Connecting seat assembly, mechanical arm and cleaning equipment

Abstract

The utility model discloses a connecting seat assembly, a mechanical arm and cleaning equipment. The connecting seat assembly comprises a bottom plate, a mounting seat, a rotating seat, a rotating joint and a mounting structure, the mounting seat and the rotating seat are connected to the same side of the bottom plate, the mounting seat is connected to the bottom plate through the mounting structure and provided with a connecting channel, and the rotating joint is mounted in the mounting seat and is in power connection with the rotating seat through the connecting channel. The rotating joint is used for driving the rotating seat to rotate relative to the bottom plate. Therefore, the rotary joint and the rotary seat can be compactly arranged, the distance between the rotary seat and the rotary joint can be reduced, and the whole connecting seat assembly is compact in structure and small in size.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of smart home, especially to a connecting seat assembly, a mechanical arm and a cleaning device. BACKGROUND

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, self-moving cleaning devices, such as intelligent sweeping robots, have continuously entered our daily life. In order to better realize the cleaning function, the current self-moving cleaning device will add a mechanical arm to realize the grabbing or moving of obstacles, articles and garbage. However, the overall volume of the mechanical arm is large, which makes the volume of the cleaning device large, and it is not convenient to move and store. SUMMARY

[0003] A series of simplified concepts are introduced in the summary part of the utility model, which will be further described in detail in the specific embodiment part. This part of the utility model does not mean to try to limit the key features and necessary technical features of the claimed technical solution, and even less means to determine the protection scope of the claimed technical solution.

[0004] The embodiment of the first aspect of the utility model provides a connecting seat assembly for a mechanical arm, the connecting seat assembly comprising: a bottom plate, a mounting seat, a rotating seat, a rotating joint and a mounting structure, the mounting seat and the rotating seat are connected to the same side of the bottom plate, the mounting seat is connected to the bottom plate through the mounting structure, the mounting seat is provided with a connecting channel, the rotating joint is installed in the interior of the mounting seat and is power connected with the rotating seat through the connecting channel, and the rotating joint is used to drive the rotating seat to rotate relative to the bottom plate.

[0005] Further, the mounting seat is further provided with an avoiding hole in communication with the connecting channel, the rotating seat extends to the outside of the mounting seat through the avoiding hole, and the rotating joint is power connected with the rotating seat in the avoiding hole through the connecting channel.

[0006] Further, the avoiding hole is arranged close to the end of the mounting seat, and the connecting channel is in communication with or coincides with the side of the avoiding hole close to the middle of the mounting seat.

[0007] Further, the mounting seat comprises a first seat body and a second seat body between the first seat body and the bottom plate, the second seat body comprises a first part close to the middle of the bottom plate and a second part close to the end of the bottom plate, the first part is provided with the avoiding hole, and the connecting channel is arranged at the connecting position of the first part and the second part.

[0008] Further, the second part and the first seat body jointly form a first mounting cavity, the second seat body and the bottom plate jointly form a second mounting cavity, and the rotating joint is distributed in the first mounting cavity and the second mounting cavity.

[0009] Further, a recessed gap is formed between the top end of the first part and the top end of the first seat body, and the at least partial rotation seat is located in the recessed gap; and / or the top end of the first part is located below the top end of the second part.

[0010] Further, the rotation seat is provided with a first matching part and a second matching part, the mechanical arm comprises a support arm connected with the rotation seat, the support arm is rotationally connected with the rotation seat through the first matching part, the mechanical arm further comprises a lifting joint mounted on the support arm, the lifting joint is rotationally connected with the rotation seat through the second matching part, and the lifting joint is used to drive the support arm to lift or drop relative to the rotation seat to unfold or fold relative to the bottom plate.

[0011] Further, the connecting seat assembly further comprises a buffer and / or a support column, which are arranged on the bottom plate and located outside the mounting seat, and the buffer and / or the support column are configured to be in contact with the support arm when the support arm is in the folded state; wherein at least one of the buffer and / or the support column is configured to be in contact with the vicinity of the end of the support arm away from the rotation seat.

[0012] Further, the connecting seat assembly further comprises a lifting trigger and a lifting switch body, one of the lifting trigger and the lifting switch body is arranged on the bottom plate and located outside the mounting seat, and the other is located on the side of the support arm facing the bottom plate, and the lifting joint is configured to stop working when the lifting trigger triggers the lifting switch body.

[0013] Further, the bottom plate is in a strip shape, the length of the bottom plate is 145mm to 165mm, the width of the bottom plate is 20mm to 40mm, and the thickness of the bottom plate is 1.5mm to 4.8mm; and / or the top of the rotation seat is lower than the top of the mounting seat.

[0014] Further, the side of the first seat body away from the second seat body is provided with a recessed structure, the mechanical arm is arranged in a foldable structure, and the recessed structure is used to avoid part of the structure of the mechanical arm when the mechanical arm is in the folded state.

[0015] Further, the recessed structure is located at the end of the first seat body away from the rotation seat, and at least part of the end of the mechanical arm in the folded state is located in the recessed structure.

[0016] Further, the rotation joint comprises a driving part and a transmission part, the driving part is mounted in the first mounting cavity, the transmission part is located in the second mounting cavity, and the driving part is connected with the transmission part through the second seat body.

[0017] Further, the connecting seat assembly further comprises a circuit board, the circuit board is mounted in the first mounting cavity and electrically connected with the driving part, and the circuit board and the avoiding hole are located on both sides of the driving part.

[0018] Further, the rotary joint further comprises a rotary limit switch mounted on the mounting seat, and the circuit board is electrically connected with the rotary limit switch to control the driving part to rotate or stop rotating according to a triggering state of the rotary limit switch.

[0019] Further, the rotary limit switch is mounted in the second mounting cavity, the second seat body is provided with a wire passing groove, and the rotary limit switch is electrically connected with the circuit board through the wire passing groove.

[0020] Further, the rotary limit switch comprises a rotary switch body and a rotary trigger, the second seat body is provided with a clamping groove on a side facing the bottom plate, the rotary trigger is movably clamped in the clamping groove, the rotary trigger comprises a first end and a second end, the first end is arranged adjacent to the rotary switch body, and the second end extends into the avoiding hole, a convex portion is arranged on a circumferential side of the rotary seat, the convex portion is configured to abut against the second end to make the first end contact the rotary switch body to trigger the rotary switch body.

[0021] Further, at least the first end of the rotary trigger is configured as an elastic piece, the first end is provided with a first annular structure, the first annular structure is movably limited in the clamping groove, a working portion protruding outward along an axial direction of the first annular structure is arranged on a side of the first annular structure close to the second end, and the rotary switch body and the first annular structure are arranged adjacent to each other on a side away from the second end; wherein the second end is configured to be stressed to make the working portion move in a direction close to the rotary switch body and accumulate elastic potential energy, and the first annular structure releases the elastic potential energy to make the working portion move in a direction away from the rotary switch body.

[0022] Further, the rotary trigger further comprises a limiting recess between the first end and the second end, and a positioning protrusion is arranged in the clamping groove, the limiting recess is sleeved on the positioning protrusion and is movable relative to the positioning protrusion.

[0023] Further, the transmission part comprises a gear, and at least a part of a circumferential side of the rotary seat is provided with a tooth portion meshing with the gear.

[0024] Further, the connecting seat assembly further comprises a rolling assembly, the rotary seat and the bottom plate are rolling connected through the rolling assembly, and the rolling assembly comprises a ball or a needle.

[0025] The second aspect of the embodiment of the utility model provides a kind of mechanical arm, including the connecting seat assembly of any one of preceding description.

[0026] The third aspect of the embodiment of the utility model provides a kind of cleaning equipment, including the mechanical arm of any one of preceding description.

[0027] The connecting seat assembly, the mechanical arm and the cleaning equipment provided by the embodiment of the utility model, the connecting seat assembly includes bottom plate, mounting seat, rotating seat and rotating joint, the mounting seat and the rotating seat are connected to the same side of the bottom plate, so that the other side of the bottom plate is convenient for connecting with the equipment body of the cleaning equipment, the rotating joint located in the mounting seat is power connected with the rotating seat through the connecting channel, so that the rotating joint can drive the rotating seat to rotate relative to the bottom plate, to drive the supporting arm connected with the rotating seat to rotate relative to the bottom plate, and then adjust the angle of the mechanical arm, and increase the movement range of the mechanical arm.

[0028] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, which can be implemented according to the content of the specification, and in order to let the above and other purposes, characteristics and advantages of the utility model can be more obvious and easy to understand, the following specific embodiments of the utility model are described. BRIEF DESCRIPTION OF DRAWINGS

[0029] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present utility model. Furthermore, the same reference numerals are used throughout the several drawings to denote similar parts. Among them:

[0030] Figure 1 The structure schematic diagram of the first visual angle of the connecting seat assembly provided by the embodiment of the utility model is shown;

[0031] Figure 2 The structure schematic diagram of the second visual angle of the connecting seat assembly provided by the embodiment of the utility model is shown;

[0032] Figure 3 The structure schematic diagram of the third visual angle of the connecting seat assembly provided by the embodiment of the utility model is shown;

[0033] Figure 4 The explosion schematic diagram of one visual angle of the connecting seat assembly provided by the embodiment of the utility model is shown;

[0034] Figure 5 The structure schematic diagram of the fourth visual angle of the connecting seat assembly provided by the embodiment of the utility model is shown;

[0035] Figure 6A-A direction cross-sectional view of the embodiment shown Figure 5 A-A direction cross-sectional view of the embodiment shown

[0036] Figure 7 A-A direction cross-sectional view of the embodiment shown

[0037] Figure 8 A-A direction cross-sectional view of the embodiment shown

[0038] Figure 9 A-A direction cross-sectional view of the embodiment shown

[0039] Figure 10 A-A direction cross-sectional view of the embodiment shown

[0040] Figure 11 A-A direction cross-sectional view of the embodiment shown

[0041] Figure 12 A-A direction cross-sectional view of the embodiment shown

[0042] Figure 13 A-A direction cross-sectional view of the embodiment shown

[0043] Figure 14 A-A direction cross-sectional view of the embodiment shown

[0044] Figure 15 A-A direction cross-sectional view of the embodiment shown

[0045] Explanation of reference signs

[0046] 100 connecting seat assembly, 110 bottom plate, 111 connecting part, 112 second accommodating groove, 120 mounting seat, 121 avoiding hole, 122 first seat body, 1221 recess structure, 123 second seat body, 1231 clamping groove, 1232 positioning protrusion, 1233 wire passing groove, 1234 first part, 1235 second part, 1236 recess gap, 127 connecting channel, 130 rotating seat, 131 first matching part, 132 second matching part, 133 protruding part, 134 tooth part, 135 circular table, 136 table top, 137 first accommodating groove, 140 rotating joint, 141 driving part, 1411 motor, 1412 speed reduction gear box, 142 transmission part, 143 rotating limit switch, 144 rotating switch body, 145 rotating trigger piece, 1451 first end, 1452 second end, 1453 limit recess, 1454 acting part, 1455 first annular structure, 150 buffer piece, 160 supporting column, 170 lifting trigger piece, 180 circuit board, 190 rolling assembly, 191 first rolling assembly, 192 second rolling assembly, 193 compression gasket, 194 pre-tightening gasket, 195 adjusting bolt, 200 mechanical arm, 210 supporting arm, 211 lifting switch body, 220 lifting joint, 230 connecting arm, 240 working arm, 250 mechanical hand, 260 lifting joint, 261 motor, 2611 cylindrical boss, 262 lead screw, 263 hinged shaft. DETAILED DESCRIPTION

[0047] In the following description, numerous specific details are given to provide a thorough understanding of the technology provided by the present application. However, it will be apparent that the technology provided by the present application can be practiced without one or more of these specific details. In some instances, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the present application.

[0048] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments consistent with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0049] In the following description, numerous specific details are given to provide a thorough understanding of the technology provided by the present application. However, it will be apparent that the technology provided by the present application can be practiced without one or more of these specific details. In some instances, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the present application.

[0050] As Figures 1 to 15 shown, the embodiment of the utility model provides a kind of connecting seat assembly 100, mechanical arm 200 and cleaning equipment. Among them, connecting seat assembly 100 is applied to mechanical arm 200, mechanical arm 200 is applied to cleaning equipment, and cleaning equipment can be floor cleaning robot, sweep and mop integrated machine or other self-moving cleaning equipment satisfying requirement.

[0051] Specifically, cleaning equipment includes but is not limited to: equipment body, cleaning system, driving system, sensing system, control system, energy system and man-machine interaction system etc.Each system described above is coordinated with each other, so that cleaning equipment can be autonomously moved to realize cleaning function.Functional elements etc. constituting the above each system in cleaning equipment are integrally arranged in equipment body.

[0052] Among them, as Figure 11 、 Figure 13 shown, connecting seat assembly 100 is applied to mechanical arm 200, and mechanical arm 200 is applied to cleaning equipment, such as the connection of mechanical arm 200 and the equipment body of cleaning equipment, to realize the grabbing or moving of obstacle, article, garbage near cleaning equipment, to better realize autonomous cleaning function.

[0053] Among them, as Figure 11 、 Figure 13 shown, mechanical arm 200 can also include but is not limited to support arm 210, connecting arm 230, working arm 240, mechanical hand 250 connected in sequence, and the end of support arm 210 away from connecting arm 230 is connected with connecting seat assembly 100, whereby, the whole mechanical arm 200 is supported by connecting seat assembly 100, and mechanical hand 250 realizes the grabbing and moving of obstacle, article around cleaning equipment.

[0054] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 8 shown, the embodiment of the utility model provides a kind of connecting seat assembly 100, including: bottom plate 110, mounting seat 120, rotating seat 130, rotating joint 140 and mounting structure, mounting seat 120 and rotating seat 130 are connected on the same side of bottom plate 110, mounting seat 120 is connected to bottom plate 110 by mounting structure, mounting seat 120 is provided with connecting channel 127, rotating joint 140 is installed in the interior of mounting seat 120, and is power connected with rotating seat 130 by connecting channel 127, and rotating joint 140 is used to drive rotating seat 130 relative to bottom plate 110 rotation.

[0055] The connecting seat assembly 100 provided by the embodiment is connected to the same side of the bottom plate 110 as the mounting seat 120 and the rotating seat 130, so that the other side of the bottom plate 110 is convenient to be connected with the device body of the cleaning device, so as to install the whole mechanical arm 200 on the device body, so that the movement of the device body can drive the synchronous movement of the mechanical arm 200, that is, the bottom plate 110 can be understood as a support carrier of the whole mechanical arm 200, and is also a carrier for connecting the mechanical arm 200 with the device body.

[0056] The rotating joint 140 is located in the mounting seat 120, and the mounting seat 120 plays a good protection role on the rotating joint 140, reduces the possibility that the rotating joint 140 is directly exposed to the external environment and is easily polluted by dust and dirty liquid, is beneficial to prolong the service life of the rotating joint 140, and further improves the overall service life of the mechanical arm 200.

[0057] The rotating joint 140 located in the mounting seat 120 is power-connected with the rotating seat 130 through the connecting channel 127. In order to ensure that the rotating seat 130 is smoothly power-connected with the rotating joint 140 located in the mounting seat 120, the rotating seat 130 needs to be arranged adjacent to the mounting seat 120, so that the distance between the rotating seat 130 and the rotating joint 140 can be reduced, the layout of the rotating joint 140 and the rotating seat 130 is compact, the whole connecting seat assembly 100 is compact in structure and small in size, the design requirement that the mechanical arm 200 is compact in structure and small in size can be met, the requirement that the cleaning device is convenient to move and store can be met, and the use range is expanded.

[0058] Further, the mounting seat 120 is connected to the bottom plate 110 through a mounting structure. The mounting structure can realize detachable connection of the mounting seat 120 and the bottom plate 110, so as to facilitate disassembly and assembly of the rotating joint 140 in the mounting seat 120, and is beneficial to improve the maintenance efficiency of the rotating joint 140. Specifically, the mounting structure can be at least one of a bolt structure, a clamping structure, a mortise and tenon structure, a plug-in structure and a magnetic attraction structure. Alternatively, the mounting structure can realize fixed connection of the mounting seat 120 and the bottom plate 110, so as to improve the reliability and stability of the connection of the mounting seat 120 and the bottom plate 110. Specifically, the mounting structure can be an adhesive, a welding material or the like.

[0059] The mounting seat 120 and the rotating seat 130 are connected to the same side of the bottom plate 110, and can be understood as being arranged side by side on the top of the bottom plate 110. Therefore, the connecting channel 127 can be arranged on the side of the mounting seat 120, that is, the connecting channel 127 is arranged in the vertical direction, facilitating the power connection between the rotating joint 140 in the mounting seat 120 and the rotating seat 130 through the connecting channel 127 on the side.

[0060] The mounting seat 120 and the rotating seat 130 are connected to the same side of the bottom plate 110, and can be understood as being arranged side by side on the top of the bottom plate 110. Therefore, the connecting channel 127 can be arranged on the side of the mounting seat 120, that is, the connecting channel 127 is arranged in the vertical direction, facilitating the power connection between the rotating joint 140 in the mounting seat 120 and the rotating seat 130 through the connecting channel 127 on the side.

[0061] Further, as shown in Figure 4 The rotating seat 130 is rotatably connected to the bottom plate 110, and the connecting seat assembly 100 further comprises a rolling assembly 190. The rotating seat 130 is rotatably connected to the bottom plate 110 through the rolling assembly 190. Therefore, the rotating seat 130 can rotate smoothly and flexibly relative to the bottom plate 110. Specifically, the rolling assembly 190 is arranged to rotatably connect the rotating seat 130 to the bottom plate 110. Therefore, the rolling assembly 190 can bear axial load, which is beneficial to improve the reliability of the product. The specific structure of the rolling assembly 190 will be described in detail later.

[0062] As shown in Figure 1 、 Figure 4 、 Figure 8 In some possible embodiments of the present application, the mounting seat 120 is further provided with an avoiding hole 121 communicating with the connecting channel 127. The rotating seat 130 extends to the outside of the mounting seat 120 through the avoiding hole 121. The rotating joint 140 is power connected to the rotating seat 130 in the avoiding hole 121 through the connecting channel 127.

[0063] In the present embodiment, the avoiding hole 121 is arranged on the mounting seat 120. The rotating seat 130 extends to the outside of the mounting seat 120 through the avoiding hole 121, so that the rotating seat 130 can be smoothly connected to the support arm 210 of the mechanical arm 200. The rotating joint 140 in the mounting seat 120 is power connected to the rotating seat 130 in the avoiding hole 121 through the connecting channel 127. The rotating joint 140 can drive the rotating seat 130 to rotate relative to the bottom plate 110, so as to drive the support arm 210 connected to the rotating seat 130 to rotate relative to the bottom plate 110, as shown in Figure 12As shown, after the support arm 210 rotates relative to the base plate 110, the connecting arm 230, the working arm 240 and the manipulator 250 connected with the support arm 210 can be rotated as a whole relative to the base plate 110, thereby adjusting the angle of the mechanical arm 200, adjusting the position of the manipulator 250, increasing the movement range of the mechanical arm 200, improving the cleaning range of the cleaning equipment, and expanding the use range of the product.

[0064] In the embodiment, the connecting channel 127 and the avoiding hole 121 are arranged to provide a mounting position and a mounting space for the rotary joint 140, and at the same time, the mounting seat 120 provides an avoiding space for the rotary seat 130, and can ensure smooth power connection between the rotary joint 140 and the rotary seat 130, thereby reducing the distance between the rotary seat 130 and the rotary joint 140, making the rotary joint 140 and the rotary seat 130 compact in layout, making the whole connecting seat assembly 100 compact in structure and small in size, thereby meeting the design requirements of the compact structure and small size of the mechanical arm 200, meeting the requirements of the cleaning equipment for easy movement and storage, and expanding the use range.

[0065] At the same time, since the rotary seat 130 is arranged in the avoiding hole 121 of the mounting seat 120, the rotary joint 140 is power connected with the rotary seat 130 located in the avoiding hole 121, thereby the mounting seat 120 also plays a certain protective role for part of the rotary seat 130, which is beneficial to prolong the service life of the rotary seat 130 compared with the direct exposure of the rotary seat 130 to the external environment and the power connection with the rotary joint 140, thereby improving the overall service life of the mechanical arm 200. It can be understood that in other examples, the rotary seat 130 can be located outside the mounting seat 120, that is, the avoiding hole 121 is simplified, and at this time, the rotary seat 130 is arranged adjacent to the connecting channel 127 of the mounting seat 120, which can also meet the design requirements of the compact structure and small size of the connecting seat assembly 100.

[0066] In the above embodiment, the avoiding hole 121 is arranged close to the end of the mounting seat 120, and the connecting channel 127 is communicated with or coincides with the side close to the middle of the mounting seat 120. In this way, the rotary joint 140 located inside the mounting seat 120 can be smoothly power connected with the rotary seat 130 through the connecting channel 127, and the rotary seat 130 passing through the avoiding hole 121 and the rotary joint 140 located inside the mounting seat 120 can be arranged relatively compactly, so that the whole connecting seat assembly 100 is compact in structure and small in size.

[0067] In this case, it can be understood that the connecting channel 127 is communicated with the hole wall of the avoiding hole 121, and the connecting channel 127 can have a certain length. Alternatively, as shown in FIG. 6, the connecting channel 127 can be coincident with the avoiding hole 121, that is, the connecting channel 127 is coincident with the hole wall of the avoiding hole 121. Figure 8As shown, the connecting channel 127 can coincide with the side of the avoidance hole 121 close to the middle of the mounting seat 120. In this case, the side of the avoidance hole 121 close to the middle of the mounting seat 120 can be understood as the connecting channel 127. The connecting channel 127 can have no length, that is, a part of the avoidance hole 121 forms the connecting channel 127. Thus, the structure of the connecting seat 120 can be simplified, and the distance between the rotating seat 130 and the rotating joint 140 can be further reduced, so that the rotating joint 140 and the rotating seat 130 are compactly arranged, so that the entire connecting seat assembly 100 has a compact structure and a small volume.

[0068] like Figure 4 As shown, in some possible embodiments provided by the present invention, a connecting portion 111 is provided on the base plate 110, and the other side of the base plate 110 can be connected to the equipment body of the cleaning equipment through the connecting portion 111, so that the entire robot arm 200 is installed on the equipment body, so that the robot arm 200 can move with the equipment body. Specifically, the connecting portion 111 on the base plate 110 can be at least one of a hole structure, a groove structure, a protrusion structure, and a groove structure. For example, the connecting portion 111 on the base plate 110 can be a threaded hole, a through hole, a limiting groove, a limiting protrusion, etc. It can be understood that there can be multiple connecting portions 111 on the base plate 110. Thus, the connection between the base plate 110 and the equipment body can be achieved by at least one of a bolt structure, a clamping structure, and a plug-in structure, and the connecting seat assembly 100 is installed on the equipment body to achieve the connection between the entire robot arm 200 and the equipment body.

[0069] like Figure 1 、 Figure 2 、 Figure 4 、 Figure 8 As shown, in some possible embodiments provided by the present invention, the mounting base 120 includes a first base body 122 and a second base body 123 located between the first base body 122 and the base plate 110. That is, the base plate 110, the second base body 123, and the first base body 122 are arranged in sequence from bottom to top, and the up and down directions can be as follows: Figure 2 As shown by arrow Z in FIG. The second base body 123 includes a first portion 1234 and a second portion 1235. The first portion 1234 is located near the middle of the base plate 110, and the second portion 1235 is located near the end of the base plate 110. The first portion 1234 is provided with an escape hole 121, and an escape channel 127 is provided at the connection between the first portion 1234 and the second portion 1235. The second portion 1235 and the first base body 122 together form a first installation cavity, and the second base body 123 and the base plate 110 together form a second installation cavity. The rotary joints 140 are distributed within the first and second installation cavities.

[0070] In the embodiment, the first part 1234 of the second seat body 123 is close to the middle of the bottom plate 110, the second part 1235 is close to the end of the bottom plate 110, and the avoiding hole 121 is arranged on the first part 1234, so that the avoiding hole 121 can be arranged close to the middle of the bottom plate 110, that is, the rotating seat 130 can be arranged close to the middle of the bottom plate 110, so that the support arm 210 connected with the rotating seat 130 can be arranged as close to the middle of the bottom plate 110 as possible, and the support arm 210 and the rotating joint 140 can be distributed on both sides of the bottom plate 110 with the center of the bottom plate 110 as the center, so as to meet the design requirements of compact structure and small volume of the mechanical arm 200.

[0071] Meanwhile, the first part 1234 is provided with the avoiding hole 121, and the connecting channel 127 is arranged at the connecting position of the first part 1234 and the second part 1235, that is, the connecting channel 127 is located in the interior of the second seat body 123, so that the part for power connection between the rotating joint 140 and the rotating seat 130 is located in the interior of the second seat body, which can protect the part for power connection between the rotating joint 140 and the rotating seat 130, and is beneficial to improve the reliability and accuracy of the power connection between the rotating joint 140 and the rotating seat 130 and improve the operation accuracy of the mechanical arm 200.

[0072] Meanwhile, the second part 1235 and the first seat body 122 jointly form a first mounting cavity, the second seat body 123 and the bottom plate 110 jointly form a second mounting cavity, and the rotating joint 140 is distributed in the first mounting cavity and the second mounting cavity, so that the bottom plate 110 can connect and support the mounting seat 120, and the bottom plate 110 can also seal the end of the second seat body 123 away from the first seat body 122, so that the sealing plate arranged at the end of the second seat body 123 away from the first seat body 122 can be simplified, the structure is simplified, the manufacturing cost of the mechanical arm 200 is reduced, the weight of the mechanical arm 200 is reduced, the design requirements of light weight are met, the overall height of the mounting seat 120 can be greatly reduced, the mounting seat 120, the bottom plate 110 and the rotating joint 140 are arranged compactly, the design requirements of compact structure, small volume and light weight of the connecting seat assembly 100 are met, the overall height of the mechanical arm 200 in the folded state is reduced, the mechanical arm 200 is convenient to store, and the design requirements of compact structure and small volume of the cleaning equipment are met.

[0073] In the embodiment, the bottom plate 110 supporting the mechanical arm 200, the rotating seat 130 connected with the support arm 210 of the mechanical arm 200, and the rotating joint 140 driving the rotating seat 130 to rotate are integrated into the connecting seat assembly 100. The mounting seat 120 and the bottom plate 110 are matched to realize the mounting and accommodation of the rotating joint 140, and at the same time, the mounting and avoidance of the rotating seat 130, so that the bottom plate 110, the rotating seat 130, the rotating joint 140, and the mounting seat 120 are arranged compactly and have a small volume, and further, the connecting seat assembly 100 has a compact structure and a small volume, which can meet the design requirements of the compact structure, the small volume, and the light and thin design of the mechanical arm 200. At the same time, the support of the mechanical arm 200 and the rotating function of the support arm 210 are integrated on the connecting seat assembly 100, and the diversification of the functions of the connecting seat assembly 100 is realized.

[0074] As shown in Figure 4 , further, the first seat body 122 and the second seat body 123 can be detachably connected through at least one of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure, and a magnetic attraction structure, to facilitate the disassembly and maintenance of the rotating joint 140.

[0075] Further, the second seat body 123 and the bottom plate 110 can be detachably connected through at least one of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure, and a magnetic attraction structure, to facilitate the disassembly and maintenance of the rotating joint 140 and the rotating seat 130.

[0076] In the above embodiment, as shown in Figure 9 , a recessed gap 1236 is formed between the top end of the first part 1234 of the second seat body 123 and the top end of the first seat body 122, and the avoidance hole 121 is located on the second seat body 123, so that the recessed gap 1236 provides a placement space for the rotating seat 130 extending to the outside of the mounting seat 120 through the avoidance hole 121, and at least part of the rotating seat 130 is located in the recessed gap 1236. Therefore, part of the rotating seat 130 can be embedded in the avoidance hole 121 of the mounting seat 120, and the other part of the rotating seat 130 is accommodated in the recessed gap 1236 formed between the top end of the first part 1234 and the top end of the first seat body 122, and further, the rotating seat 130 and the mounting seat 120 are arranged compactly, and the connecting seat assembly 100 has a compact structure and a small volume, to meet the design requirements of the compact structure and the small volume of the mechanical arm 200.

[0077] In the above embodiment, as shown in Figure 9As shown, the top end of the first part 1234 of the second seat body 123 is below the top end of the second part 1235, that is, the top end of the second seat body 123 itself is a stepped structure formed by the first part 1234 and the second part 1235, and the top end of the first part 1234 is lower than the top end of the second part 1235, thereby forming a recessed gap 1236, and the relief hole 121 on the first part 1234 is below the recessed gap 1236. Such arrangement makes the height of the relief hole 121 lower than the height of the second part 1235 of the second seat body 123, that is, the height of the rotating seat 130 in the relief hole 121 can be lower. Therefore, it can be ensured that the rotating seat 130 can pass through the relief hole 121 and be connected with the support arm 210 at a smaller height, and the overall height of the rotating seat 130 can be reduced as much as possible to reduce the overall height of the mechanical arm 200, thereby meeting the design requirements of compact structure, small volume and thinness of the mechanical arm 200.

[0078] As shown in Figure 4 , Figure 10 , Figure 11 , Figure 12 , Figure 14 and Figure 15 , in some possible embodiments provided by the utility model, the rotating seat 130 is provided with a first matching part 131 and a second matching part 132, the support arm 210 is rotationally connected with the rotating seat 130 through the first matching part 131, and the mechanical arm 200 further includes a lifting joint 260 mounted on the support arm 210, the lifting joint 260 is rotationally connected with the rotating seat 130 through the second matching part 132, and the lifting joint 260 is used to drive the support arm 210 to lift or descend relative to the rotating seat 130 to fold or unfold relative to the bottom plate 110.

[0079] That is, by arranging the first matching part 131 and the second matching part 132 on the rotating seat 130 and cooperating with the support arm 210 and the lifting joint 260 on the support arm 210, the rotating movement of the support arm 210 relative to the bottom plate 110 and the folding and unfolding movement of the support arm 210 relative to the bottom plate 110 can be realized, the movement range of the support arm 210 can be increased, and the movement range of the entire mechanical arm 200 can be increased. At the same time, the function of the rotating seat 130 is diversified, the cooperation with the support arm 210 can be realized, and the cooperation with the lifting joint 260 can also be realized, so that the support arm 210, the rotating seat 130 and the lifting joint 260 are arranged compactly, and the design requirements of compact structure and small volume of the mechanical arm 200 can be met.

[0080] Further, the lifting joint 260 is installed on the support arm 210, and a compact layout of the lifting joint 260 and the support arm 210 can be achieved. In this way, the lifting joint 260 is installed inside the support arm 210, which is conducive to protecting the lifting joint 260 by the support arm 210 and prolonging the service life of the lifting joint 260.

[0081] Specifically, as shown in Figure 10 and Figure 15 , the rotating seat 130 is provided with a first matching part 131, which can be a shaft hole. The end of the support arm 210 is connected with a hinge shaft 263 through a bearing, so that the support arm 210 can swing relative to the hinge shaft 263. The hinge shaft 263 is installed in the shaft hole, so that the support arm 210 can be connected with the rotating seat 130 in rotation, and the hinge of the support arm 210 and the rotating seat 130 is achieved. Specifically, the second matching part 132 can be a guide nut hinged on the rotating seat 130. The output shaft of the motor 261 of the lifting joint 260 is connected with the guide nut in screw thread, so that the lifting joint 260 is connected with the rotating seat 130 in rotation. In this way, the rotating seat 130 rotates relative to the bottom plate 110 under the drive of the rotating joint, which can drive the support arm 210 and the lifting joint 260 to rotate synchronously relative to the bottom plate 110, and further drive the connecting arm 230, the working arm 240 and the manipulator 250 connected with the support arm 210 to rotate synchronously.

[0082] Specifically, as shown in Figure 15 , the shell of the motor 261 of the lifting joint 260 can be hinged on the support arm 210. For example, the shell of the motor 261 is connected with a motor seat, and the two ends of the motor seat are provided with cylindrical bosses 2611. The inner wall of the support arm 210 is provided with a circular groove, and the cylindrical bosses 2611 are accommodated in the circular groove and can rotate relative to the circular groove. In this way, the shell of the motor 261 is hinged with the support arm 210. The output shaft of the motor 261 of the lifting joint 260 is connected with the guide nut on the rotating seat 130 in screw thread. The guide nut is hinged with the rotating seat 130. The support arm 210 is hinged with the rotating seat 130 through the hinge shaft 263. In this way, an active triangle structure is formed, and the three vertices of the active triangle are the hinge points N of the guide nut and the rotating seat 130, the hinge point O of the support arm 210 and the rotating seat 130, and the hinge point M of the shell of the motor 261 and the support arm 210. When the output shaft of the motor 261 of the lifting joint 260 rotates, the guide nut and the guide nut are driven to move relative to each other, which can make the support arm 210 lift or fall relative to the rotating seat 130, and the structure is simple.

[0083] Specifically, as shown in Figure 15As shown, the hinge point O of the support arm 210 and the rotating seat 130 can be understood as the first matching part 131, O is provided on the rotating seat 130, the hinge point N of the guide nut and the rotating seat 130 is also provided on the rotating seat 130, and thus the distance ON between O and N is constant. Similarly, the hinge point M of the shell of the motor 261 and the support arm 210 is provided on the support arm 210, and thus the distance OM between O and M is constant. When the rotating seat 130 is stationary, only the distance between MN needs to be adjusted to achieve the lifting and landing of the support arm 210 relative to the rotating seat 130. Since the lead screw 262 is connected to the guide nut through the threaded structure, when the motor drives the lead screw 262 to rotate, it will make the guide nut away from or close to the motor, that is, change the distance MN between the hinge point N of the guide nut and the rotating seat 130 and the hinge point M of the shell of the motor 261 and the support arm 210. Thus, by driving the relative movement of the lead screw 262 and the guide nut through the motor 231, the lifting and landing of the support arm 210 relative to the rotating seat 130 can be achieved, which is simple in structure and convenient to operate.

[0084] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 12 and Figure 13 As shown in some possible embodiments provided by the utility model, the connecting seat assembly 100 further comprises: a buffer 150, the buffer 150 is arranged on the side of the bottom plate 110 facing the mounting seat 120 and located outside the mounting seat 120, and the buffer 150 is configured to be in contact with the support arm 210 when the support arm 210 is in the folded state. Thus, through the buffer 150, the buffering and supporting effects on the support arm 210 in the folded state can be achieved, so that the support arm 210 can achieve soft landing during the folding process relative to the bottom plate 110, and the problem of shaking or damage caused by direct collision between the support arm 210 and the bottom plate 110 during the folding process relative to the bottom plate 110 can be reduced or avoided, which is beneficial to improve the stability of the mechanical arm 200, prolong the service life of the support arm 210, and further improve the overall reliability of the mechanical arm 200.

[0085] Specifically, the buffer 150 is arranged as an elastic member, for example, the buffer 150 is a rubber pad, or the side of the buffer 150 facing the support arm 210 is arranged as a rubber pad, and the rubber pad has elasticity to achieve the buffering and protecting effects on the support arm 210. The buffer 150 and the bottom plate 110 can be a split structure, and the buffer 150 can be installed on the bottom plate 110 through at least one of a bolt structure, a plug-in structure, a clamping structure, a mortise and tenon structure, and an adhesive.

[0086] The number of the buffer members 150 can be one or more, and the plurality of buffer members 150 can be arranged at intervals along the length direction of the bottom plate 110, as indicated by the arrow X in Figure 2 and Figure 3 .

[0087] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 12 and Figure 13 , in some possible implementation examples provided by the utility model, the connecting seat assembly 100 further comprises a support column 160, which is arranged on the side of the bottom plate 110 facing the mounting seat 120 and located outside the mounting seat 120, and the support column 160 is configured to be in contact with the support arm 210 when the support arm 210 is in the folded state. Thus, through the support column 160, the support of the support arm 210 in the folded state can be realized, so that the support arm 210 can be reliably and stably supported on the support column 160 after being folded relative to the bottom plate 110, so as to improve the stability of the support arm 210 in the folded state and reduce the possibility of shaking of the support arm 210.

[0088] Specifically, the support column 160 and the bottom plate 110 can be an integral structure, for example, the support column 160 and the bottom plate 110 can be integrally formed. Alternatively, the support column 160 and the bottom plate 110 are a split structure, and the support column 160 can be mounted on the bottom plate 110 through at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic attraction structure. In this case, the support column 160 can also be an elastic member to realize the buffering protection effect on the support arm 210.

[0089] The number of the support column 160 can be one or more, and the plurality of support columns 160 can be arranged at intervals along the length direction of the bottom plate 110.

[0090] It can be understood that the connecting seat assembly 100 can be provided with only the buffer 150, or the connecting seat can be provided with only the support column 160, or the connecting seat assembly 100 can be provided with both the buffer 150 and the support column 160. Among them, when the connecting seat assembly 100 simultaneously includes the support column 160 and the buffer 150, the support column 160 and the buffer 150 can be arranged at intervals along the length direction of the bottom plate 110. Among them, the buffer 150 can be located on the side of the support column 160 close to the rotating seat 130. Since the support arm 210 gradually fits the bottom plate 110 from the end close to the rotating seat 130 to the end away from the rotating seat 130 in the folding process relative to the bottom plate 110, by locating the buffer 150 on the side of the support column 160 close to the rotating seat 130, the support arm 210 first contacts the buffer 150 to achieve soft landing and then contacts the support column 160 to achieve reliable support in the folding process, so as to further improve the reliability of the support arm 210 and achieve stable support.

[0091] In the above embodiment, at least one of the buffer 150 and / or the support column 160 is configured to contact the vicinity of the end of the support arm 210 away from the rotating seat 130. Thus, reliable support of the support arm 210 can be achieved, so that the support arm 210 in the folded state can be reliably supported. At the same time, since the buffer 150 and / or the support column 160 are located on the bottom plate 110, the length of the support arm 210 is approximately equal to the length of the bottom plate 110, so that the bottom plate 110 has good and stable support force, so that the support arm 210 in the folded state and the connecting seat assembly 100 together form a substantially cuboid structure, which is relatively compact and has a neat appearance, thereby reducing the occupied space and meeting the design requirements of compact structure and small volume of the support arm 210.

[0092] As shown in Figure 13 In some possible embodiments provided by the utility model, the connecting seat assembly 100 further comprises: a lifting trigger 170 and a lifting switch body 211, one of the lifting trigger 170 and the lifting switch body 211 is arranged on the bottom plate 110 and located on the outside of the mounting seat 120, and the other is arranged on the side of the support arm 210 facing the bottom plate 110, and the lifting joint 260 is configured to stop working when the lifting trigger 170 triggers the lifting switch body 211.

[0093] That is, the lifting trigger 170 and the lifting switch body 211 constitute a lifting in-place detection switch, when the lifting joint 260 drives the support arm 210 to fold relative to the bottom plate 110, the lifting trigger 170 contacts the lifting switch body 211 and triggers the lifting switch body 211, at this time, the lifting joint 260 stops working, indicating that the support arm 210 is folded to the appropriate position relative to the bottom plate 110, avoiding the problem that the support arm 210 and the bottom plate 110 collide and interfere to damage, playing a role in protecting the support arm 210.

[0094] Specifically, as shown in Figure 13 , the lifting trigger 170 can be arranged on the bottom plate 110, and the lifting switch body 211 can be arranged on the support arm 210, or the lifting trigger 170 is arranged on the support arm 210, and the lifting switch body 211 is arranged on the bottom plate 110.

[0095] Among them, the lifting trigger 170 or the lifting switch body 211 located on the bottom plate 110 can be located on the side of the buffer 150 away from the rotating seat 130, and / or on the side of the support column 160 close to the rotating seat 130.

[0096] As shown in Figure 3 , in some possible embodiments provided by the utility model, the bottom plate 110 is long strip-shaped, so that the processing and installation of the bottom plate 110 are facilitated, and the bottom plate 110 can have a larger contact area with the equipment body, thereby improving the installation strength.

[0097] Further, the length of the bottom plate 110 is 145mm to 165mm, the width of the bottom plate 110 is 20mm to 40mm, and the height of the bottom plate 110 is 1.5mm to 4.8mm, so that the size of the bottom plate 110 is further provided, so that the bottom plate 110 is flat, facilitating the processing and installation of the bottom plate 110, and the bottom plate 110 can have a larger contact area with the equipment body, thereby improving the installation strength. At the same time, this kind of setting makes the appearance of the connecting seat assembly 100 more neat, and the volume is smaller, which can meet the design requirements of compact structure and small volume of the mechanical arm 200.

[0098] Specifically, the length direction of the bottom plate 110 can be as shown by the arrow X in Figure 3 , the width direction of the bottom plate 110 can be as shown by the arrow Y in Figure 3 , the height direction of the bottom plate 110 can be as shown by the arrow Z in Figure 2 , and the length of the bottom plate 110 can be as shown by the arrow X in Figure 3As shown in L in the figure, the length of the bottom plate 110 can be 145mm, 150mm, 155mm, 160mm, 165mm, or any size between 145mm and 165mm. Among them, the width of the bottom plate 110 can be as shown in W in the figure Figure 3 As shown in W in the figure, the width of the bottom plate 110 can be 20mm, 25mm, 30mm, 35mm, 40mm, or any size between 20mm and 40mm. The height of the bottom plate 110 can be as shown in D in the figure Figure 2 As shown in D in the figure, the height of the bottom plate 110 can be 1.5mm, 2mm, 3mm, 4mm, 4.8mm, or any size between 1.5mm and 4.8mm.

[0099] In some possible embodiments of the present application, the top of the rotating seat 130 is lower than the top of the mounting seat 120, so that the height difference between the two provides a movement space for the support arm 210 and provides a containing space for the support arm 210 in the folded state.

[0100] Specifically, as shown in Figure 2 Since one end of the support arm 210 needs to be hinged with the rotating seat 130, when the support arm 210 is in the folded state relative to the bottom plate 110, the part of the end of the support arm 210 connected with the rotating seat 130 can be contained in the space formed by the height difference between the top of the rotating seat 130 and the mounting seat 120, so that the top of the rotating seat 130 and the mounting seat 120 can be arranged flush to avoid the end of the support arm 210 connected with the rotating seat 130 protruding significantly above the top of the mounting seat 120, which is conducive to reducing the height difference between the top of the support arm 210 in the folded state and the top of the mounting seat 120, so that the mechanical arm 200 in the folded state has a compact structure and a small volume. In some possible embodiments of the present application, the top of the support arm 210 in the folded state is higher than the top of the connecting seat assembly 100, so that the possibility of interference between the connecting arm 230 connected with the support arm 210 and in the folded state and the top of the connecting seat assembly 100 when the entire mechanical arm 200 is in the folded state can be avoided.

[0101] Specifically, as shown in Figure 2 The height difference between the top of the support arm 210 in the folded state and the top of the mounting seat is less than or equal to 3mm, i.e. they are arranged close to flush, so that the support arm 210 in the folded state and the connecting seat assembly 100 form an approximately cuboid structure, which is compact and has a neat appearance, so as to reduce the occupied space and meet the design requirements of compact structure and small volume of the support arm 210.

[0102] Specifically, the height difference between the support arm 210 in the folded state and the top of the mounting seat 120 can be as shown in Figure 2H is shown in the figure, that is, H is less than or equal to 3 mm. It can be understood that H can be 1 mm, 2 mm, 3 mm, or any size in the range of 1 mm to 3 mm.

[0103] Specifically, the bottom plate 110 can be a sheet metal part, which is light in weight and high in strength, and can meet the design requirement of lightening the connecting seat assembly 100. It can be understood that the bottom plate 110 can be a part made of other materials that meet the requirements.

[0104] As shown in Figure 4 and Figure 12 In some possible embodiments provided by the utility model, the side of the first seat body 122 away from the second seat body 123 is provided with a recess structure 1221, and the mechanical arm 200 is provided as a foldable structure, and the recess structure 1221 is used for avoiding part of the structure of the mechanical arm 200 when the mechanical arm 200 is in a folded state. The provision of the recess structure 1221 provides space for the unfolding and folding of the mechanical arm 200, so that the mechanical arm 200 can be normally unfolded and folded, reduces the possibility of collision of other structures of the mechanical arm 200 with the mounting seat 120, and at the same time, the overall height and length of the mechanical arm 200 in the folded state can be reduced, the overall size of the mechanical arm 200 in the folded state is more compact without affecting the unfolding and folding movement of the mechanical arm 200, the height and volume are reduced, the design requirement of compact structure, small volume and lightness of the mechanical arm 200 can be met, and the design requirement of compact structure and small volume of the cleaning equipment can be met, and the movement range will not be affected due to the too high equipment body.

[0105] As shown in Figure 12 In some possible embodiments provided by the utility model, the recess structure 1221 is located at the end of the first seat body 122 away from the rotating seat 130, and at least part of the end of the mechanical arm 200 in the folded state is located in the recess structure 1221. Therefore, the overall height of the mechanical arm 200 in the folded state is small, and at the same time, the length of the mechanical arm 200 in the folded state is slightly longer than the length of the connecting seat assembly 100, that is, the overall length of the mechanical arm 200 in the folded state is small, which meets the design requirement of compact structure and small volume of the mechanical arm 200, reduces the space occupied by the equipment body, and meets the design requirement of compact structure and small volume of the cleaning equipment.

[0106] Specifically, as shown in Figure 12As shown, the mechanical arm 200 further comprises a lifting joint 220 connected at both ends of the connecting arm 230, the connecting arm 230 is connected with the supporting arm 210 through one lifting joint 220, the connecting arm 230 is connected with the working arm 240 through another lifting joint 220, the lifting joint 220 is used to unfold or fold the connecting arm 230 relative to the supporting arm 210, and the lifting joint 220 is used to fold or unfold the working arm 240 relative to the connecting arm 230. When the mechanical arm 200 as a whole is in a folded state, that is, the supporting arm 210 is in a folded state relative to the bottom plate 110, the connecting arm 230 is in a folded state relative to the supporting arm 210, and the working arm 240 is in a folded state relative to the connecting arm 230, at least part of the lifting joint 220 connected with the working arm 240 is accommodated in the recessed structure 1221, the recessed structure 1221 provides space for the folding and unfolding movement of the connecting arm 230 relative to the supporting arm 210, so that the connecting arm 230 can be smoothly unfolded and folded relative to the supporting arm 210, and the possibility of collision between the connecting arm 230 and the mounting seat 120 is reduced, at the same time, the distance between the top of the mounting seat 120 and the bottom of the connecting arm 230 is minimized to reduce the overall height of the mechanical arm 200, so that neither the unfolding and folding movement of the mechanical arm 200 is affected, nor the overall size of the mechanical arm 200 is more compact, the height and volume are reduced, and the design requirements of compact overall structure, small volume and light and thin of the mechanical arm 200 are realized.

[0107] As shown in the drawings, Figure 4 In some possible embodiments provided by the utility model, the rotary joint 140 comprises a driving part 141 and a transmission part 142, the driving part 141 is installed in the first installation cavity, the transmission part 142 is located in the second installation cavity, and the driving part 141 is connected with the transmission part 142 through the second seat body 123. Therefore, the driving part 141 and the transmission part 142 are arranged on both sides of the second seat body 123 respectively, the driving part 141 is protected by the first installation cavity, and the transmission part 142 is protected by the second installation cavity, so as to protect and accommodate the driving part 141 and the transmission part 142 by the two installation cavities respectively, which is beneficial to prolong the service life of the driving part 141 and the transmission part 142, and provides accommodation space for the driving part 141 and the transmission part 142. At the same time, the transmission part 142 passes through the second seat body 123 and directly cooperates with the rotary seat 130, so that the driving part 141 can drive the rotary seat 130 to rotate through the transmission part 142, thereby making the structure of the rotary joint 140 simple, the parts small and the volume small, and meeting the design requirements of compact structure and small volume of the connecting seat assembly 100.

[0108] Further, as shown in the drawings, Figure 3 and Figure 6As shown, the driving part 141 comprises a driving motor 1411 and a speed reduction gear box 1412, the power of the output shaft of the motor 1411 is output to the transmission part 142 through the speed reduction gear box 1412, and the transmission part 142 drives the rotating seat 130 to move. Specifically, the motor 1411 and the speed reduction gear box 1412 can be arranged horizontally, so that compared with the vertical arrangement of the motor 1411 and the speed reduction gear box 1412, the height of the driving part 141 can be reduced, and the height of the mounting seat 120 is further reduced, which is beneficial to reduce the overall height of the mechanical arm 200, and meets the design requirements of compact structure, small volume and light weight of the mechanical arm.

[0109] As shown in Figure 4 , Figure 7 , Figure 8 and Figure 10 , in the above embodiment, the transmission part 142 comprises a gear, and at least part of the circumferential side of the rotating seat 130 is provided with a tooth part 134 engaged with the gear. Thus, the driving part 141 drives the gear to rotate, and through the engagement of the tooth part 134 of the rotating seat 130 and the gear, the rotating seat 130 can be driven to rotate relative to the bottom plate 110, so that the structure of the rotating joint 140 and the rotating seat 130 is relatively simple, the number of parts is small, and the design requirements of compact structure and small volume of the rotating joint 140 and the rotating seat 130 can be met. At the same time, since the gear needs to be engaged with the tooth part 134 of the rotating seat 130, the gear is designed to be attached to the rotating seat 130, which can further reduce the distance between the rotating seat 130 and the rotating joint 140, so as to reduce the volume of the connecting seat assembly 100, and realize the design requirements of compact structure and small volume of the connecting seat assembly 100.

[0110] Among them, the tooth part 134 can be arranged on the entire circumferential side of the rotating seat 130, or the tooth part 134 can be arranged on part of the circumferential side of the rotating seat 130.

[0111] As shown in Figure 4 , in some possible implemented embodiments of the present application, the connecting seat assembly 100 further comprises a circuit board 180, and the circuit board 180 is installed in the first mounting cavity. Thus, the mounting seat 120 plays a good storage and protection role on the circuit board 180, which is beneficial to prolong the service life of the circuit board 180 and reduce the overall volume of the connecting seat assembly 100.

[0112] Among them, the circuit board 180 is electrically connected with the driving part 141, so that the circuit board 180 can control the driving part 141 to work and stop working.

[0113] The circuit board 180 and the avoiding hole 121 are located on both sides of the driving part 141, so that the circuit board 180, the driving part 141 and the avoiding hole 121 are arranged along the length direction of the bottom plate 110, the length direction space of the bottom plate 110 is reasonably utilized, compared with the circuit board being located above or below the driving part in the related art, the height of the connecting seat assembly 100 is beneficial to be reduced, and then the overall height of the mechanical arm 200 in the folded state is reduced, the space occupied by the mechanical arm 200 in the folded state is reduced, and the design requirements of the compact structure and the small volume of the cleaning equipment are met.

[0114] As shown in Figure 4 and Figure 7 In some possible implementation examples provided by the utility model, the rotary joint 140 further comprises a rotary limit switch 143 installed on the mounting seat 120, and the circuit board 180 is electrically connected with the rotary limit switch 143, so as to control the driving part 141 to rotate or stop rotating according to the triggering state of the rotary limit switch 143. That is to say, the triggering state of the rotary limit switch 143 is associated with the working state of the rotary joint 140, and then the rotation angle or the rotation position of the rotary seat 130 can be controlled, so that after the rotary seat 130 rotates to a suitable angle or a suitable position, the rotary limit switch 143 is switched to the triggering state to make the driving part 141 of the rotary joint 140 stop working, so as to reduce the problem that the rotary seat 130 continues to rotate and causes the connecting seat assembly 100 or the support arm 210 to collide with other components and be damaged, and the overall service life of the mechanical arm 200 is beneficial to be improved.

[0115] As shown in Figure 7 In some possible implementation examples provided by the utility model, the rotary limit switch 143 is installed in the second mounting cavity, the second seat body 123 is provided with a wire passing groove 1233, and the rotary limit switch 143 is electrically connected with the circuit board 180 through the wire passing groove 1233. In the embodiment, the wire passing groove 1233 is arranged, so that the rotary limit switch 143 and the circuit board 180 are electrically connected, the rotary limit switch 143 is arranged in the second mounting cavity, so that the rotary limit switch 143 can accurately and conveniently detect the rotation angle or the rotation position of the rotary seat 130. At the same time, the rotary limit switch 143 is arranged in the second mounting cavity, and the second mounting cavity is used to protect the rotary limit switch 143, so as to prolong the service life of the rotary limit switch 143.

[0116] As shown in Figure 4 and Figure 7As shown in some possible embodiments provided in the utility model, the rotary limit switch 143 comprises a rotary switch body 144 and a rotary trigger 145, wherein the rotary switch body 144 can be a touch switch, specifically a light touch switch, such as a light touch mechanical switch, and the rotary trigger 145 contacts and presses the light touch switch to trigger the light touch switch. Since the light touch switch has a small volume, the rotary limit switch 143 can be formed by matching the light touch switch and the rotary trigger 145, and compared with the related art of setting a detection shaft and a rotation angle detection device to detect the rotation angle and rotation position of the rotary seat 130, the structure is simple, the volume is small, and the design requirements of compact structure and small volume of the connecting seat assembly 100 can be met.

[0117] As shown in some possible embodiments provided in the utility model, Figure 7 , Figure 9 , Figure 10 , Figure 11 As shown in the above embodiments, the second seat body 123 is provided with a clamping groove 1231 on the side facing the bottom plate 110, and the rotary trigger 145 is movably clamped in the clamping groove 1231. The rotary trigger 145 comprises a first end 1451 and a second end 1452, the first end 1451 is arranged adjacent to the rotary switch body 144, and the second end 1452 extends into the avoiding hole 121. The rotary seat 130 is provided with a convex part 133 on the side, when the rotary seat 130 rotates to the appropriate position or angle, the convex part 133 is configured to abut against the second end 1452 to make the first end 1451 contact the rotary switch body 144 to trigger the rotary switch body 144. Therefore, the circuit board 180 controls the driving part 141 to stop working according to the triggering state of the rotary switch body 144, so that the rotary seat 130 stops rotating, and the rotary seat 130 is kept at the current angle or position, which plays a good protection role for the mechanical arm 200.

[0118] It can be understood that when the rotary trigger 145 does not trigger the rotary switch body 144, it indicates that the rotary seat 130 has not rotated to the appropriate angle or position, and the driving part 141 can continue to work.

[0119] The rotary trigger 145 is arranged in the clamping groove 1231 provided on the side of the second seat body 123 facing the bottom plate 110, and the rotary switch body 144 can be installed on the side of the second seat body 123 facing the bottom plate 110, so that after the second seat body 123 and the bottom plate 110 are disassembled and separated, the rotary limit switch 143 can be maintained, which is beneficial to improve the maintenance efficiency. Specifically, the shape of the clamping groove 1231 matches the shape of the rotary trigger 145, so that the rotary trigger 145 can be accommodated in the clamping groove 1231 and can move in the clamping groove 1231, such as the rotary trigger 145 can move a distance in the clamping groove 1231.

[0120] As shown in some possible embodiments provided in the utility model, Figure 10As shown, the convex part 133 can be a convex part arranged on the side of the rotating seat 130, and specifically, can be a circular arc convex part. The convex part 133 can be located on the side of the tooth part 134 away from the bottom plate 110.

[0121] The rotating switch body 144 can be detachably connected to the second seat body 123 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic attraction structure, to facilitate maintenance or replacement.

[0122] As shown in Figure 7 and Figure 11 In some possible implementation examples of the utility model, at least the first end 1451 is configured as an elastic member, so that after the first end 1451 contacts the rotating switch body 144, the first end 1451 can be separated from the rotating switch body 144 under the action of the elastic member, to reset the initial position of the rotating trigger 145. Thus, the reset structure for resetting the rotating trigger 145 from contact with the rotating switch body 144 to separation can be simplified, which is beneficial to saving the manufacturing cost of the rotating limit switch 143, reducing the number of parts of the rotating limit switch 143, and reducing the volume of the rotating limit switch 143, and the design requirement of compact structure and small volume of the connecting seat assembly 100 can be met.

[0123] It can be understood that the rotating trigger 145 can be configured as an elastic member only at the first end 1451, or the entire rotating trigger 145 can be configured as an elastic member. Specifically, the rotating trigger 145 can be an elastic arm, and the rotating trigger 145 can be made of rubber or other materials.

[0124] As shown in Figure 7 and Figure 11As shown, in the above embodiment, the first end 1451 of the rotary trigger member 145 is provided with a first annular structure 1455, which is movably restrained within the retaining groove 1231. A side of the first annular structure 1455 protruding outward along the axis of the first annular structure 1455 is provided on the side of the first annular structure 1455 proximal to the second end 1452. The rotary switch body 144 and the side of the first annular structure 1455 distal to the second end 1452 are disposed adjacent to each other. When the protrusion 133 of the rotary seat 130 contacts and compresses the second end 1452, the second end 1452 is configured to be subjected to a force causing the acting portion 1454 to move toward the rotary switch body 144, contacting and compressing the rotary switch body 144, thereby triggering the rotary switch body 144. It is understood that as the action portion 1454 moves toward the rotary switch body 144, it accumulates elastic potential energy. Consequently, the first annular structure 1455 releases this elastic potential energy, enabling the action portion 1454 to move away from the rotary switch body 144, separating the action portion 1454 from the rotary switch body 144. This allows the first end 1451 to be reset to its initial position, thereby resetting the rotary trigger member 145 to its initial position. This arrangement is simple in structure and easy to implement.

[0125] like Figure 7 and Figure 11 As shown, in some possible embodiments provided by the present invention, the rotary trigger member 145 also includes a limiting recess 1453 located between the first end 1451 and the second end 1452, and a positioning protrusion 1232 is provided in the slot 1231. The limiting recess 1453 is sleeved on the positioning protrusion 1232 and is movable relative to the positioning protrusion 1232.

[0126] The limiting recess 1453 and the positioning protrusion 1232 cooperate to limit the movement range or movement direction of the rotating trigger 145, so that the rotating trigger 145 can move smoothly within the clamping groove 1231 within a certain range, so that the position of the rotating trigger 145 in the clamping groove 1231 is more appropriate, so that the acting part 1454 of the first end 1451 can reliably contact the rotating switch body 144 and be smoothly reset to be separated from the rotating switch body 144 under the action of the elastic member, avoiding the problem that the position of the rotating trigger 145 in the clamping groove 1231 is not appropriate, so that after the convex part 133 of the rotating seat 130 contacts the second end 1452, the acting part 1454 of the first end 1451 cannot contact the rotating limiting switch body 144, or after the convex part 133 releases the second end 1452, the acting part 1454 cannot be separated from the rotating limiting switch body 144, to ensure that the rotating trigger 145 can smoothly and accurately contact or separate from the rotating switch body 144, to realize the accuracy of the rotating angle or position control of the rotating seat 130. Specifically, the limiting recess 1453 can be a groove structure or an annular structure, for example, the limiting recess 1453 can be a hollow part inside the annular structure.

[0127] Specifically, as shown in Figure 11 , the first annular structure 1455 of the first end 1451 of the rotating trigger 145 plays an elastic role, when the second end of the rotating trigger 145 is stressed, the first annular structure 1455 elastically deforms, so that the acting part 1454 protruding on the first annular structure 1455 moves towards the rotating switch body 144, and the rotating switch body 144 is triggered when the acting part 1454 extrudes the rotating switch body 144. When the second end 1452 is stressed and released, the first annular structure 1455 restores the elastic deformation, and drives the acting part 1454 to move away from the rotating switch body 144 and separate from the rotating switch body 144. Among them, the limiting recess 1453 of the annular structure is sleeved on the positioning protrusion 1232, which plays a limiting and partial moving role, so that the whole rotating trigger 145 can move within a certain range.

[0128] As shown in Figure 4 , Figure 5 , and Figure 6 , in some possible embodiments provided by the utility model, the bottom plate 110 is provided with a through hole, the rotating seat 130 includes a circular table 135 inserted into the through hole of the bottom plate 110, and a table top 136 located at the upper part of the circular table 135, and the table top 136 is located above the bottom plate 110. It can be understood that the first matching part 131, the second matching part, the tooth part 134 and the convex part 133 are all arranged on the table top 136.

[0129] The rolling assembly 190 is sleeved outside the circular table 135, and the rolling assembly 190 comprises a first rolling assembly 191, a second rolling assembly 192, a compression gasket 193, a pre-tightening gasket 194 and an adjusting bolt 195. The first rolling assembly 191 is located between the bottom surface of the table top 136 and the top surface of the bottom plate 110, and the first rolling assembly 191 is in rolling contact with the bottom surface of the table top 136 and the top surface of the bottom plate 110. The second rolling assembly 192 is located between the bottom surface of the bottom plate 110 and the compression gasket 193, and the second rolling assembly 192 is in rolling contact with the bottom surface of the bottom plate 110 and the compression gasket 193. The pre-tightening gasket 194 is located below the compression gasket 193, and the adjusting bolt 195 is connected with the threaded hole on the circular table 135 through the pre-tightening gasket 194 and the compression gasket 193, so as to adjust the distance between the pre-tightening gasket 194 and the circular table 135, and further adjust the distance between the first rolling assembly 191 and the second rolling assembly 192. Therefore, the first rolling assembly 191 and the second rolling assembly 192 can be tensioned, and the rigidity of the rolling assembly 190 can be greatly improved in a limited space.

[0130] In the embodiment, the first rolling assembly 191 and the second rolling assembly 192 can be balls or rollers, and the first rolling assembly 191 and the second rolling assembly 192 cooperate to form a bearing device. Specifically, two roller or ball assemblies cooperate to form a thrust bearing.

[0131] Since the traditional bearing itself comprises balls or rollers and upper and lower gaskets, the rolling assembly 190 provided in the embodiment is characterized in that the upper and lower ends of the first rolling assembly 191 are in rolling contact with the bottom surface of the circular table 135 and the top surface of the bottom plate 110, i.e., the first rolling assembly 191 directly uses the table top 136 and the bottom plate 110 of the rotating seat 130 as the upper and lower gaskets. Therefore, the setting of the two gaskets at the upper and lower ends of the first rolling assembly 191 is simplified, the vertical height of the rolling assembly 190 can be reduced, the design requirement of compact structure and small volume of the connecting seat assembly 100 can be met, and the design requirement of compact structure and small volume of the mechanical arm can be met. Meanwhile, the upper end surface of the second rolling assembly 192 is in rolling contact with the bottom surface of the bottom plate 110, i.e., the second rolling assembly 192 uses the bottom plate 110 as the upper end gasket. Therefore, the setting of the gasket at the upper end of the second rolling assembly 192 is simplified, the vertical height of the rolling assembly 190 can be reduced, the design requirement of compact structure and small volume of the connecting seat assembly 100 can be met, and the design requirement of compact structure and small volume of the mechanical arm can be met.

[0132] Further, the bottom of the table top 136 is provided with a first accommodating groove 137, and the first rolling assembly 191 is accommodated in the first accommodating groove 137 and in rolling contact with the groove bottom of the first accommodating groove 137, so that the first accommodating groove 137 of the table top 136 provides an accommodating space for the first rolling assembly 191, which can further reduce the distance between the table top 136 and the bottom plate 110, and is conducive to reducing the height of the connecting seat assembly 100 and meeting the design requirement of compact structure and small volume of the connecting seat assembly 100.

[0133] Further, the bottom of the bottom plate 110 is provided with a second accommodating groove 112, and the second rolling assembly 192 is accommodated in the second accommodating groove 112 and in rolling contact with the groove bottom of the second accommodating groove 112, so as to facilitate reducing the overall height of the connecting seat assembly 100 and meeting the design requirement of compact structure and small volume of the connecting seat assembly 100.

[0134] In specific embodiments, the installation process of the connecting seat assembly 100 is as follows:

[0135] First, the driving part 141 of the rotary joint 140 is placed on the second seat body 123 from above and locked with fastening screws from the bottom of the second seat body 123; then the rotary switch body 144 is clamped in the mounting groove at the bottom of the second seat body 123 by clamping, and the rotary trigger 145 is clamped in the clamping groove 1231 at the bottom of the second seat body 123, and the rotary switch body 144 is pushed in the vertical direction, and the straight gear of the transmission part 142 of the rotary joint 140 is placed at the corresponding position on the second seat body 123; then the wire harness of the driving part 141 and the rotary switch body 144 is inserted into the circuit board 180 mounted on the top of the second seat body 123 from bottom to top through the wire slot 1233, and then the first seat body 122 is buckled on the top of the second seat body 123 to form the mounting seat 120, and the rotary joint 140 is installed in the mounting seat 120. Then the mounting seat 120 provided with the rotary joint 140 is fixed on the bottom plate 110 by screws.

[0136] Then, the first rolling assembly 191 of the rolling assembly 190 is installed in the first accommodating groove 137 at the bottom of the table surface 136 of the rotating seat 130, and then the rotating seat 130 and the first rolling assembly 191 are placed as a whole at a suitable position on the top of the bottom plate 110 through the avoiding hole 121. Then, the second rolling assembly 192 of the rolling assembly 190 is placed in the second accommodating groove 112 at the bottom of the bottom plate 110, and then the compression gasket 193 and the pre-tightening gasket 194 are placed in turn on the side of the second rolling assembly 192 away from the bottom plate, and the adjusting bolt 195 is connected with the threaded hole at the bottom of the circular table 135 of the rotating seat 130 through the pre-tightening gasket 194 and the compression gasket 193, and the distance between the first rolling assembly 191 and the second rolling assembly 192 is adjusted to a suitable position by screwing the adjusting bolt 195.

[0137] In addition, the buffer 150 is also installed on the bottom plate 110, and the purpose is to play a soft landing role when other joint arms such as the supporting arm 210 are folded and reset relative to the bottom plate 110.

[0138] The utility model has carried on the explanation through the above embodiment, but it should be understood that the above embodiment is only for the purpose of example and illustration, and is not intended to limit the utility model to the range of the described embodiment. In addition, those skilled in the art can understand that the utility model is not limited to the above embodiment, and more kinds of variations and modifications can be made according to the teaching of the utility model, and these variations and modifications all fall within the scope of the utility model claimed. The protection scope of the utility model is defined by the attached claims and its equivalent scope.

Claims

1. A connection seat assembly (100) for a robot arm (200), characterized in that, The connecting seat assembly (100) comprises: a bottom plate (110), a mounting seat (120), a rotating seat (130), a rotating joint (140) and a mounting structure, the mounting seat (120) and the rotating seat (130) are connected to the same side of the bottom plate (110), the mounting seat (120) is connected to the bottom plate (110) through the mounting structure, the mounting seat (120) is provided with a connecting channel (127), the rotating joint (140) is installed inside the mounting seat (120) and is power connected with the rotating seat (130) through the connecting channel (127), and the rotating joint (140) is used for driving the rotating seat (130) to rotate relative to the bottom plate (110).

2. The connecting seat assembly (100) according to claim 1, wherein the mounting seat (120) is further provided with an avoiding hole (121) in communication with the connecting channel (127), the rotating seat (130) extends to the outside of the mounting seat (120) through the avoiding hole (121), and the rotating joint (140) is power connected with the rotating seat (130) in the avoiding hole (121) through the connecting channel (127).

3. The connecting seat assembly (100) according to claim 2, wherein the avoiding hole (121) is arranged close to the end of the mounting seat (120), and the connecting channel (127) is in communication with or coincides with the avoiding hole (121) close to the side of the middle of the mounting seat (120).

4. The connecting seat assembly (100) according to claim 3, wherein the mounting seat (120) comprises a first seat body (122) and a second seat body (123) between the first seat body (122) and the bottom plate (110), the second seat body (123) comprises a first part (1234) close to the middle of the bottom plate (110) and a second part (1235) close to the end of the bottom plate (110), the first part (1234) is provided with the avoiding hole (121), and the connecting channel (127) is arranged at the connecting position of the first part (1234) and the second part (1235).

5. The connecting seat assembly (100) according to claim 4, wherein the second part (1235) and the first seat body (122) enclose a first mounting cavity, the second seat body (123) and the bottom plate (110) enclose a second mounting cavity, and the rotating joint (140) is distributed in the first mounting cavity and the second mounting cavity.

6. The connecting seat assembly (100) according to claim 4, wherein a recessed gap (1236) is formed between the top end of the first part (1234) and the top end of the first seat body (122), and at least part of the rotating seat (130) is located in the recessed gap (1236); and / or the top end of the first part (1234) is located below the top end of the second part (1235).

7. The connector holder assembly (100) according to claim 4, characterized in that, the rotating holder (130) is provided with a first matching part (131) and a second matching part (132), the mechanical arm (200) comprises a support arm (210), the support arm (210) is rotationally connected with the rotating holder (130) through the first matching part (131), the mechanical arm (200) further comprises a lifting joint (260) mounted on the support arm (210), the lifting joint (260) is rotationally connected with the rotating holder (130) through the second matching part (132), the lifting joint (260) is used to drive the support arm (210) to lift or lower relative to the rotating holder (130) to unfold or fold relative to the bottom plate (110).

8. The connection seat assembly (100) according to claim 7, characterized in that Further comprising: a buffer (150) and / or a support column (160) arranged on the bottom plate (110) outside the mounting seat (120), the buffer (150) and / or the support column (160) are configured to be in contact with the support arm (210) when the support arm (210) is in a folded state; wherein at least one of the buffer (150) and / or the support column (160) is configured to be in contact with the vicinity of the end of the support arm (210) away from the rotating holder (130).

9. The connection seat assembly (100) according to claim 7, characterized in that Further comprising: a lifting trigger (170) and a lifting switch body (211), one of the lifting trigger (170) and the lifting switch body (211) is arranged on the bottom plate (110) outside the mounting seat (120), and the other is located on the side of the support arm (210) facing the bottom plate (110), the lifting joint (260) is configured to stop working when the lifting trigger (170) triggers the lifting switch body (211).

10. The connector holder assembly (100) according to claim 7, characterized in that, the bottom plate (110) is long strip-shaped, the length of the bottom plate (110) is 145mm to 165mm, the width of the bottom plate (110) is 20mm to 40mm, and the thickness of the bottom plate (110) is 1.5mm to 4.8mm; and / or the top of the rotating holder (130) is lower than the top of the mounting seat (120).

11. The connector holder assembly (100) according to claim 4, characterized in that, the first seat body (122) is provided with a recess structure (1221) on the side away from the second seat body (123), the mechanical arm (200) is arranged as a foldable structure, and the recess structure (1221) is used to avoid part of the structure of the mechanical arm (200) when the mechanical arm (200) is in a folded state.

12. The connector holder assembly (100) according to claim 11, characterized in that, The recess structure (1221) is located at the end of the first seat body (122) away from the rotating seat (130), and at least part of the end of the mechanical arm (200) in the folded state is located in the recess structure (1221).

13. The connecting seat assembly (100) according to claim 5, characterized in that, The rotating joint (140) comprises a driving part (141) and a transmission part (142), the driving part (141) is installed in the first mounting cavity, the transmission part (142) is located in the second mounting cavity, and the driving part (141) penetrates through the second seat body (123) and is connected with the transmission part (142).

14. The connection seat assembly (100) according to claim 13, characterized in that Further comprising: A circuit board (180) is installed in the first mounting cavity and electrically connected with the driving part (141), and the circuit board (180) and the avoiding hole (121) are located on both sides of the driving part (141).

15. The connecting seat assembly (100) according to claim 14, characterized in that, The rotating joint (140) further comprises a rotating limit switch (143) installed on the mounting seat (120), and the circuit board (180) is electrically connected with the rotating limit switch (143) to control the driving part (141) to rotate or stop rotating according to the triggering state of the rotating limit switch (143).

16. The connecting seat assembly (100) according to claim 15, characterized in that, The rotating limit switch (143) is installed in the second mounting cavity, and the second seat body (123) is provided with a wire passing groove (1233), and the rotating limit switch (143) is electrically connected with the circuit board (180) through the wire passing groove (1233).

17. The connecting seat assembly (100) according to claim 15, characterized in that, The rotating limit switch (143) comprises a rotating switch body (144) and a rotating trigger (145), the second seat body (123) is provided with a clamping groove (1231) on the side facing the bottom plate (110), the rotating trigger (145) is movably clamped in the clamping groove (1231), the rotating trigger (145) comprises a first end (1451) and a second end (1452), the first end (1451) is arranged adjacent to the rotating switch body (144), and the second end (1452) extends into the avoiding hole (121), a convex part (133) is arranged on the circumferential side of the rotating seat (130), and the convex part (133) is configured to abut against the second end (1452) to make the first end (1451) contact the rotating switch body (144) to trigger the rotating switch body (144).

18. The connecting seat assembly (100) according to claim 17, characterized in that, At least the first end (1451) of the rotation trigger (145) is configured as an elastic element, the first end (1451) is provided with a first annular structure (1455) movably limited in the clamping groove (1231), the first annular structure (1455) is provided with an acting part (1454) protruding outward along the axial direction of the first annular structure (1455) on the side close to the second end (1452), and the rotation switch body (144) and the first annular structure (1455) are adjacently arranged on the side away from the second end (1452). Wherein, the second end (1452) is configured to bear force to make the acting part (1454) move in the direction close to the rotation switch body (144) and accumulate elastic potential energy, and the first annular structure (1455) releases the elastic potential energy to make the acting part (1454) move in the direction away from the rotation switch body (144).

19. The connecting seat assembly (100) according to claim 17, characterized in that, The rotation trigger (145) further comprises a limiting recess (1453) between the first end (1451) and the second end (1452), the clamping groove (1231) is provided with a positioning protrusion (1232), and the limiting recess (1453) is sleeved on the positioning protrusion (1232) and is movable relative to the positioning protrusion (1232).

20. The connecting seat assembly (100) according to claim 13, characterized in that, The transmission part (142) comprises a gear, and at least part of the circumferential side of the rotation seat (130) is provided with a tooth part (134) engaged with the gear.

21. The connection seat assembly (100) according to claim 1, characterized in that Further comprising: A rolling assembly (190), the rotation seat (130) and the bottom plate (110) are rolling connected through the rolling assembly (190), and the rolling assembly (190) comprises a ball or a needle.

22. A robot arm (200), characterized by The connecting seat assembly (100) comprises any one of claims 1-21.

23. A cleaning apparatus, characterized by Including: The mechanical arm (200) according to claim 22.

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