be located on the base 111, on the cover 112, or on both the base 111 and the cover 112. The number of the wire hole 113 may be one, two, or another number.

[0084] In the above embodiment, the wire hole 113 is arranged near the end of the arm body 110. Since the connecting part 120 is located at the end of the arm body 110 and is connected to the mechanical joint 220, the wire hole 113 is arranged near the end of the arm body 110, so that the connecting wire 150 can connect the mechanical joint 220 to the circuit board 140 through the wire hole 113, and can reduce the length of the connecting wire 150 exposed on the appearance surface of the arm body 110, that is, the connecting wire 150 is also stored in the installation cavity, and the arm body 110 plays a role in storing and shielding the connecting wire 150. In this way, the connecting wire 150 can be directly connected to the mechanical joint 220 after coming out of the wire hole 113. In this way, the problem of the connecting wire 150 being exposed to the outside of the arm body 110 and affecting the neatness of the appearance of the connecting arm 100 and being easily scratched by foreign objects can be avoided. The neatness and aesthetics of the appearance of the connecting arm 100 can be improved, and it is beneficial to improve the reliability of the electrical connection of the mechanical joint 220 and improve the overall reliability of the mechanical arm 200.

[0085] There are two wire holes 113, and the two wire holes 113 are respectively arranged near the two ends of the arm body 110. Since the two connecting parts 120 are located at both ends of the arm body 110 and connected to the two mechanical joints 220, the two wire holes 113 are distributed near the ends of the arm body 110, which can be understood as being arranged near the two ends in the length direction of the arm body 110. As a result, the connecting wire 150 in the accommodating cavity can be connected to the adjacent mechanical joint 220 after passing through the wire holes 113, minimizing the possibility of the connecting wire 150 being exposed to the exterior surface of the connecting arm 100, thereby improving the neatness and aesthetics of the appearance of the connecting arm 100. At the same time, this arrangement allows the robotic arm 200 to ignore the wire safety gap designed to avoid the connecting wire 150 from being exposed to the outside of the connecting arm 100 during the design process. As a result, a compact layout between the connecting arm 100 and the joint arm 210 can be achieved, making the overall structure of the robotic arm 200 compact and small in size.

[0086] In the above embodiment, the two wire holes 113 can be located on the same side or different sides of the arm body 110. The positions of the wire holes 113 can be appropriately set according to the specific location of the electrical connection of the mechanical joint 220. For example, the two wire holes 113 can be located at the top of the arm body 110, or the two wire holes 113 can be located at the bottom of the arm body 110; or the two wire holes 113 can be arranged at the top and bottom of the arm body 110 respectively, or the two wire holes 113 can be arranged at the left and right sides of the arm body 110 respectively.

[0087] Specifically, if Figure 5 、 Figure 6 and Figure 7 As shown, the articulated arm 210 includes a first articulated arm 212 and a second articulated arm 213, and the mechanical joint 220 includes a first mechanical joint 221 and a second mechanical joint 222. The first connection portion 124 of the connecting arm 100 is connected to the first articulated arm 212 via the first mechanical joint 221, and the second connection portion 125 of the connecting arm 100 is connected to the second articulated arm 213 via the second mechanical joint 222. When the mechanical arm 200 is in the folded state, the first articulated arm 212 is located below the connecting arm 100, and the second articulated arm 213 is located above the connecting arm 100.

[0088] The wire-passing hole 113 near the first articulated arm 212 can be located at the top of the arm body 110, and the wire-passing hole 113 near the second articulated arm 213 can be located at the bottom of the arm body 110. Thus, after the connecting wire 150 passes through the wire-passing hole 113 located at the top of the connecting arm 100, it can be directly and smoothly electrically connected to the first mechanical joint 221 installed on the first articulated arm 212 from the top of the first mechanical joint 221, thereby reducing the possibility of the connecting wire 150 scraping against the first articulated arm 212 located below the connecting arm 100. Accordingly, after the connecting wire 150 passes through the wire-passing hole 113 located at the bottom of the connecting arm 100, it can be directly and smoothly electrically connected to the second mechanical joint 222 installed on the second articulated arm 213 from the bottom of the second mechanical joint 222, thereby reducing the possibility of the connecting wire 150 scraping against the second articulated arm 213 located above the connecting arm 100. In some possible embodiments provided by the present invention, an inductive film is provided on the outside of the cover plate 112 , and the inductive film is configured to be touched or approached to transmit an electrical signal.

[0089] Among them, the inductive film may include a piezoelectric film, a capacitive film, or other thin films that are touched or close to each other and can 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 will cause 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 touches or approaches the piezoelectric film, the piezoelectric film will send an electrical signal. It is understandable that when a hand or a foreign object touches or approaches the capacitive film, the capacitive film will send an electrical signal.

[0090] In this embodiment, the setting of the inductive film is such that when the connecting arm 100 and the articulated arm 210 are in the process of folding or unfolding, when a human hand or foreign object near the connecting arm 100 contacts, collides with, or approaches the inductive film on the connecting arm 100, the inductive film will transmit an electrical signal. The circuit board 140 can promptly understand that the connecting arm 100 contacts, collides with, or approaches the human hand or foreign object based on the electrical signal transmitted by the inductive film, so that the robotic arm 200 can take corresponding actions based on the electrical signal, such as controlling the mechanical joint 220 to stop working, so as to reduce the possibility of the connecting arm 100 and the articulated arm 210 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 200, and helping to improve the safety of the use of the robotic arm 200 and enhance user satisfaction.

[0091] In the above embodiment, an inductive film may be connected to the exterior of the cover plate 112 to provide anti-pinch and anti-collision protection. It is understood that the inductive film and the cover plate 112 may be connected using at least one of a bolt structure, a snap-fit ​​structure, a mortise and tenon structure, a plug-in structure, an adhesive, and a magnetic structure.

[0092] In some possible embodiments provided by the present invention, an inductive film is provided on the top and / or bottom of the arm body 110 , and the inductive film is configured to be contacted or approached to transmit an electrical signal.

[0093] In this embodiment, an inductive film may be provided at the top of the arm body 110, or at the bottom of the arm body 110, or at both the top and bottom of the arm body 110. The inductive film located at the top of the arm body 110 can provide protection and detection for preventing pinching and collision between the connecting arm 100 and the second articulated arm 213 located above the connecting arm 100 when in a folded state. The inductive film located at the bottom of the arm body 110 can provide protection and detection for preventing pinching and collision between the connecting arm 100 and the first articulated arm 212 located below the connecting arm 100 when in a folded state.

[0094] like Figure 3 、 Figure 4 、 Figure 5 As shown, in some possible embodiments provided by the present invention, the connecting portion 120 includes a first connecting portion 124 protruding downward along the height direction of the arm body 110, and the articulated arm 210 includes a first articulated arm 212 connected to the first connecting portion 124. When the first articulated arm 212 and the connecting arm 100 are in a folded state, the first articulated arm 212 is located below the connecting arm 100 and is disposed in close contact with the connecting arm 100. It is understood that the first mechanical joint 221 is mounted on the first articulated arm 212, and the second mechanical joint 222 is mounted on the second articulated arm 213.

[0095] In this embodiment, since the first articulated arm 212 is located below the connecting arm 100 when the robotic arm 200 is in the folded state, the first connecting portion 124 is protruded downward along the height direction of the arm body 110, so that the first connecting portion 124 can extend in a direction close to the first articulated arm 212, so that the first connecting portion 124 can be more fully accommodated in the accommodating space 211 provided in the first articulated arm 212. At the same time, the first articulated arm 212 and the connecting arm 100 of the robotic arm 200 in the folded state can fit closely together, that is, the first articulated arm 212 and the connecting arm 100 are arranged in a vertically aligned manner. As a result, the vertical dimension of the robotic arm 200 in the folded state is minimized, which can meet the design requirements of the robotic arm 200 being compact, small, and thin, and can meet the design requirements of the device body being compact and small, without affecting the range of motion due to the device body being too high.

[0096] In the above embodiment, the robotic arm includes a connecting seat assembly 230 and a lifting joint 250, and the lifting joint 250 is installed inside the first joint arm 212 and connected to the connecting seat assembly 230. The lifting joint 250 is configured to drive the first joint arm 212 to fold or unfold relative to the connecting seat assembly 230, wherein when the first joint arm 212 and the connecting seat assembly 230 are in a folded state and the first joint arm 212 and the connecting arm 100 are in a folded state, the horizontal projection area of ​​the first joint arm 212 and the connecting seat assembly 230 does not exceed the horizontal projection area of ​​the connecting arm 100 in the width direction, and the difference between the horizontal projection area of ​​the first joint arm 212 and the connecting seat assembly 230 and the horizontal projection area of ​​the connecting arm 100 in the length direction is less than or equal to 10 mm.

[0097] That is, when the entire robotic arm 200 is in the folded state, the width of the total horizontal projection of the first articulated arm 212 and the connecting base assembly 230 is equal to or less than the width of the connecting arm 100, and the difference between the length of the total horizontal projection of the first articulated arm 212 and the connecting base assembly 230 and the length of the connecting arm 100 is less than or equal to 10 mm. Here, the length of the connecting arm 100 may be longer than the length of the total horizontal projection of the first articulated arm 212 and the connecting base assembly 230, or the length of the total horizontal projection of the first articulated arm 212 and the connecting base assembly 230 may be longer than the length of the connecting arm 100. Thus, it is possible to ensure that the length and width of the first articulated arm 212 and the length and width of the connecting base assembly 230 are within a reasonable range, so that the difference between the horizontal projection of the first articulated arm 212 and the connecting base assembly 230 and the projection of the connecting arm 100 is not very large, which helps to reduce the overall length and width of the robotic arm 200 in the folded state, and meet the design requirements of a compact structure and small size of the robotic arm 200.

[0098] Specifically, when the robotic arm 200 is in a folded state, the difference between the length of the total projection area of ​​the first articulated arm 212 and the connecting seat assembly 230 in the horizontal plane and the length of the projection area of ​​the connecting arm 100 in the horizontal plane can be 0mm, 2mm, 4mm, 6mm, 8mm, 10mm, or any size between 0mm and 10mm.

[0099] In some possible embodiments provided by the present invention, the connecting portion 120 includes a second connecting portion 125 protruding upward along the height direction of the arm body 110, and the articulated arm 210 includes a second articulated arm 213 connected to the second connecting portion 125; wherein, when the second articulated arm 213 and the connecting arm 100 are in a folded state, the second articulated arm 213 is located above the connecting arm 100 and is arranged in close contact with the connecting arm 100.

[0100] In this embodiment, since the second articulated arm 213 is located above the connecting arm 100 when the robotic arm 200 is in the folded state, the second connecting portion 125 is protruded upward along the height direction of the arm body 110, so that the second connecting portion 125 can extend in a direction close to the second articulated arm 213, so that the second connecting portion 125 can be more fully accommodated in the accommodating space 211 provided in the second articulated arm 213. At the same time, the second articulated arm 213 and the connecting arm 100 of the robotic arm 200 in the folded state can fit closely together, that is, the second articulated arm 213 and the connecting arm 100 are arranged in a vertically aligned manner. As a result, the vertical dimension of the robotic arm 200 in the folded state is minimized, which can meet the design requirements of the robotic arm 200 being compact, small in size, and thin and lightweight, and can meet the design requirements of the cleaning equipment being compact in structure and small in size, and the range of motion will not be affected by the height of the equipment body.

[0101] In the above embodiment, the robotic arm 200 also includes a robotic arm 240, which is connected to the end of the second articulated arm 213 away from the connecting arm 100, wherein when the entire robotic arm 200 is in a folded state, the horizontal projection area of ​​the second articulated arm 213 and the robotic arm 240 does not exceed the horizontal projection area of ​​the connecting arm 100 in the width direction, and the difference between the horizontal projection area of ​​the second articulated arm 213 and the robotic arm 240 and the horizontal projection area of ​​the connecting arm 100 in the length direction is less than or equal to 10 mm.

[0102] That is, when the robotic arm 200 is in a folded state as a whole, the width of the total projection area of ​​the second articulated arm 213 and the manipulator 240 on the horizontal plane is equal to or less than the width of the connecting arm 100, and the difference between the length of the total projection area of ​​the second articulated arm 213 and the manipulator 240 on the horizontal plane and the length of the connecting arm 100 is less than or equal to 10 mm. Here, the length of the connecting arm 100 may be longer than the length of the total projection area of ​​the second articulated arm 213 and the manipulator 240 on the horizontal plane, or the length of the total projection area of ​​the second articulated arm 213 and the manipulator 240 on the horizontal plane may be longer than the length of the connecting arm 100. In this way, it is possible to ensure that the length and width of the second articulated arm 213 are within a reasonable range, the length and width of the manipulator 240 are within a reasonable range, and the difference between the projection of the second articulated arm 213 and the manipulator 240 on the horizontal plane and the projection of the connecting arm 100 is not very large, which is conducive to reducing the overall length and width of the robotic arm 200 in the folded state, and meeting the design requirements of the robotic arm 200 having a compact structure and a small size.

[0103] Specifically, when the robotic arm 200 is in a folded state, the difference between the length of the total projection area of ​​the second articulated arm 213 and the robotic arm 240 on the horizontal plane and the length of the projection area of ​​the connecting arm 100 on the horizontal plane can be 0mm, 2mm, 4mm, 6mm, 8mm, 10mm, or any size between 0mm and 10mm.

[0104] In some possible embodiments provided by the present invention, the robotic arm 200 is configured as a foldable structure, and the difference between the width of the horizontal projection area of ​​the robotic arm 200 in the folded state and the width of the horizontal projection area of ​​the connecting arm 100 is less than or equal to 10 mm, and the difference between the length of the horizontal projection area of ​​the robotic arm 200 in the folded state and the length of the horizontal projection area of ​​the connecting arm 100 is less than or equal to 20 mm. As a result, it is possible to ensure that the overall length and width of the robotic arm 200 in the folded state are small, meeting the design requirements of the robotic arm 200 with a compact structure and a small volume. It is understandable that since the connecting arm 100 is part of the structure of the robotic arm 200, the horizontal projection area of ​​the robotic arm 200 in the folded state will be equal to or greater than the horizontal projection area of ​​the connecting arm 100, that is, the width of the horizontal projection area of ​​the robotic arm 200 in the folded state is equal to or greater than the width of the horizontal projection area of ​​the connecting arm 100, and the length of the horizontal projection area of ​​the robotic arm 200 in the folded state is equal to or greater than the length of the horizontal projection area of ​​the connecting arm 100.

[0105] Specifically, the difference between the length of the area projected on the horizontal plane of the robotic arm 200 in the folded state and the length of the area projected on the horizontal plane of the connecting arm 100 can be 0 mm, 4 mm, 8 mm, 12 mm, 16 mm, 20 mm, or any size between 0 mm and 20 mm. The difference between the width of the area projected on the horizontal plane of the robotic arm 200 in the folded state and the width of the area projected on the horizontal plane of the connecting arm 100 can be 0 mm, 2 mm, 4 mm, 6 mm, 8 mm, 10 mm, or any size between 0 mm and 10 mm.

[0106] It is understandable that if Figure 6 and Figure 7As shown, since the robotic arm 200 further includes a connecting base assembly 230 connected to the first articulated arm 212, and a manipulator 240 connected to the second articulated arm 213, when the robotic arm 200 is in a folded state, the first articulated arm 212 and the connecting base assembly 230 are located below the connecting arm 100, and the second articulated arm 213 and the manipulator 240 are located above the connecting arm 100. Taking into account the design requirements of the robotic arm 200 for a compact structure, a small size, and a thin and lightweight design, the length of the connecting arm 100 can be designed to be equivalent to the sum of the lengths of the first articulated arm 212 and the connecting base assembly 230, and the length of the connecting arm 100 can be equivalent to the sum of the lengths of the second articulated arm 213 and the manipulator 240. The term "equivalent" here can be understood as being equal, or the difference being less than or equal to a preset value, which can be any size between 0 mm and 10 mm. The widths of the connecting arm 100, the first articulated arm 212, the second articulated arm 213, the connecting seat assembly 230, and the manipulator 240 can be set to be equal, or the width of any one of the first articulated arm 212, the second articulated arm 213, the connecting seat assembly 230, and the manipulator 240 can be smaller than the width of the connecting arm 100.

[0107] 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 connecting arm (100) for a robotic arm (200), characterized in that: The mechanical arm (200) comprises an articulated arm (210), and a mechanical joint (220) corresponding to and connected to the articulated arm (210), wherein the mechanical joint (220) is mounted on the corresponding articulated arm (210) via a mounting structure, and the connecting arm (100) comprises: An arm body (110), each end of the arm body (110) having a connecting portion (120) connected to a mechanical joint (220), wherein the mechanical joint is configured to enable the connecting arm (100) and the corresponding joint arm (210) to be folded or unfolded relative to each other; The connecting portion (120) is configured to be accommodated in a corresponding accommodation space (211) provided in the articulated arm (210), and is movable in the accommodation space (211).

2. The connecting arm (100) according to claim 1, characterized in that The arm body (110) is rectangular, the connecting portion (120) is located at both ends of the length direction of the arm body (110), the connecting portion (120) protrudes from the arm body (110) along the height direction of the arm body (110), and the connecting portion (120) does not protrude from the arm body (110) along the width direction of the arm body (110).

3. The connecting arm (100) according to claim 1, characterized in that The connecting portion (120) is configured as a claw, and the claw is configured to be clamped on the output shaft of the mechanical joint (220) or release the output shaft.

4. The connecting arm (100) according to claim 3, characterized in that The clamping claw includes a first clamping portion (122) and a second clamping portion (123), wherein the first ends of the first clamping portion (122) and the second clamping portion (123) are connected, and the second ends of the first clamping portion (122) and the second clamping portion (123) can move away from or approach each other, and the second ends of the first clamping portion (122) and the second clamping portion (123) are in contact or close to each other to enclose a limiting hole (121) that matches the output shaft.

5. The connecting arm (100) according to claim 4, characterized in that The connecting arm (100) further comprises a locking member (130), wherein the locking member (130) is used to lock the second ends of the first clamping portion (122) and the second clamping portion (123).

6. The connecting arm (100) according to claim 5, characterized in that The first clamping portion (122) is provided with a connecting hole, the second clamping portion (123) is provided with a through hole (1231) at a position opposite to the connecting hole, and the locking member (130) passes through the through hole (1231) and is connected to the connecting hole.

7. The connecting arm (100) according to claim 6, characterized in that The second clamping portion (123) is provided with a recessed structure (1232) on a side of the through hole (1231) away from the connecting hole, and the locking member (130) located outside the through hole (1231) is accommodated in the recessed structure (1232).

8. The connecting arm (100) according to claim 4, characterized in that The first ends of the first clamping portion (122) and the second clamping portion (123) are hinged; or The first ends of the first clamping portion (122) and the second clamping portion (123) are fixedly connected or integrally formed, and the first clamping portion (122) and the second clamping portion (123) are configured as elastic members.

9. The connecting arm (100) according to claim 1, characterized in that The arm body (110) comprises a detachably connected base (111) and a cover (112), wherein the base (111) and the cover (112) together form a mounting cavity, and the mounting cavity is configured to accommodate at least a circuit board (140) of the robotic arm (200).

10. The connecting arm (100) according to claim 9, characterized in that A wire hole (113) communicating with the mounting cavity is provided on the base (111) and / or the cover plate (112), and the wire hole (113) is arranged near the end of the arm body (110); There are two wire-passing holes (113), and the two wire-passing holes (113) are located on the same side or different sides of the arm body (110).

11. The connecting arm (100) according to claim 9, characterized in that An inductive film is connected to the outside of the cover plate (112), and the inductive film is configured to be contacted or approached to transmit an electrical signal.

12. The connecting arm (100) according to claim 1, characterized in that The top and / or bottom of the arm body (110) is provided with an inductive film, and the inductive film is configured to be contacted or approached to transmit an electrical signal.

13. The connecting arm (100) according to claim 1, characterized in that The connecting portion (120) includes a first connecting portion (124) protruding downward along a height direction of the arm body (110), and the articulated arm (210) includes a first articulated arm (212) connected to the first connecting portion (124); When the first articulated arm (212) and the connecting arm (100) are in a folded state, the first articulated arm (212) is located below the connecting arm (100) and is arranged in close contact with the connecting arm (100).

14. The connecting arm (100) according to claim 1, characterized in that The connecting portion (120) includes a second connecting portion (125) protruding upward along the height direction of the arm body (110), and the articulated arm (210) includes a second articulated arm (213) connected to the second connecting portion (125); When the second joint arm (213) and the connecting arm (100) are in a folded state, the second joint arm (213) is located above the connecting arm (100) and is arranged in close contact with the connecting arm (100).

15. The connecting arm (100) according to claim 1, characterized in that The robotic arm (200) is configured as a foldable structure, wherein the difference between the width of a horizontal projection area of ​​the robotic arm (200) in a folded state and the width of a horizontal projection area of ​​the connecting arm (100) is less than or equal to 10 mm, and the difference between the length of a horizontal projection area of ​​the robotic arm (200) in a folded state and the length of a horizontal projection area of ​​the connecting arm (100) is less than or equal to 20 mm.

16. The connecting arm (100) according to claim 1, characterized in that At least the arm body (110) is made of aluminum alloy; and / or The arm body (110) and the connecting portion (120) are of an integrated structure or a split structure.

17. The connecting arm (100) according to claim 1, characterized in that The length of the connecting arm (100) is 190 mm to 210 mm; The width of the connecting arm (100) is 27 mm to 37 mm; The height of the connecting arm (100) is 26 mm to 36 mm; The thickness of the arm body (110) is 5.7 mm to 7.5 mm.

18. A robotic arm (200), characterized in that: include: An articulated arm (210), a mechanical joint (220), and a connecting arm (100) as claimed in any one of claims 1 to 17.

19. The robotic arm (200) according to claim 18, characterized in that Also includes: A connecting seat assembly (230) and a lifting joint (250), wherein the articulated arm (210) includes a first articulated arm (212) rotatably connected to the connecting seat assembly (230), the lifting joint (250) is installed inside the first articulated arm (212) and connected to the connecting seat assembly (230), and the lifting joint (250) is configured to drive the first articulated arm (212) to fold or unfold relative to the connecting seat assembly (230), wherein when the first articulated arm (212) and the connecting seat assembly (230) are in a folded state and the first articulated arm (212) and the connecting arm (100) are in a folded state, the horizontal projection area of ​​the first articulated arm (212) and the connecting seat assembly (230) does not exceed the horizontal projection area of ​​the connecting arm (100) in the width direction, and the difference between the horizontal projection area of ​​the first articulated arm (212) and the connecting seat assembly (230) and the horizontal projection area of ​​the connecting arm (100) in the length direction is less than or equal to 10 mm.

20. The robotic arm (200) according to claim 18, characterized in that Also includes: A manipulator (240), wherein the articulated arm (210) includes a second articulated arm (213) connected to the manipulator (240), and the manipulator (240) is connected to an end of the second articulated arm (213) away from the connecting arm (100), wherein when the entire manipulator (200) is in a folded state, the horizontal projection area of ​​the second articulated arm (213) and the manipulator (240) does not exceed the horizontal projection area of ​​the connecting arm (100) in the width direction, and the difference between the horizontal projection area of ​​the second articulated arm (213) and the manipulator (240) and the horizontal projection area of ​​the connecting arm (100) in the length direction is less than or equal to 10 mm.

21. A cleaning device, characterized in that: include: The robotic arm (200) according to any one of claims 18 to 20.

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