Manipulator, mechanical arm mechanism, cleaning equipment and cleaning system

Abstract

The utility model provides a manipulator, a mechanical arm mechanism, cleaning equipment and a cleaning system, and relates to the technical field of cleaning equipment. The mechanical arm comprises a main body part, a first clamping jaw, a second clamping jaw, a driving assembly and a camera, the main body part comprises a first end and a second end which are opposite in the first direction, the first clamping jaw and the second clamping jaw are rotationally connected with the first end of the main body part, and the driving assembly is arranged on the main body part; the driving assembly is configured to drive the first clamping jaw and the second clamping jaw to be switched between the opening state and the clamping state. The camera is fixedly arranged on the main body part and faces the direction of the second end to the first end; the camera, the first clamping jaw and the second clamping jaw are arranged in a staggered mode in the second direction, and the second direction intersects with the first direction. According to the manipulator provided by the invention, a grabbed object can be conveniently identified and positioned through the camera.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning equipment, in particular, to a mechanical hand, a mechanical arm mechanism, a cleaning equipment and a cleaning system. BACKGROUND

[0002] With the development of modern society, in order to save time and maintain household hygiene, more and more people begin to purchase cleaning equipment to clean household hygiene in time and conveniently. The cleaning equipment can automatically complete the cleaning work of the ground in the room by means of certain artificial intelligence.

[0003] The current intelligent cleaning equipment has gradually been provided with a mechanical arm to realize the grabbing or moving of obstacles, articles and garbage by means of a mechanical hand. Therefore, it is necessary to improve the grabbing capacity of the mechanical hand for obstacles, articles and garbage.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information which does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE INVENTION

[0005] The purpose of the present disclosure is to provide a mechanical hand, a mechanical arm mechanism, a cleaning equipment and a cleaning system.

[0006] According to one aspect of the present disclosure, a mechanical hand is provided, which comprises:

[0007] a main body part comprising opposite first and second ends in a first direction;

[0008] first and second clamping jaws rotatably connected to the first end of the main body part;

[0009] a driving assembly provided on the main body part, configured to drive the first and second clamping jaws to switch between an open state and a clamping state;

[0010] a camera fixedly provided on the main body part and pointing towards the first end in the direction of the second end; the camera is disposed in a second direction different from the first direction and offset from the first and second clamping jaws.

[0011] a light supplement lamp provided at the first end of the main body part and pointing towards the first end in the direction of the second end.

[0012] In an exemplary embodiment of the present disclosure, the light supplement lamp is located on the same side of the first and second clamping jaws as the camera in the second direction.

[0013] In an example embodiment of the present disclosure, the light supplement lamp is disposed in a third direction different from the second direction and the first direction.

[0014] In an example embodiment of the present disclosure, in the third direction, the camera is located in a middle region of the main body.

[0015] In an example embodiment of the present disclosure, in the first direction, the light supplement lamp is disposed close to a side of the second end relative to the camera.

[0016] In an example embodiment of the present disclosure, the first end of the main body is formed with a relief groove, and the camera is located in the relief groove.

[0017] In an example embodiment of the present disclosure, the first end of the main body is formed with a relief groove, and the light supplement lamp is located in the relief groove.

[0018] In an example embodiment of the present disclosure, the main body comprises a housing formed with an accommodation space, and the housing is provided with a first mounting hole and a second mounting hole communicating with the accommodation space.

[0019] In an example embodiment of the present disclosure, the camera is located in the accommodation space and is assembled on the first mounting hole to expose and shoot through the first mounting hole, and the light supplement lamp is located in the accommodation space and is assembled on the second mounting hole to expose and supplement light through the second mounting hole.

[0020] In an example embodiment of the present disclosure, the field of view of the camera is 110°-120°.

[0021] In an example embodiment of the present disclosure, the illumination angle of the light supplement lamp is 55°-60°.

[0022] According to another aspect of the present disclosure, a mechanical arm mechanism is provided, which comprises:

[0023] a base;

[0024] a support arm, one end of the support arm being rotatably connected to the base to be in a folded state or an unfolded state;

[0025] a connecting arm, one end of the connecting arm being rotatably connected to the other end of the support arm to be in a folded state or an unfolded state;

[0026] a working arm, one end of the working arm being rotatably connected to the other end of the connecting arm to be in a folded state or an unfolded state;

[0027] The mechanical arm as described above, wherein the second end of the main body is connected to the other end of the working arm.

[0028] In an exemplary embodiment of the present disclosure, the mechanical arm is rotatably connected to the working arm, and the main body is rotatable about the first direction.

[0029] In an exemplary embodiment of the present disclosure, a wire harness is arranged on one side of the connecting arm towards the working arm, and an avoiding slot is formed on the first end of the main body; when the working arm is in the folded state relative to the connecting arm, the part of the wire harness corresponding to the working arm is located in the avoiding slot.

[0030] According to yet another aspect of the present disclosure, there is provided a cleaning device, comprising:

[0031] a device body,

[0032] a mechanical arm mechanism as described above arranged on the device body.

[0033] According to still another aspect of the present disclosure, there is provided a cleaning system, comprising:

[0034] a cleaning device as described above;

[0035] a base station for interfacing with the cleaning device.

[0036] The mechanical arm provided by the present disclosure has the structure layout that the gripper of the mechanical arm is in front and the camera is below, so as to realize that the visual range of the camera is at a stable angle, and the gripper and the grasped object can be observed to realize the function of accurate visual positioning, and the grasping capability of the mechanical arm on obstacles, objects and garbage can be improved.

[0037] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure. It is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0039] Figure 1 is a schematic view of the mechanical arm mechanism of the cleaning device provided by an embodiment of the present disclosure retracting the device body.

[0040] Figure 2FIG. 1 is a schematic view of a cleaning device according to an embodiment of the present disclosure.

[0041] Figure 3 FIG. 2 is a schematic view of a mechanical arm mechanism according to an embodiment of the present disclosure.

[0042] Figure 4 FIG. 3 is an exploded view of a mechanical arm base according to an embodiment of the present disclosure.

[0043] Figure 5 FIG. 4 is a sectional view of a support arm in an initial position relative to the mechanical arm base according to an embodiment of the present disclosure.

[0044] Figure 6 FIG. 5 is a schematic view of a support arm in an initial position relative to the mechanical arm base according to an embodiment of the present disclosure.

[0045] Figure 7 FIG. 6 is a schematic view of a rotation of the support arm relative to the mechanical arm base according to an embodiment of the present disclosure.

[0046] Figure 8 FIG. 7 is a schematic view of a transmission member according to an embodiment of the present disclosure.

[0047] Figure 9 FIG. 8 is a schematic view of another perspective of the transmission member according to an embodiment of the present disclosure.

[0048] Figure 10 FIG. 9 is a schematic view of a steering seat according to an embodiment of the present disclosure.

[0049] Figure 11 FIG. 10 is a schematic view of another perspective of the steering seat according to an embodiment of the present disclosure.

[0050] Figure 12 FIG. 11 is a schematic view of the steering seat and a first mechanical joint according to an embodiment of the present disclosure.

[0051] Figure 13 FIG. 12 is a schematic view of a support arm in a folded state relative to the steering seat according to an embodiment of the present disclosure.

[0052] Figure 14 FIG. 13 is a schematic view of a support arm in an unfolded state relative to the steering seat according to an embodiment of the present disclosure.

[0053] Figure 15 FIG. 14 is a schematic view of a connection of a wire harness on a connecting arm according to an embodiment of the present disclosure.

[0054] Figure 16 FIG. 15 is a schematic view of a routing of a wire harness on the mechanical arm mechanism according to an embodiment of the present disclosure.

[0055] Figure 17is a schematic view of a rotary joint according to an embodiment of the present disclosure.

[0056] Figure 18 is a schematic view of a rotary joint according to an embodiment of the present disclosure in a first position with a wire harness.

[0057] Figure 19 is a schematic view of a rotary joint according to an embodiment of the present disclosure in a second position with a wire harness.

[0058] Figure 20 is a schematic view of a main body of a robot arm and a rotary joint according to an embodiment of the present disclosure.

[0059] Figure 21 is a schematic view of a main body of a robot arm and a rotary joint according to an embodiment of the present disclosure from another perspective.

[0060] Figure 22 is a schematic view of a seal and a rotary joint according to an embodiment of the present disclosure.

[0061] Figure 23 is a schematic view of a robot arm according to an embodiment of the present disclosure in a rotation mode relative to a working arm.

[0062] Figure 24 is a schematic view of a rotary joint according to an embodiment of the present disclosure in connection with a drive.

[0063] Figure 25 is a schematic view of a rotary joint according to an embodiment of the present disclosure in a rotation direction with a limiting structure.

[0064] Figure 26 is a schematic view of a rotary joint according to an embodiment of the present disclosure in connection with a drive shaft of a drive.

[0065] Figure 27 is a partial enlarged view of Figure 26

[0066] Figure 28 is a cross-sectional view of a rotary joint according to an embodiment of the present disclosure in connection with a drive shaft of a drive.

[0067] Figure 29 is an exploded view of a working arm according to an embodiment of the present disclosure.

[0068] Figure 30 is a schematic view of a working arm according to an embodiment of the present disclosure in a gripping mode.

[0069] Figure 31 is a schematic view of a connecting arm according to an embodiment of the present disclosure in connection with a robot joint. ​

[0070] Figure 32 FIG. 1 is a schematic view of a mechanical arm mechanism in a folded state according to an embodiment of the present disclosure.

[0071] Figure 33 FIG. 2 is a schematic view of the mechanical arm mechanism in an unfolded state according to an embodiment of the present disclosure.

[0072] Figure 34 FIG. 3 is a schematic view of the mechanical arm mechanism in another unfolded state according to an embodiment of the present disclosure.

[0073] Figure 35 FIG. 4 is a schematic view of a trigger switch according to an embodiment of the present disclosure.

[0074] Figure 36 FIG. 5 is a schematic view of a mechanical hand provided with a camera and a fill light according to an embodiment of the present disclosure.

[0075] Figure 37 FIG. 6 is a schematic view of a camera position on the mechanical hand according to an embodiment of the present disclosure.

[0076] Figure 38 FIG. 7 is a schematic view of the camera and the fill light on the mechanical hand avoiding the wire harness according to an embodiment of the present disclosure.

[0077] Figure 39 FIG. 8 is a schematic view of the camera and the fill light on the mechanical hand and the object to be clamped according to an embodiment of the present disclosure.

[0078] Figure 40 FIG. 9 is a schematic view of a camera shooting screen according to an embodiment of the present disclosure.

[0079] Figure 41 FIG. 10 is a schematic view of a shooting angle of the camera and an exit angle of the fill light on the mechanical hand according to an embodiment of the present disclosure.

[0080] Figure 42 FIG. 11 is an exploded view of the mechanical hand according to an embodiment of the present disclosure.

[0081] Figure 43 FIG. 12 is a schematic view of the mechanical hand after opening the upper shell according to an embodiment of the present disclosure.

[0082] Figure 44 FIG. 13 is a schematic view of a driving assembly on the mechanical hand according to an embodiment of the present disclosure.

[0083] Figure 45 FIG. 14 is a schematic view of a first clamping jaw and a second clamping jaw provided with elastic members according to an embodiment of the present disclosure.

[0084] Figure 46Fig. 1 is a schematic view of a switch and an elastic member according to an embodiment of the present disclosure.

[0085] Legend of reference signs:

[0086] 10, device body; 110, accommodating groove; 120, cover plate;

[0087] 20, mechanical arm mechanism;

[0088] 21, mechanical arm base; 2111, bottom plate; 2112, bottom shell; 2113, upper shell; 2114, abutting member; 2115, mounting groove; 2116, circuit board mounting groove; 2117, circuit board; 2118, bolt; 2119, buffer support pad; 212, steering seat; 2121, rotating part; 21211, avoiding groove; 2122, limiting part; 21221, limiting groove; 2123, transmission part; 21241, first support part; 21242, second support part; 21243, first mounting groove; 21244, second mounting groove; 21251, first protrusion; 21252, second protrusion; 2126, annular boss; 2127, rotating shaft; 2131, driving motor; 2132, transmission gear; 2133, reduction box; 214, limiting column; 215, transmission member; 2151, connecting part; 2152, elastic part; 2153, annular structure; 2154, abutting protrusion; 2155, triggering part; 2156, hollow structure; 216, detection switch; 2171, first plane bearing; 2172, second plane bearing;

[0089] 22, support arm; 220, support arm body; 221, first wire buckle;

[0090] 23, connecting arm; 230, connecting arm body; 231, connecting arm shell; 232, wire harness adapter plate; 2340, mounting hole; 2341, first clamping part; 2342, second clamping part; 235, threaded member; 236, rotating shaft;

[0091] 24, working arm; 240, working arm body; 241, first driver; 2410, output shaft; 242, rotary joint; 2421, counterbore; 2422, avoiding groove; 2423, connecting part; 2424, opening; 2425, plugging member; 2426, limiting protrusion; 2431, arc-shaped support part; 2432, limiting groove; 2433, limiting stopper; 244, adapter; 245, screw; 2461, first mounting plate; 2462, second mounting plate; 2463, upper shell; 2464, lower shell; 2465, middle shell; 247, anti-skid layer; 248, second wire buckle; 249, circuit board;

[0092] 25, manipulator; 250, main body; 2511, avoiding notch; 2521, first clamping jaw; 2522, second clamping jaw; 2523, second accommodating groove; 2524, sliding groove; 2525, pressing piece; 253, driving assembly; 2531, driver; 2532, transmission mechanism; 25321, worm gear; 25322, worm; 2534, elastic member; 25351, limiting groove; 25352, positioning protrusion; 25361, first clamping groove; 25362, second clamping groove; 2537, first accommodating groove; 254, camera; 255, light supplement lamp; 256, shell; 2561, upper shell; 2562, lower shell; 2563, bottom shell; 2564, abutting protrusion; 2565, avoiding groove; 2571, position switch; 2572, switch member; 25720, rotating part; 25721, first supporting leg; 25722, second supporting leg; 25723, third supporting leg; 2573, elastic acting member; 2574, mounting shaft;

[0093] 261, first mechanical joint; 2611, driving motor; 2612, screw rod; 2613, guide nut; 2614, motor seat; 2615, rotating shaft; 262, second mechanical joint; 2621, first wire slot; 263, third mechanical joint; 2631, second wire slot; 2632, rotating shaft;

[0094] 270, wire harness; 2701, first section; 2702, second section; 2703, third section; 2704, fourth section; 271, first wire harness; 272, second wire harness; 273, bending section;

[0095] 281, first trigger switch; 282, second trigger switch; 283, third trigger switch; 2841, trigger key; 2842, action spring piece; 2843, switch contact; 2844, switch body;

[0096] 30, object to be clamped. DETAILED DESCRIPTION

[0097] Example implementations are now described with reference to the drawings; however, these implementations are merely examples of implementations and are not intended to be limiting. Rather, these implementations should be understood to provide examples of subsystems, devices, articles, materials, actions, operations, etc. that can be employed, combined, and / or rearranged in various ways within examples of the disclosure. Thus, reference to a particular feature, structure, or aspect should be understood as encompassing equivalent structures, features, or aspects that could be used in place of, or in conjunction with, the particular feature, structure, or aspect. Furthermore, the examples can be used in combination with each other as well as in combination with other examples described herein.

[0098] Although relative terms are used in this description, such as "upper," "lower," to describe one component's relationship to another component, these terms are used herein solely for convenience and are not intended to limit the scope of the disclosure to a particular orientation. It is to be understood that if a device is turned over, so that the upper component becomes the lower component, the described orientation is reversed. When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure or that the structure is "directly" on the other structure, or that the structure is "indirectly" on the other structure via another structure.

[0099] The terms "one," "a," "an," "the," and "said" are used to indicate the presence of one or more elements / components / etc.; the terms "include" and "has" are used to indicate an open-ended inclusion of one or more elements / components / etc. to be combined with elements / components / etc. that are recited; and the terms "first," "second," and "third," etc. are used merely as labels, not as quantities.

[0100] Embodiments of the present disclosure provide a cleaning device, which can be a robot vacuum cleaner, a robot mop, a robot sweeper and mop, or the like. The cleaning device is exemplarily described as a robot vacuum cleaner in the present disclosure, which can include a device body, a driving module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module, etc.

[0101] In some embodiments, the device body is configured to move automatically along a target direction on a travel surface, which can be a surface to be cleaned by the cleaning device. The cleaning device can be a robot sweeper and mop, which works on a ground surface, which is the travel surface.

[0102] In some embodiments, the driving module includes a driving wheel assembly, which can control the left wheel and the right wheel simultaneously. In order to control the movement of the robot more accurately, the driving module preferably includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically arranged along a transverse axis defined by the device body.

[0103] In some embodiments, in order to enable the automatic cleaning device to move more stably on the ground surface or to have stronger movement capability, the automatic cleaning device can include one or more steering wheels; the steering wheels can be driven wheels or driving wheels, and the structural forms thereof include but are not limited to universal wheels. The steering wheels can be located in front of the driving wheel assembly. The driving motor provides power for the driving wheel assembly and / or the steering wheels.

[0104] In some embodiments, the perception module includes a position determining device located above the device body, a bumper located at the front portion of the device body, a cliff sensor and an ultrasonic sensor located at the bottom of the device body, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and the like, which provide various position information and motion state information of the device body to the control module. For example, the front portion of the device body is provided with a bumper, and when the driving wheel assembly propels the cleaning device to walk on the ground during the cleaning process, the bumper detects one or more objects in the travel path of the cleaning device via the sensor module, such as an infrared sensor, and the cleaning device can control the driving structure to respond to the objects, such as stepping over a step, by detecting the objects, such as a step, an obstacle, a wall, and the like.

[0105] In some embodiments, the control module can comprehensively judge the current working state of the robot, such as climbing a step, passing a threshold, being on a carpet, being stuck above or below a cliff, being full of dust, being picked up, and the like, by combining the distance information, speed information, and the like, fed back by the bumper, the cliff sensor and the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and the like, and can give specific next action strategies for different situations, so that the work of the cleaning device is more in line with the requirements of the owner, and better user experience is achieved. Further, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device.

[0106] In some embodiments, the cleaning module can include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module can include a roller brush assembly, an edge brush, and the like, and the wet cleaning module can include a cleaning head, a water tank, and the like.

[0107] In some embodiments, the energy module includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are connected with a single-chip microcomputer control circuit. The host is connected with a charging pile for charging through a charging electrode arranged at the side or the bottom of the body.

[0108] In some embodiments, the human-computer interaction module includes a button on the host panel for the user to select functions; it can also include a display screen and / or an indicator light and / or a loudspeaker to show the user the current state of the machine or the function selection item; it can also include a mobile phone client program. For path navigation type cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, and the position of the machine, and can provide the user with more rich and humanized function items.

[0109] In some embodiments, as shown in Figure 1 and Figure 2 , a mechanical arm mechanism 20 is connected to the cleaning equipment to achieve the grabbing or moving of obstacles or garbage, so as to better achieve the autonomous cleaning function.

[0110] The mechanical arm mechanism 20 is connected to the equipment body 10 of the cleaning equipment, so that the mechanical arm mechanism 20 can move with the movement of the equipment body 10, and then can move to the working position with the equipment body 10, and achieve the grabbing and moving of the object to be clamped.

[0111] The equipment body 10 of the cleaning equipment has a containing groove 110, and the mechanical arm mechanism 20 can be accommodated in the containing groove 110 or extended to the outside of the containing groove 110, that is, the mechanical arm can be extended to the outside of the containing groove 110 or accommodated in the containing groove 110 according to the object grabbing requirement. Since the containing groove 110 is arranged on the equipment body 10, the structure of the equipment body 10 can be fully utilized, that is, the accommodation of the mechanical arm mechanism 20 can be realized, the structure is simple, and the design requirements of compact structure and small volume of the cleaning equipment can be met. At the same time, when the object is not needed to be grabbed, the mechanical arm mechanism 20 is accommodated in the containing groove 110, and the opening of the containing groove 110 is blocked by the cover plate 120, which can reduce the damage of the mechanical arm caused by the collision of foreign objects, and can also avoid the entry of sewage, dust and other sundries into the containing groove 110, so as to improve the reliability and service life of the mechanical arm mechanism 20.

[0112] As shown in Figure 3 , the mechanical arm mechanism 20 includes a mechanical arm base 21 and a plurality of mechanical arms, which can include a support arm 22, a connecting arm 23 and a working arm 24, and a mechanical hand 25 can be arranged on the working arm 24. The mechanical arm base 21 is used to be connected with the equipment body 10 of the cleaning equipment, and the support arm 22, the connecting arm 23 and the working arm 24 are connected with the mechanical arm base 21 and the mechanical hand 25, and the support arm 22, the connecting arm 23 and the working arm 24 are arranged to be able to be flipped and rotated relative to the mechanical arm base 21, so as to realize the flexible movement of the mechanical hand 25 relative to the mechanical arm base 21, so that the mechanical hand 25 can flexibly and accurately grab the object near the cleaning equipment.

[0113] Hereinafter, the present disclosure takes the cleaning device as a sweeping robot, and the mechanical arm mechanism 20 includes a mechanical arm base 21, a support arm 22, a connecting arm 23, and a working arm 24, and a mechanical hand 25 is arranged on the working arm 24. The mechanical arm mechanism 20 is described in detail.

[0114] In some embodiments, as shown in Figures 4-8 The mechanical arm base 21 includes a bottom plate 2111, a steering seat 212, and a driving assembly. The steering seat 212 is arranged on the bottom plate 2111 and can rotate relative to the bottom plate 2111. A first limiting structure is arranged on the steering seat 212, and a second limiting structure is arranged on the bottom plate 2111. The first limiting structure and the second limiting structure cooperate to limit the rotation of the steering seat 212 relative to the bottom plate 2111 between the first position and the second position. The driving assembly is arranged on the bottom plate 2111 and is configured to drive the steering seat 212 to rotate relative to the bottom plate 2111 between the first position and the second position. It should be noted that the steering seat 212 and the driving assembly are arranged above the bottom plate 2111, and the steering seat 212 and the driving assembly can be directly connected together or indirectly connected together through other connecting members.

[0115] The mechanical arm base 21 further comprises a position detection assembly arranged on the bottom plate 2111 and configured to detect the position of the steering seat 212. When the steering seat 212 rotates to a position close to the first position or a position close to the second position, the position detection assembly outputs a position signal, so as to determine whether the steering seat 212 is rotated to the position.

[0116] The mechanical arm base 21 further comprises a controller configured to respond to the position signal and output a first control signal, and the driving assembly responds to the first control signal to drive the steering seat 212 to rotate at a reduced speed and stop driving after a delay of a preset time. By controlling the driving assembly to stop with a delay, the steering seat 212 can be positioned, and false positions at the first position and the second position can be avoided.

[0117] The mechanical arm base 21 further comprises a current detector connected to the controller and configured to detect the current value of the driving motor 2131 when the driving assembly is working. When the current detector detects that the current value of the driving assembly is greater than a preset value, the controller outputs a second control signal according to the current information detected by the current detector, and the driving assembly stops driving the steering seat 212 to rotate in response to the second control signal.

[0118] The mechanical arm base 21 provided by the present disclosure limits the rotation position of the steering seat 212 relative to the bottom plate 2111 in physical structure by arranging the first limiting structure and the second limiting structure on the steering seat 212 and the bottom plate 2111, and limits the rotation of the steering seat 212 between the first position and the second position; by arranging the position detection assembly, when the steering seat 212 is about to rotate to the first position or the second position, the first limiting structure and the second limiting structure abut and limit, and the position detection assembly sends a position signal, and the controller receives the position signal and controls the driving assembly to slow down, so that the steering seat 212 rotates slowly when it is about to rotate to the first position or the second position, and then the steering seat 212 rotates slowly and stably to the first position or the second position, avoiding the abutment of the first limiting structure and the second limiting structure at a relatively high speed; after the steering seat 212 rotates slowly and stably to the first position or the second position, the steering seat 212 cannot continue to rotate at the first position or the second position due to the arrangement of the first limiting structure and the second limiting structure, and at this time the driving assembly is continuously working, resulting in a large current of the driving assembly, for example, a large current of the driving motor; the current detector arranged can detect the information of the large current, and when the working current obtained by the controller through the current detector is greater than a preset current value, the controller outputs a second control signal to the driving assembly to stop rotating, thereby completing the accurate steering of the steering seat 212 on the bottom plate 2111.

[0119] Next, the various components in the mechanical arm base 21 provided by the present disclosure will be described in detail.

[0120] Specifically, as shown in Figure 4 The bottom plate 2111 can be rectangular. The cleaning robot is usually provided with a containing groove for accommodating the mechanical arm mechanism 20, so that the mechanical arm mechanism 20 can be substantially completely accommodated in the containing groove 110 in the fully folded state, avoiding the mechanical arm mechanism 20 protruding or excessively protruding from the surface of the cleaning robot to affect the appearance design. Since the mechanical arm is usually rod-shaped, multiple mechanical arms are stacked together in the folded state, and therefore the containing groove 110 and the mechanical arm mechanism 20 are matched with a rectangular groove. By arranging the bottom plate 2111 as a rectangle to match the shape of the containing groove 110, the bottom plate 2111 can form more installation area in the containing groove 110 with limited size, improving the stability and reliability of the connection.

[0121] The bottom plate 2111 can be connected with the device body 10 in the accommodating groove 110 through a threaded part. For example, mounting holes are arranged on the bottom plate 2111, threaded columns are arranged at the bottom of the accommodating groove 110, and the bottom plate 2111 is fixed in the accommodating groove 110 through the threaded part, so as to realize the fixed connection of the whole mechanical arm mechanism 20 and the device body 10. In addition, the bottom plate 2111 is connected with the device body 10 through the threaded part, which is convenient for the assembly of the mechanical arm mechanism 20 and is convenient for disassembly, maintenance and upgrading of the mechanical arm mechanism 20, and improves the adaptability when different mechanical arm mechanisms 20 need to be assembled.

[0122] The bottom plate 2111 can be a sheet metal part, which has high structural strength and can improve the stability of the whole mechanical arm mechanism 20 on the device body 10. At the same time, the sheet metal part has good plasticity and can design the mounting position structure of different parts to improve the accuracy and stability of the installation.

[0123] Specifically, as shown in Figure 4 and Figure 5 When the steering seat 212 is rotationally connected with the bottom plate 2111, the first plane bearing 2171 and the second plane bearing 2172 can be arranged on both sides of the thickness direction of the bottom plate 2111, the first plane bearing 2171 is sleeved on the rotating shaft 2127 of the steering seat 212 to realize the rotatable connection between the steering seat 212 and the bottom plate 2111; the rotating shaft 2127 of the steering seat 212 can be provided with a threaded hole, and then the bolt 2117 is screwed into the threaded hole of the rotating shaft 2127 from the other side of the bottom plate 2111 to realize the connection between the bolt 2117 and the rotating shaft 2127; the end of the rotating shaft 2127 of the steering seat 212 extending to the other side of the bottom plate 2111 is sleeved with the second plane bearing 2172, and after the bolt 2118 is tightened with the rotating shaft 2127, the head of the bolt 2118 limits the second plane bearing 2172 between the bolt 2118 and the bottom plate 2111, realizing the rotatable connection between the bolt 2118 and the bottom plate 2111; through the threaded connection between the bolt 2118 and the rotating shaft 2127, the limiting assembly of the steering seat 212 on the bottom plate 2111 in the axial direction is realized; through the first plane bearing 2171 and the second plane bearing 2172, the rotatable assembly of the steering seat 212 on the bottom plate 2111 is realized.

[0124] The rod portion of the bolt 2118 can be sleeved with a gasket, which is located between the head portion of the bolt 2118 and the second plane bearing 2172. The diameter of the gasket is greater than that of the head portion of the bolt 2118, so that the head portion of the bolt 2118 and the second plane bearing 2172 have sufficient contact area in the radial direction through the gasket, thereby improving the stability of the rotation connection between the second plane bearing 2172 and the bottom plate 2111. Of course, the diameter of the head portion of the bolt 2118 can be directly set to be larger, which has sufficient contact area with the second plane bearing 2172, and in this case, the gasket can not be additionally provided, and the present disclosure does not limit this.

[0125] Specifically, as shown in Figure 6 and Figure 7 The first limiting structure includes a limiting groove 21221, and the second limiting structure includes a limiting column 214. The limiting column 214 is located in the limiting groove 21221 and can slide in the limiting groove 21221. Through the cooperation of the limiting groove 21221 and the limiting column 214, the rotation of the steering seat 212 between the first position and the second position can be limited.

[0126] The bottom plate 2111 can be provided with a limiting column 214 as a second limiting structure, and the circumferential surface of the steering seat 212 can be provided with a limiting groove 21221, and the limiting column 214 is located in the limiting groove 21221. When the steering seat 212 rotates, the limiting column 214 moves in the limiting groove 21221. When the two end walls of the limiting groove 21221 in the rotation direction of the steering seat 212 abut against the limiting column 214, the rotation of the steering seat 212 is limited, thereby limiting the rotation angle of the steering seat 212 on the bottom plate 2111. Of course, the limiting groove can also be provided on the bottom plate 2111, and the limiting protrusion can be provided on the circumferential surface of the steering seat 212, and the limiting protrusion is located in the limiting groove, thereby limiting the rotation angle.

[0127] For example, as shown in Figure 6 and Figure 7As shown, through the cooperation of the limiting column 214 and the limiting groove 21221, the steering seat 212 can rotate 90° on the bottom plate 2111, that is, the support arm 22 connected to the steering seat 212 can rotate 90° relative to the bottom plate 2111; when the support arm 22 is in the folded state, the length direction of the support arm 22 is perpendicular to the advancing direction of the sweeping robot, at this time, by making the steering seat 212 rotatable 90° on the bottom plate 2111, the support arm 22 can be rotated 90° under the driving of the steering seat 212, that is, the length direction of the support arm 22 is parallel to the advancing direction of the sweeping robot; when the support arm 22 rotates under the driving of the steering seat 212 in the folded state, the size of the accommodating groove 110 needs to be large enough to avoid the interference of the groove wall with the rotation of the support wall 22. Generally, the size of the accommodating groove 110 is comparable to the size of the mechanical arm mechanism 20, therefore, when the support wall 22 needs to be in the unfolded state, the support arm 22 needs to be first extended from the folded state in the accommodating groove 110 to the unfolded state outside the accommodating groove 110 by the first mechanical joint 261, at this time, the support arm 22 can be in a state that the length direction is perpendicular to the plane where the device body 10 is located, then the support arm 22 can be rotated 0-90° relative to the device body 10 by the steering seat 212, that is, the support arm 22 can drive the mechanical hand 25 at the end to extend to the front or side of the device body 10. Of course, the rotatable angle range of the steering seat 212 on the bottom plate 2111 can also be 60°-180°, for example, 60°, 90°, 120°, 150°, 180°, etc., or even 360° without dead angle rotation, at this time, the limiting structure for limiting the rotation angle can not be arranged, which is not limited by the present disclosure.

[0128] Wherein, the position close to the first position, which the steering seat 212 rotates to, can be a position with an angle of 3°-10° between the first position, for example, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc.; of course, it can also be a position with an angle less than 3° or greater than 10° between the first position; the position close to the second position, which the steering seat 212 rotates to, can be a position with an angle of 3°-10° between the second position, for example, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc.; of course, it can also be a position with an angle less than 3° or greater than 10° between the first position; which is not limited by the present disclosure.

[0129] Specifically, the position detection assembly comprises: a transmission member 215 and a detection switch 216, the transmission member 215 is arranged on the base, and the transmission member 215 comprises opposite first and second ends; the detection switch 216 is arranged on the base and is arranged opposite the second end of the transmission member 215.

[0130] Wherein, as shown in FIG. 6, the transmission member 215 is arranged on the base, and the transmission member 215 comprises opposite first and second ends; the detection switch 216 is arranged on the base and is arranged opposite the second end of the transmission member 215. Figure 10 and Figure 11As shown, the steering seat 212 is provided with a first protrusion 21251 and a second protrusion 21252, which are distributed at a preset angle along the circumference of the outer circumferential surface of the steering seat 212, and the preset angle is the same as or substantially the same as the angle at which the steering seat 212 can rotate on the bottom plate 2111, that is, when the steering seat 212 is rotated to a first position, the first protrusion 21251 abuts against the first end of the transmission member 215 to push the transmission member 215 and make the second end of the transmission member 215 trigger the detection switch 216; when the steering seat 212 is rotated to a second position, the second protrusion 21252 abuts against the first end of the transmission member 215 to push the transmission member 215 and make the second end of the transmission member 215 trigger the detection switch 216. Through the detection switch 216, information about whether the steering seat 212 is rotated to the position can be accurately obtained.

[0131] The first protrusion 21251 and the second protrusion 21252 can be protrusions directly formed on the outer circumferential surface of the steering seat 212, or can be protrusion structures relatively formed on the outer circumferential surface of the steering seat 212 through recessed structures. The recessed structures are recessed inward through diameters on the outer circumferential surface of the steering seat 212 to form the first protrusion 21251 and the second protrusion 21252 at both ends. The first protrusion 21251 and the second protrusion 21252 are relatively formed through the recessed structures, on the one hand, so that the first protrusion 21251 and the second protrusion 21252 do not protrude from the outer circumferential surface of the steering seat 212, thereby avoiding interference with other structures on the bottom plate 2111 during rotation of the first protrusion 21251 and the second protrusion 21252, and improving the compactness of the structure of the steering seat 212; on the other hand, the recessed structures form a sliding groove, so that the first end of the transmission member 215 is located in the sliding groove, thereby limiting the first end and avoiding the first end of the transmission member 215 being touched by other components.

[0132] The first protrusion 21251 and the second protrusion 21252 can be circular protrusions, and the transition between the circular protrusions and the non-protruding part can be rounded, thereby improving the smoothness and smoothness of the first end of the transmission member 215 sliding from the non-protruding part to the protrusion, and avoiding jamming.

[0133] Specifically, as Figure 8 and Figure 9As shown, the transmission member 215 includes a connecting portion 2151 and an elastic portion 2152, one end of the connecting portion 2151 is connected with the elastic portion 2152, the other end is arranged opposite to the steering seat 212 and is used for abutting with the first protrusion 21251 or the second protrusion 21252, and the elastic portion 2152 is arranged opposite to the detection switch 216; when the first protrusion 21251 or the second protrusion 21252 abuts with the connecting portion 2151, the connecting portion 2151 pushes the elastic portion 2152 and triggers the detection switch 216 after the elastic portion 2152 is deformed. By arranging the elastic portion 2152, the elastic restoring force of the transmission member 215 itself can be used to separate the second end of the transmission member 215 from the detection switch 216 when the first protrusion 21251 or the second protrusion 21252 does not abut with the connecting portion 2151, so that the detection switch 216 is in an off state. Of course, the detection switch 216 can also be in an off state when the second end of the transmission member 215 abuts and triggers, or in a first state when the second end of the transmission member 215 triggers, and in a second state when the second end of the transmission member 215 does not trigger; the transmission member 215 can assist in judging the position of the steering seat 212 by being in different states when the second end triggers and does not trigger, and the present disclosure does not limit this.

[0134] As shown in FIGS. 1, 2 and 3, the transmission member 215 includes a connecting portion 2151 and an elastic portion 2152, one end of the connecting portion 2151 is connected with the elastic portion 2152, the other end is arranged opposite to the steering seat 212 and is used for abutting with the first protrusion 21251 or the second protrusion 21252, and the elastic portion 2152 is arranged opposite to the detection switch 216; when the first protrusion 21251 or the second protrusion 21252 abuts with the connecting portion 2151, the connecting portion 2151 pushes the elastic portion 2152 and triggers the detection switch 216 after the elastic portion 2152 is deformed. By arranging the elastic portion 2152, the elastic restoring force of the transmission member 215 itself can be used to separate the second end of the transmission member 215 from the detection switch 216 when the first protrusion 21251 or the second protrusion 21252 does not abut with the connecting portion 2151, so that the detection switch 216 is in an off state. Of course, the detection switch 216 can also be in an off state when the second end of the transmission member 215 abuts and triggers, or in a first state when the second end of the transmission member 215 triggers, and in a second state when the second end of the transmission member 215 does not trigger; the transmission member 215 can assist in judging the position of the steering seat 212 by being in different states when the second end triggers and does not trigger, and the present disclosure does not limit this. Figure 8 As shown in FIGS. 1, 2 and 3, the transmission member 215 includes a connecting portion 2151 and an elastic portion 2152, one end of the connecting portion 2151 is connected with the elastic portion 2152, the other end is arranged opposite to the steering seat 212 and is used for abutting with the first protrusion 21251 or the second protrusion 21252, and the elastic portion 2152 is arranged opposite to the detection switch 216; when the first protrusion 21251 or the second protrusion 21252 abuts with the connecting portion 2151, the connecting portion 2151 pushes the elastic portion 2152 and triggers the detection switch 216 after the elastic portion 2152 is deformed. By arranging the elastic portion 2152, the elastic restoring force of the transmission member 215 itself can be used to separate the second end of the transmission member 215 from the detection switch 216 when the first protrusion 21251 or the second protrusion 21252 does not abut with the connecting portion 2151, so that the detection switch 216 is in an off state. Of course, the detection switch 216 can also be in an off state when the second end of the transmission member 215 abuts and triggers, or in a first state when the second end of the transmission member 215 triggers, and in a second state when the second end of the transmission member 215 does not trigger; the transmission member 215 can assist in judging the position of the steering seat 212 by being in different states when the second end triggers and does not trigger, and the present disclosure does not limit this. Figure 9

[0135] ​The part of the elastic part 2152 connected with the connecting part 2151 forms a relatively large width of the accommodation space, which is beneficial for the deformation of the part under the driving of the connecting part 2151. The trigger part 2155 is arranged on the inner wall of the accommodation space, and the trigger part 2155 is arranged opposite to the detection switch 216. The hollow structure 2156 is formed between the trigger part 2155 and the elastic part 2152, and the elastic part 2152 can restore the elastic deformation through the hollow structure 2156.

[0136] The transmission member 215 can also only include the connecting part 2151. The elastic member is arranged separately from the transmission member 215 to trigger and separate the detection switch 216. For example, the elastic member is arranged at the second end of the transmission member 215. When the first protrusion 21251 or the second protrusion 21252 pushes the transmission member 215, the second end of the transmission member 215 moves towards the detection switch 216 by extruding the elastic member to trigger the detection switch 216. When the first protrusion 21251 or the second protrusion 21252 does not push the transmission member 215, the second end of the transmission member 215 moves towards the first end by the elastic restoring force of the elastic member, so that the elastic part 2152 is separated from the detection switch 216 to be in a state of not triggering the detection switch 216. The elastic member can be a spring, for example. In addition, a tension spring can also be arranged at the first end of the transmission member 215 to separate the transmission member 215 from the detection switch 216 by the elastic restoring force of the tension spring when the transmission member 215 is not pushed by the first protrusion 21251 or the second protrusion 21252.

[0137] The detection switch 216 can be a trigger switch, which is in a conduction state or a disconnected state by the triggering of the transmission member 215. For example, the trigger switch can be a BTE switch (BTE-P-V-T / R) for controlling the on-off of the circuit to realize the switching function of the circuit.

[0138] Specifically, the mechanical arm base 21 further includes a bottom shell 2112 connected with the bottom plate 2111. The bottom shell 2112 and the bottom plate 2111 form an accommodation space, and the transmission member 215 is located in the accommodation space. The bottom shell 2112 is provided with a guide structure configured to guide the movement of the transmission member 215. The guide structure is arranged on the bottom shell 2112 to make the transmission member 215 move along the guide formed by the guide structure, so as to accurately trigger the detection switch 216.

[0139] The transmission member 215 and one of the bottom shell 2112 are provided with a sliding block, and the other is provided with a sliding groove. The sliding groove and the sliding block are matched to guide the movement of the transmission member 215. The length of the sliding groove limits the movement distance of the sliding block, and limits the movement distance of the transmission member 215. The transmission member 215 moves within a certain range, and the movement distance is as small as possible when triggering the detection switch 216, so as to improve the role of the elastic recovery force, and improve the reliability of the transmission member 215 triggering the detection switch 216.

[0140] As shown in Figure 8 and Figure 9 The main body of the transmission member 215 is provided with an annular structure 2153 to form a sliding groove, and the inner wall of the bottom shell 2112 is provided with a sliding block. After the bottom shell 2112 is assembled to the bottom plate 2111, the sliding block on the inner wall of the bottom shell 2112 is located in the sliding groove on the transmission member 215, thereby guiding the sliding of the transmission member 215 and limiting the movement distance of the transmission member 215. In addition, through the setting of the sliding block and the sliding groove, the transmission member 215 can be quickly positioned during installation, thereby improving the assembly efficiency.

[0141] Specifically, the driving assembly comprises a driving motor 2131 and a transmission gear 2132. The driving motor 2131 comprises a driving shaft, and the transmission gear 2132 is in transmission connection with the driving shaft. The outer circumferential surface of the steering seat 212 is provided with a tooth-shaped structure extending in the circumferential direction, and the transmission gear 2132 drives the steering seat 212 to rotate between the first position and the second position by meshing with the tooth-shaped structure. The driving motor 2131 and the gear structure are arranged to drive the steering seat 212. The rotation angle control is relatively more accurate, and the reliability and stability are relatively high.

[0142] The driving motor 2131 and the transmission gear 2132 are provided with a speed reducer 2133. The speed reducer 2133 is provided with a speed reduction gear set. The speed reducer 2133 can adjust the rotation speed of the driving motor 2131 driving the transmission gear 2132, and can improve the torque of the driving transmission gear 2132, thereby improving the stability of the driving steering seat 21 driving the mechanical arm to rotate.

[0143] The bottom plate 2111 is further provided with a circuit board (PCB) 2118. The circuit board 2117 is provided with a controller. The controller is connected with the driving motor 2131, the detection switch 216 and the current detector to control the driving motor 2131.

[0144] The top surface of the bottom shell 2112 away from the bottom plate 2111 is further provided with a circuit board mounting groove 2116 to limit the installation of the circuit board 2117. Of course, the circuit board can also be directly assembled to the bottom plate 2111, and the present disclosure does not limit this.

[0145] The bottom shell 2112 can be further provided with an upper shell 2113, and the bottom shell 2112 and the upper shell 2113 form a containing space. The bottom shell 2112 and the upper shell 2113 form a sealed installation of the circuit board 2117, so as to avoid the entry of sewage, dust and other sundries into the circuit board 2117, thereby improving the stability of the circuit board 2117. In addition, the driving motor 2131 and the speed reducer 2133 can also be installed in the containing space formed by the bottom shell 2112 and the upper shell 2113, so as to improve the stability of the driving motor 2131 and the speed reducer 2133.

[0146] The bottom shell 2112 and the bottom plate 2111 form a containing space, the transmission gear 2132, the transmission member 215 and the detection switch 216 are arranged in the containing space, the transmission member 2121 is protected, and the entry of sewage, dust and other sundries into the transmission part 2123 is avoided, so as to improve the service life and stability of the rotating part 2121.

[0147] The top surface of the bottom shell 2112 away from the bottom plate 2111 is provided with a mounting groove 2115, and the driving motor 2131 is located in the mounting groove 2115. That is, the bottom shell can also be provided with a mounting structure to make itself as a mounting seat, so as to improve the compactness of the structure and achieve the purpose of small size and thin design.

[0148] The transmission member 215 can be located between the transmission gear 2132 and the bottom shell 2112, and the transmission member 215 is limited in the axial direction by the transmission gear 2132 and the inner wall of the bottom shell 2112. Figure 9 As shown in FIG. 8, the surface of the transmission member 215 facing the transmission gear 2132 is provided with an abutting protrusion 2154, so that the transmission member 215 can be supported on the transmission gear 2132, for example, abutting at the part of the transmission gear 2132 close to the inner ring without teeth. Of course, the transmission member 215 can also be arranged between the transmission gear 2132 and the bottom plate 2111, or be arranged in a staggered manner with the transmission gear 2132 on the bottom plate 2111, which is not limited in the present disclosure.

[0149] The bottom shell 2112 and the bottom plate 2111 can be connected by a threaded member. For example, a threaded hole is arranged on the bottom shell 2112, a through hole is arranged on the bottom plate 2111, a screw is passed through the through hole on the bottom plate 2111 and screwed into the threaded hole on the bottom shell 2112, so as to realize the detachable fixed connection of the bottom shell 2112 and the bottom plate 2111, thereby improving the assembly efficiency and maintenance convenience. Of course, the bottom shell 2112 and the bottom plate 2111 can also be connected by clamping, bonding, welding and the like, which is not limited in the present disclosure.

[0150] The bottom plate 2111 can further be provided with a buffer support pad 2113 for buffering the support arm 22 when the support arm 22 rotates towards the folded state, and for supporting the support arm 22 in the folded state. The shape of the support surface of the buffer support pad 2113 can match the part of the support arm 22 in contact with the support surface, so as to improve the buffering effect and the support stability. The buffer support pad 2113 can be fixedly connected to the bottom plate 2111 by a threaded fastener, so as to improve the assembly efficiency and the maintenance convenience. Of course, the buffer support pad 2113 can also be connected to the bottom plate 2111 by clamping, bonding or welding. In an example, the buffer support pad 2113 can be a buffer rubber pad, which has a good buffering effect and high stability.

[0151] The buffer support pad 2113, the steering seat 212, the transmission member 215 and the detection switch 216 are sequentially arranged in a preset direction along the length direction of the bottom plate 2111, i.e., the components on the bottom plate 2111 are distributed along the length direction of the support arm 22 in the folded state, so as to avoid increasing the width dimension of the bottom plate 2111, and to make the overall structural dimension of the mechanical arm base 21 and the dimension of the connected support arm 22 comparable, thereby achieving the purpose of small size and thin design.

[0152] In some embodiments, as shown in Figure 10 and Figure 11 The steering seat 212 includes a rotating part 2121, a limiting part 2122, a transmission part 2123, a first support part 21241 and a second support part 21242. The rotating part 2121 includes opposite first and second sides in the axial direction. The first support part 21241 and the second support part 21242 are arranged on the first side of the rotating part 2121 and are spaced apart in the radial direction of the rotating part 2121. An installation space is formed between the first support part 21241 and the second support part 21242, and is configured to accommodate a target mechanical arm. The limiting part 2122 is arranged on the second side of the rotating part 2121, and is configured to cooperate with a target limiting structure to limit the rotation of the steering seat 212 between the first position and the second position. The transmission part 2123 is arranged on the second side of the rotating part 2121, and is configured to cooperate with a target driving assembly to rotate the steering seat 212.

[0153] The steering seat 212 provided by the present disclosure integrates the rotating part 2121, the limiting part 2122, the transmission part 2123, the first supporting part 21241 and the second supporting part 21242 together, can simultaneously cooperate with the rotating structure system for controlling reciprocating rotation and the lifting structure system for controlling the mechanical arm to be lifted and folded, places the lifting structure system for controlling the mechanical arm to be lifted and folded in the middle region between the first supporting part 21241 and the second supporting part 21242, and designs the bottom of the steering seat 212 with the limiting part 2122 and the transmission part 2123 to meet the steering function. The integrated design of the steering seat 212 can meet the rotation and lifting functions, minimize the volume of the whole movement structure, and improve the applicability on household electrical products.

[0154] Specifically, the steering seat 212 further includes a first protrusion 21251 and a second protrusion 21252, the first protrusion 21251 and the second protrusion 21252 are arranged on the rotating part 2121, and the first protrusion 21251 and the second protrusion 21252 are configured to trigger the detection switch 216; when the steering seat 212 rotates to a first position, the first protrusion 21251 triggers the detection switch 216; when the steering seat 212 rotates to a second position, the second protrusion 21252 triggers the detection switch 216.

[0155] The transmission part 2123 and the limiting part 2122 are distributed in the circumferential direction on the outer circumferential surface of the rotating part 2121, that is, the transmission part 2123 and the limiting part 2122 are located at the same height of the steering seat 212 in the axial direction, so that the size of the steering seat 212 in the axial direction can be designed to be smaller, and the structure of the steering seat 212 can be more compact.

[0156] Specifically, the second side of the rotating part 2121 is formed with an annular boss 2126 around the steering seat 212 rotation shaft 2615, and the transmission part 2123 and the limiting part 2122 are formed in the circumferential direction of the annular boss 2126. By arranging the annular boss 2126, a bearing can be assembled in the space surrounded by the inner ring to realize the rotatable arrangement of the steering seat 212 on the bottom plate 2111. In addition, the transmission part 2123 and the limiting part 2122 can be arranged on the outer circumferential surface of the annular boss 2126, so that the annular boss 2126 has three purposes, greatly improving the compactness of the structure of the steering seat 212.

[0157] The circumferential surface of the annular boss 2126 is formed with a tooth-shaped structure extending in the circumferential direction and a limiting groove 21221 extending in the circumferential direction. The tooth-shaped structure can be part of the gear teeth structure, and the radian occupied by the tooth-shaped structure in the circumferential direction needs to meet the requirement of the reciprocating rotation angle of the steering seat 212. For example, when the reciprocating rotation angle of the steering seat 212 is 90°, the radian occupied by the tooth-shaped structure in the circumferential direction needs to be greater than or equal to π / 2; the radian occupied by the limiting groove 21221 in the circumferential direction matches the reciprocating rotation angle of the steering seat 212, for example, π / 2.

[0158] The steering seat 212 further comprises a rotating shaft 2127 provided on the second side of the rotating part 2121 and located at the center of the annular boss 2126. By providing the rotating shaft 2127, the inner ring of the first plane bearing 2171 can be sleeved on the rotating shaft 2127 to realize the rotatable connection between the steering seat 212 and the bottom plate 2111. The end of the rotating shaft 2127 can be provided with a threaded hole, i.e., the side of the rotating shaft 2127 facing the bottom plate 2111 is provided with a threaded hole. The bottom plate 2111 can be provided with a bolt 2118, the end of the rotating shaft 2127 extending to the other side of the bottom plate 2111 is sleeved with a second plane bearing 2172, and after the bolt 2118 is tightened with the rotating shaft 2127, the head of the bolt 2118 limits the second plane bearing 2172 between the bolt 2118 and the bottom plate 2111 to realize the rotatable connection between the bolt 2118 and the bottom plate 2111. Through the first plane bearing 2171 and the second plane bearing 2172, the rotatable assembly of the steering seat 212 on the bottom plate 2111 is realized.

[0159] Specifically, as shown in Figures 12-14 The support arm 22 is pivoted to the steering seat 212 through a rotating shaft 236. The support arm 22 comprises a support arm body 220 and a first mechanical joint 261, the support arm body 220 is pivoted to the steering seat 212, and the first mechanical joint 261 is used to drive the support arm 22 to lift or fall relative to the steering seat 212.

[0160] The ends of the first support part 21241 and the second support part 21242 away from the rotating part 2121 are respectively provided with a first mounting groove 21243 configured to assemble the rotating shaft 236 of the mechanical arm. The rotating shaft 236 on the support arm body 220 is arranged in the first mounting groove 21243 on the first support part 21241 and the second support part 21242, and then the rotating shaft 236 on the support arm body 220 is fixed on the first support part 21241 and the second support part 21242 by cooperating a pressing block with a threaded part.

[0161] Specifically, the first mechanical joint 261 comprises a driving motor 2611, a screw rod 2612, and a guide nut 2613 threadedly connected with the screw rod 2612 and hinged to the steering seat 212 through a steering shaft 2615, the driving motor 2611 is arranged on the support arm body 220, the first end of the screw rod 2612 is connected with the driving motor 2611, and the second end of the screw rod 2612 passes through the guide nut 2613 and is arranged towards the steering seat 212. The driving motor 2611 is used to drive the screw rod 2612 to rotate, so that the screw rod 2612 and the guide nut 2613 move relatively, so that the screw rod 2612 can move relative to the guide nut 2613 towards the steering seat 212 or away from the steering seat 212, so as to drive the support arm 22 to lift or land relative to the steering seat 212, that is, the support arm 22 can be in a folded state or an unfolded state relative to the steering seat 212, so as to meet the needs of different postures of the mechanical arm.

[0162] The first support part 21241 and the second support part 21242 are respectively provided with a second mounting groove 21244 on the side wall of the same side of the rotating part 2121, and the second mounting groove 21244 is configured to fit the steering shaft 2615 of the guide nut 2613. The steering shaft 2615 is arranged in the second mounting groove 21244 on the first support part 21241 and the second support part 21242, and then the steering shaft 2615 is fixed on the first support part 21241 and the second support part 21242 by cooperating a pressing block with a threaded part. After installation is completed, the steering shaft 2615 of the guide nut 2613 and the shaft 236 on the support arm body 220 are arranged in parallel on the first support part 21241 and the second support part 21242.

[0163] When the support arm 22 lands from the unfolded state as shown in FIG. 2A towards the folded state as shown in FIG. 2B, the second end of the screw rod 2612 moves relative to the guide nut 2613 towards the first end connected with the driving motor 2611, at this time, the length of the second end of the screw rod 2612 extending into the space between the first support part 21241 and the second support part 21242 through the guide nut 2613 increases, and the screw rod 2612 also rotates relative to the rotating part 2121 during rotation. At this time, the second end of the screw rod 2612 may interfere with the surface of the rotating part 2121. By arranging the avoiding groove 21211 on the surface of the rotating part 2121 on the first side, the second end of the screw rod 2612 can be avoided, so as to avoid interference with the structure on the steering seat 212, so that the structure of the steering seat 212 is more compact, and the design requirement of small volume is met. Figure 14 Figure 13 When the support arm 22 lands from the unfolded state as shown in FIG. 2A towards the folded state as shown in FIG. 2B, the second end of the screw rod 2612 moves relative to the guide nut 2613 towards the first end connected with the driving motor 2611, at this time, the length of the second end of the screw rod 2612 extending into the space between the first support part 21241 and the second support part 21242 through the guide nut 2613 increases, and the screw rod 2612 also rotates relative to the rotating part 2121 during rotation. At this time, the second end of the screw rod 2612 may interfere with the surface of the rotating part 2121. By arranging the avoiding groove 21211 on the surface of the rotating part 2121 on the first side, the second end of the screw rod 2612 can be avoided, so as to avoid interference with the structure on the steering seat 212, so that the structure of the steering seat 212 is more compact, and the design requirement of small volume is met.​

[0164] The avoidance groove 21211 extends along the radial direction of the rotating part 2121, and the extension direction is perpendicular or substantially perpendicular to the direction in which the first supporting part 21241 points to the second supporting part 21242, that is, the extension direction is perpendicular to the turning shaft 2615 on which the guide nut 2613 is arranged, forming an effective arc-shaped avoidance space, and meanwhile, the size of the avoidance groove 21211 is prevented from being large, and the structural strength of the turning seat 212 is improved.

[0165] The distance between the driving motor 2611 and the guide nut 2613 can be adjusted by rotating the screw rod 2612 in the guide nut 2613 by the driving motor 2611, so that the supporting arm 22 can be turned by 0-90° relative to the turning seat 212. Of course, the maximum turning angle of the supporting arm 22 relative to the turning seat 212 can be greater than 90°, for example, 100°, 110°, 120°, etc., which can be set according to requirements, and the present disclosure does not limit this.

[0166] The first mechanical joint 261 further comprises a motor seat 2614, the motor seat 2614 is rotationally connected with the supporting arm body 220, and the driving motor 2611 is installed on the motor seat 2614. During the lifting or lowering of the supporting arm 22 relative to the rotating seat, the driving motor 2611 and the supporting arm 22 body can be relatively rotated by the motor seat 2614, so that the driving motor 2611 does not interfere with the supporting arm 22 body, and the screw rod 2612 can smoothly move relative to the guide nut 2613, without the phenomenon of being stuck.

[0167] In some embodiments, the mechanical arm mechanism 20 comprises a plurality of mechanical arms, and adjacent two mechanical arms are rotationally connected through a mechanical arm joint. Figure 15 As shown in the figure, at least one mechanical arm comprises a mechanical arm body, a wire harness adapter plate 232, a first wire harness 271 and a second wire harness 272, the wire harness adapter plate 232 is arranged on the mechanical arm body, the first wire harness 271 is connected with the wire harness adapter plate 232, the second wire harness 272 is connected with the wire harness adapter plate 232, and the first wire harness 271 and the second wire harness 272 are conducted through the wire harness adapter plate 232.

[0168] The mechanical arm mechanism 20 provided by the present disclosure is arranged with the wire harness adapter plate 232 in the mechanical arm, so that the wire harness of the whole arm can be divided into two sections, meeting the requirements of the design of the split assembly and maintenance of the mechanical arm and the light and thin design.

[0169] Specifically, the support arm 22 is rotationally connected with the connecting arm 23 through the second mechanical joint 262 to relatively perform a pitching action; the connecting arm 23 is rotationally connected with the working arm 24 through the third mechanical joint 263 to relatively perform a pitching action. The wire harness on the support arm 22 and the working arm 24 needs to pass through the connecting arm 23, and the wire harness is connected by arranging the wire harness adapter plate 232 on the connecting arm body 230, which facilitates the assembly of the wire harness.

[0170] Wherein, the first wire harness 271 is detachably connected with the wire harness adapter plate 232, or the second wire harness 272 is detachably connected with the wire harness adapter plate 232, or the first wire harness 271 and the second wire harness 272 are both detachably connected with the wire harness adapter plate 232, through detachable connection, which facilitates the assembly and maintenance of the first wire harness 271 and the second wire harness 272. Of course, the first wire harness 271 and the second wire harness 272 are both fixedly connected with the wire harness adapter plate 232 in a welding manner, which is not limited in the present disclosure.

[0171] Wherein, the first wire harness 271 is a flat wire, or the second wire harness 272 is a flat wire, or the first wire harness 271 and the second wire harness 272 are both flat wires. By using flat wires, the thickness of the wire harness can be thinned, which facilitates the arrangement in the connecting arm housing 231 of the connecting arm 23, and further thins the connecting arm 23.

[0172] Specifically, as shown in Figure 16 The wire harness on the support arm 22 needs to extend to the connecting arm 23 through the second mechanical joint 262, and the wire harness on the connecting arm 23 needs to extend to the working arm 24 through the third mechanical joint 263. The second mechanical joint 262 can have the same or similar structure as the third mechanical joint 263. The first wire slot 2621 can be arranged in the second mechanical joint 262, and the second wire slot 2631 can be arranged in the third mechanical joint 263. When the wire harness passes through the second mechanical joint 262 and the third mechanical joint 263, it can be located in the first wire slot 2621 and the second wire slot 2631, and the first wire slot 2621 and the second wire slot 2631 form assembly positioning and limiting; during the rotation of the second mechanical joint 262 and the third mechanical joint 263, the wire harness can slide in the first wire slot 2621 and the second wire slot 2631 along the extension direction, and the first wire slot 2621 and the second wire slot 2631 form a guiding effect, which improves the wire pulling phenomenon and prolongs the service life of the wire harness to meet the requirement of more than 50,000 times of life.

[0173] In this design, the first groove 2621 of the second mechanical joint 262 and the second groove 2631 of the third mechanical joint 263 are arc-shaped. The shape of the first groove 2621 matches that of the second mechanical joint 262, and the shape of the second groove 2631 matches that of the third mechanical joint 263, thus preventing the wire harness from bending at a small angle. The width and depth of the first groove 2621 and the second groove 2631 can be designed according to the size of the wire harness to prevent the wire harness from having large gaps in the first groove 2621 and the second groove 2631, which could cause it to wobble and come out of the first groove 2621 and the second groove 2631. It also prevents the first groove 2621 and the second groove 2631 from being too small, which could cause the wire harness to be squeezed, resulting in increased friction and preventing it from sliding in the groove.

[0174] Among them, such as Figure 16 As shown, a first wire buckle 221 is provided on the support arm 22 near the end connected to the second mechanical joint 262. The wire harness is fixed through the first wire buckle 221 and then passes out from the support arm 22. A second wire buckle 248 is provided on the working arm 24 near the end connected to the third mechanical joint 263. The wire harness passes into the working arm 24 and is fixed through the second wire buckle. The first wire buckle 221 and the second wire buckle 248 can be ultra-thin structures, such as wire buckle plates. After the wire buckle plates compress the wire harness, they can be fixed by screws. By controlling the tightening force of the screws, the compressive force applied to the wire harness is achieved.

[0175] Among them, such as Figure 16 As shown, both the first wire harness 271 and the second wire harness 272 have bent sections 273 at both ends of the connecting arm 23. The bent sections 273 can absorb the deformation of the wire harness when it rotates at the second mechanical joint 262 and the third mechanical joint 263, so that the wire harness is not pulled during the movement. When the mechanical joint can meet the degree of freedom of 0 to 240°, the wire harness is relatively fixed, which can improve the service life.

[0176] Specifically, the wiring harness running along the joints of the robotic arm includes multiple leads, which are wrapped together by a protective layer. The exposed wires are also wrapped in the protective layer, ensuring a fixed wire length and preventing the wiring harness from being pulled during movement. When combined, the harness can be completely stored in the wire groove, thus meeting the requirements for the lifespan of the wiring and ensuring that the wiring harness is completely retracted into the entire arm after combination. The multiple leads may include power wires and signal wires, etc.

[0177] The protective layer may include a woven mesh, which provides good wrapping effect and is lightweight.

[0178] In some embodiments, such as Figures 17-19As shown, the working arm 24 in the mechanical arm mechanism 20 is connected with the main body 250 of the mechanical hand 25 through the rotary joint 242, the working arm 24 includes a working arm body 240 and a first driver 241 arranged on the working arm body 240; the rotary joint 242 includes a first end and a second end opposite along a first direction, the first end is connected with the first driver 241, and the first driver 241 is configured to drive the rotary joint 242 to rotate around the first direction; the second end is formed with a counterbore 2421 extending towards the first end, and the rotary joint 242 is formed with an avoiding groove 2422 extending along a circumferential direction by a preset radian on an outer circumferential surface, and the avoiding groove 2422 is communicated with the counterbore 2421. Wherein, the first direction is an axial direction of the rotary joint 242.

[0179] Wherein, the mechanical hand 25 includes a main body 250, a second driver, a first clamping jaw 2521 and a second clamping jaw 2522, the main body 250 includes a first end and a second end opposite along a first direction, and the second driver is arranged on the main body 250; the first clamping jaw 2521 and the second clamping jaw 2522 are rotationally connected with the first end of the main body 250, and the second driver is configured to drive the first clamping jaw 2521 and the second clamping jaw 2522 to switch between an open state and a clamping state; the second end of the main body 250 is fixedly connected with the second end of the rotary joint 242, and a containing space formed by the main body 250 is communicated with the counterbore 2421.

[0180] Wherein, the wire harness 270 on the working arm 24 needs to pass through the rotary joint and extend into the mechanical hand 25, so that one end of the wire harness 270 is located on the mechanical hand 25, and the other end extends to the mechanical arm after passing through the counterbore 2421 and the avoiding groove 2422 on the rotary joint 242.

[0181] The mechanical arm mechanism 20 provided by the present disclosure, the first driver 241 on the working arm 24 drives the rotary joint 242 to rotate, and the rotary joint 242 drives the whole mechanical hand 25 to rotate, so that the first clamping jaw 2521 and the second clamping jaw 2522 of the mechanical hand 25 can adjust the angle and clamp the object to be clamped, thereby improving the clamping performance of the mechanical arm; by setting the counterbore 2421 and the avoiding groove 2422 on the rotary joint 242, the wire harness 270 can pass through the rotary joint 242 through the avoiding groove 2422 and the counterbore 2421; the avoiding groove 2422 extends along the rotating direction on the outer circumferential surface of the rotary joint 242, so that the wire harness 270 relatively moves in the avoiding groove 2422 during the rotation of the rotary joint 242, which can improve the pulling of the wire harness 270 during the rotation of the rotary joint 242, prolong the service life of the wire harness 270, and meet the service life requirement that the rotary joint 242 can rotate more than 50,000 times.

[0182] Specifically, as Figure 20As shown, in the first direction, a connecting portion 2423 is provided between the second end of the rotary joint 242 and the clearance groove 2422, that is, the clearance groove 2422 is spaced apart from the main body 250 of the robot arm 25. Of course, in the first direction, the clearance groove 2422 can also be located directly at the end of the main body 250 of the robot arm 25, that is, on the end face of the second end of the rotary joint 242.

[0183] Among them, such as Figure 20 and Figure 21 As shown, the connecting portion 2423 may have an opening 2424 that connects to the countersunk hole 2421 in the radial direction of the rotary joint 242, and the opening 2424 penetrates the second end of the rotary joint 242 and the clearance groove 2422 in a first direction. By forming an opening 2424 in the connecting portion 2423 that penetrates the second end of the rotary joint 242 and the clearance groove 2422, the wire harness 270 can be directly threaded through the opening 2424 onto the rotary joint 242, which facilitates the assembly of the wire harness 270 and also facilitates subsequent maintenance. The width of the opening 2424 in the circumferential direction of the rotary joint 242 can be relatively small, just enough to allow the wire harness 270 to pass through the opening 2424 into the countersunk hole 2421, thereby improving the structural strength of the rotary joint 242.

[0184] Among them, such as Figure 20 As shown, a clearance notch 2511 is formed on the second end of the main body 250 of the robot arm 25. The clearance notch 2511 communicates with the opening 2424 and the countersunk hole 2421 at the second end of the rotary joint 242. By forming the clearance notch 2511 on the second end of the main body 250 of the robot arm 25, the wire harness 270 can be directly threaded through the opening 2424 on the rotary joint 242 and the clearance notch 2511 on the robot arm 25 during installation, thus completing the purpose of threading on the rotary joint 242 and into the robot arm 25, which facilitates the assembly of the wire harness 270.

[0185] Among them, such as Figure 22 As shown, a sealing element 2425 is provided on the opening 2424 or the opening 2424 and the clearance notch 2511. By providing the sealing element 2425 on the opening 2424 or the opening 2424 and the clearance notch 2511, after the wire harness 270 is passed through the opening 2424 and the clearance notch 2511 into the rotary joint 242 and the main body 250 of the robot arm 25, the opening 2424 and / or the clearance notch 2511 can be sealed, thereby preventing the wire harness 270 from coming out of the opening 2424 or the clearance notch 2511, and thus limiting the wire harness 270.

[0186] The sealing component 2425 is detachably connected to the main body 250 of the rotary joint 242 and / or the robot arm 25, which facilitates the assembly of the sealing component 2425 and facilitates subsequent maintenance.

[0187] The first driver 241 is configured to drive the rotary joint 242 to rotate by a preset angle in the first direction, and the preset arc of the avoidance groove 2422 corresponds to an angle greater than or equal to 50% of the preset angle. For example, the preset angle can be 240°, and the preset arc of the avoidance groove 2422 corresponds to an angle greater than or equal to 120°, so that the rotary joint 242 can improve the phenomenon of pulling the wire harness 270 as much as possible during rotation. Preferably, the preset arc corresponds to an angle greater than or equal to the preset angle, for example, the preset arc of the avoidance groove 2422 corresponds to an angle greater than 240°, so that the rotary joint 242 can completely avoid pulling the wire harness 270 during rotation, thereby improving the service life of the wire harness 270.

[0188] The rotary joint 242 and the main body 250 of the manipulator 25 are in an integrated structure. By making the rotary joint 242 and the main body 250 in an integrated structure, the main body 250 of the manipulator 25 can be formed by injection molding through a mold, and the rotary joint 242 can be formed at the same time, thereby improving production efficiency and reducing production cost. At the same time, the connection structure between the rotary joint 242 and the main body 250 in the integrated structure has high strength, and in the case that the avoidance groove 2422 and the opening 2424 are provided on the rotary joint 242, the structural strength of the rotary joint 242 can still meet the requirements. In addition, by making the rotary joint 242 and the main body 250 in an integrated structure, there is no assembly error between the rotary joint 242 and the main body 250, thereby improving the accurate control of the rotation angle of the manipulator 25. Of course, the rotary joint 242 and the main body 250 can also be in a split structure, for example, connected by threads, welding, bonding, clamping, etc. The present disclosure does not limit this.

[0189] Specifically, the wire harness 270 includes a first section 2701 located in the counterbore 2421 and a second section 2702 located in the avoidance groove 2422, the first section 2701 extends along the first direction, and the second section 2702 extends along the radial direction of the rotary joint 242. By making the second section 2702 of the wire harness 270 located in the avoidance groove 2422 extend along the radial direction of the rotary joint 242, the wire harness 270 can improve the pulling of the wire harness 270 by the rotary joint 242 during rotation by relatively moving in the avoidance groove 2422, thereby improving the service life of the wire harness 270.

[0190] Specifically, when the robotic arm 25 is in its initial position relative to the working arm 24, the second segment 2702 is located at the middle position along the circumference of the clearance groove 2422. This means the distance between the wiring harness 270 and both ends of the clearance groove 2422 is the same or substantially the same. This ensures that the wiring harness 270 is not pulled or excessively pulled when the robotic arm 25 rotates in opposite directions, thus extending the lifespan of the wiring harness 270. It should be noted that the initial position of the robotic arm 25 relative to the working arm 24 refers to the position of the robotic arm mechanism 20 when it is retracted into the folded state of the receiving slot 110 of the sweeping robot. After each gripping operation, the robotic arm 25 returns to its initial position relative to the working arm 24.

[0191] Among them, such as Figure 17 As shown, the wiring harness 270 also includes a third segment 2703 and a fourth segment 2704. The third segment 2703 is connected to the second segment 2702, and the fourth segment 2704 is connected to the third segment 2703. The second segment 2702 is led out from the clearance groove 2422 to the side of the rotary joint 242 through the third segment 2703, and then the wiring harness is led out along the length of the working arm 24 through the fourth segment 2704.

[0192] In some embodiments, such as Figures 23-27 As shown, the working arm 24 includes a working arm 24 body and a first driver 241. The first driver 241 is disposed on the working arm 24 body, and the working arm 24 body is provided with a support structure, a first limiting structure, and a second limiting structure. A rotary joint 242 connects the first driver 241 to the main body 250 of the robot arm 25. The rotary joint 242 has a mounting hole at one end near the first driver 241. The output shaft 2410 of the first driver 241 is disposed in the mounting hole and is positioned and connected to the mounting hole in the circumferential direction of the output shaft 2410. The rotary joint 242 rotates on the support structure, and the support structure limits the radial movement of the rotary joint 242. A third limiting structure is provided on the outer circumferential surface of the rotary joint 242. The third limiting structure cooperates with the first limiting structure to limit the axial movement of the rotary joint 242, and the third limiting structure cooperates with the second limiting structure to allow the rotary joint 242 to rotate by a preset angle.

[0193] The robotic arm mechanism 20 provided in this disclosure has a support structure, a first limiting structure, and a second limiting structure on the main body of the working arm 24. A third limiting structure is provided on the outer circumferential surface of the rotary joint 242. The third limiting structure cooperates with the first limiting structure to limit the axial movement of the rotary joint 242. The third limiting structure cooperates with the second limiting structure to allow the rotary joint 242 to rotate at a preset angle, thereby fixing the rotary joint 242 in the axial direction and limiting the rotation angle of the rotary joint 242 in the circumferential direction, thus improving the accuracy of the rotation angle of the robotic arm 25. In addition, by placing the output shaft 2410 of the first driver 241 in the mounting hole and positioning it in the circumferential direction with the mounting hole of the rotary joint 242, the output shaft 2410 and the rotary joint 242 are positioned in the circumferential direction, and the output shaft 2410 cannot rotate relative to the rotary joint 242, thereby improving the accuracy of driving the rotary joint 242 to rotate.

[0194] The support structure includes multiple arc-shaped support portions 2431 that match the outer peripheral surface of the rotary joint 242. These arc-shaped support portions 2431 are configured to support the rotary joint 242. The rotary joint 242 is essentially located within the receiving space formed by the housing of the working arm 24. By providing the arc-shaped support portions 2431 on the working arm 24, support is provided for the rotary joint 242, allowing it to rotate smoothly. The curvature of the support surface of the arc-shaped support portion 2431 matches the curvature of the outer peripheral surface of the rotary joint 242, preventing radial wobble between the rotary joint 242 and the arc-shaped support portion 2431, thus improving stability during rotation.

[0195] The rotary joint 242 has at least one arc-shaped support portion 2431 distributed on each of its opposite sides in the radial direction. Multiple arc-shaped support portions 2431 can also be distributed in the radial direction. In other words, multiple arc-shaped support portions 2431 are distributed in the circumferential and radial directions of the rotary joint 242 to limit the radial movement of the rotary joint 242 and improve the stability during rotation.

[0196] Specifically, such as Figures 24-27 As shown, the first limiting structure includes a limiting groove 2432 between two radially adjacent arc-shaped support portions 2431 of the rotary joint 242, and the third limiting structure includes a limiting protrusion 2426 located on the outer peripheral surface of the rotary joint 242. The limiting protrusion 2426 is located in the limiting groove 2432, thus limiting the axial movement of the rotary joint 242. By utilizing the adjacent arc-shaped support portions 2431 and employing the limiting protrusion 2426 with a width equivalent to the spacing between the adjacent arc-shaped support portions 2431, the axial movement of the rotary joint 242 is limited. The arc-shaped support portions 2431 thus achieve both a supporting function and a limiting function in both the axial and radial directions.

[0197] The limiting protrusion 2426 extends a preset arc length in the circumferential direction of the rotary joint 242, that is, the limiting protrusion 2426 can be an arc-shaped protrusion. By making the limiting protrusion 2426 an arc-shaped protrusion, more contact area with the adjacent arc-shaped support portion 2431 can be provided, thereby improving the stability of the axial limiting. Of course, the cross section of the limiting protrusion 2426 can also be rectangular, trapezoidal, circular, or irregular, and the present disclosure does not limit this.

[0198] The limiting protrusion 2426 can rotate in the annular groove extending in the circumferential direction of the rotary joint 242 between the two adjacent arc-shaped support portions 2431.

[0199] The second limiting structure includes a limiting block 2433 located in the limiting groove 2432, which limits the rotation of the limiting protrusion 2426 in the limiting groove 2432, so that the limiting protrusion 2426 rotates a preset angle in the limiting groove 2432. By setting the limiting block 2433 in the annular groove, the rotation angle of the limiting protrusion 2426 in the annular groove is limited, thereby limiting the rotation angle of the rotary joint 242 relative to the working arm 24. By setting the position and size of the limiting block 2433, the rotation angle of the rotary joint 242 relative to the working arm 24 can be limited to 240°.

[0200] The limiting block 2433 is connected with the two adjacent arc-shaped support portions 2431, which can improve the structural strength of the limiting block 2433, and also can reduce the process cost. Of course, the limiting block 2433 and the two adjacent arc-shaped support portions 2431 can be spaced apart, and the present disclosure does not limit this.

[0201] Specifically, the rotary joint 242 is provided with a threaded hole communicating with the outer circumferential surface and the mounting hole, and the mechanical arm mechanism 20 further includes a screw, which is screwed into the threaded hole and abuts against the output shaft 2410, thereby forming fastening of the output shaft 2410 in the mounting hole. By fixing with the screw, the assembly is convenient, and the later maintenance is relatively economical.

[0202] As shown in Figure 27 and Figure 28 The mechanical arm mechanism 20 further includes an adapter 244, which is arranged in the mounting hole and is connected with the mounting hole in the circumferential direction. The adapter 244 is provided with an assembly hole, and the output shaft 2410 of the first driver 241 is arranged in the assembly hole and is connected with the assembly hole in the circumferential direction of the output shaft 2410. By setting the adapter 244, by changing the structural size of the adapter 244, the output shaft 2410 of different drivers can be adapted, thereby improving the adaptability of the rotary joint 242.

[0203] The adapter 244 is provided with a through hole and a threaded hole in communication with the outer periphery, the rotating joint 242 is provided with a through hole in communication with the threaded hole, the mechanical arm mechanism 20 further comprises a screw 245, one end of the screw 245 is located in the through hole, the other end is screwed into the threaded hole and abuts against the output shaft 2410, thereby forming fastening of the output shaft 2410 in the mounting hole.

[0204] The outer periphery of the output shaft 2410 includes a circular arc surface and a plane in the circumferential direction, that is, the cross section is D-shaped; after the screw 245 is screwed into the threaded hole of the adapter 244, the screw 245 abuts against the plane on the output shaft 2410. By abutting the screw 245 against the plane on the output shaft 2410, the fastening force of the screw 245 on the output shaft 2410 can be improved, and the effect of the rotation error of the rotating joint 242 being less than 1.5° can be achieved.

[0205] The adapter 244 can be a waist circle, and the mounting hole on the rotating joint 242 can also be matched to be a waist circle.

[0206] In some embodiments, as shown in Figure 29 The working arm body 240 of the working arm 24 includes a first mounting plate 2461, a second mounting plate 2462 and a housing, the first mounting plate 2461 is fixedly connected with the second mounting plate 2462, the first driver 241 and the rotating joint 242 are located in a mounting space formed by the first mounting plate 2461 and the second mounting plate 2462; the housing is formed with a receiving space, and the first mounting plate 2461 and the second mounting plate 2462 are located in the receiving space.

[0207] The mechanical arm mechanism 20 provided by the present disclosure, the working arm body 240 of the working arm 24 includes a first mounting plate 2461 and a second mounting plate 2462 fixedly connected, the first driver 241 and the rotating joint 242 are located in a mounting space formed by the first mounting plate 2461 and the second mounting plate 2462, and the first mounting plate 2461 and the second mounting plate 2462 greatly improve the structural strength of the working arm 24, so that the working arm 24 can lift a robot vacuum cleaner of about 10KG.

[0208] The first mounting plate 2461 and the second mounting plate 2462 can be fixedly connected by cooperating a sleeve and a threaded member. The first mounting plate 2461 and the second mounting plate 2462 clamp the sleeve therebetween, so that the first mounting plate 2461 and the second mounting plate 2462 form a mounting space, and then the first mounting plate 2461 and the second mounting plate 2462 are fixed together by a screw and a nut.

[0209] The first mounting plate 2461 and the second mounting plate 2462 can be sheet metal parts made of metal, giving them high structural strength. Of course, the first mounting plate 2461 and the second mounting plate 2462 can also be made of other materials with high structural strength, such as carbon fiber, and this disclosure does not limit them.

[0210] Among them, such as Figure 29 As shown, the main body 240 of the working arm includes an upper shell 2463, a lower shell 2464 and a middle shell 2465. The first driver 241, the rotary joint 242 and the circuit board 249 can be disposed on the middle shell 2465. The upper shell 2463 and the lower shell 2464 form a housing.

[0211] Among them, such as Figure 30 As shown, an anti-slip layer 247 is provided on the outer surface of the housing, which improves the gripping feel and increases the surface friction of the working arm 24 when gripping the working arm 24. The anti-slip layer 247 can be a rubber layer, providing a good feel and excellent anti-slip effect. Alternatively, the anti-slip layer 247 can be a roughened surface formed on the housing surface through a roughening process; this disclosure does not impose any limitations on this.

[0212] Specifically, such as Figure 31 As shown, one end of the connecting arm 23 is connected to the pivot of the second mechanical joint 2621, and the other end is connected to the pivot 2632 of the third mechanical joint 263. The two sections of the connecting arm 23 are respectively provided with mounting holes 2340. The pivots of the second mechanical joint 262 and the pivots 2632 of the third mechanical joint 263 are respectively located in the mounting holes 2340 at both ends of the connecting arm 23 and are positioned and connected to the mounting holes 2340 in the circumferential direction.

[0213] The connecting arm 23 has oval-shaped mounting holes 2340 at both ends. The cross-sections of the rotating shafts of the second mechanical joint 262 and the third mechanical joint 263 are also oval-shaped, thus forming a circumferential positioning connection between the rotating shafts of the second mechanical joint 262 and the third mechanical joint 263 and the mounting holes 2340, thereby improving the accuracy of rotation. Of course, the mounting holes 2340 at both ends of the connecting arm 23 can also be D-shaped, and the cross-sections of the rotating shafts of the second mechanical joint 262 and the third mechanical joint 263 can also be matched to be D-shaped. This disclosure does not impose any restrictions on this.

[0214] Among them, such as Figure 31As shown, the first clamping part 2341 and the second clamping part 2342 are arranged at both ends of the connecting arm 23, and the mounting hole 2340 is formed between the first clamping part 2341 and the second clamping part 2342, that is, the fastening seam is formed through the end edge and the mounting hole 2340; the first clamping part 2341 and the second clamping part 2342 are connected by the threaded part 235, and the rotating shaft 2632 is fastened in the mounting hole 2340, so that the effect of less than 0.5° of swing error can be achieved.

[0215] In some embodiments, two adjacent mechanical arms in the mechanical arm mechanism 20 are rotationally connected to be in a folded state or an unfolded state. At least one of the two adjacent mechanical arms is provided with a trigger switch, and when the two mechanical arms are rotationally connected to be in a folded state, one of the two mechanical arms triggers the trigger switch arranged on the other mechanical arm.

[0216] The mechanical arm mechanism 20 provided by the present disclosure is provided with a trigger switch on at least one of the two adjacent mechanical arms, and when the two mechanical arms are rotationally connected to be in a folded state, one of the two mechanical arms triggers the trigger switch arranged on the other mechanical arm. The trigger switch is triggered by the movement of the mechanical arms themselves, and the mechanical arm generates an electrical signal to the controller when the trigger switch is triggered. The controller judges that the mechanical arm has reached the preset position by receiving the electrical signal, and further outputs an instruction to make the mechanical arm control the motor of the mechanical joint to stop rotating, so that the corresponding joint and the motor in the joint stop moving when the mechanical arm reaches the preset position, thereby stopping the movement of the mechanical arm. By reaching the initial position of the folded state, the mechanical arm further provides the starting position information of the motor controlling the movement of the mechanical arm, thereby realizing the accurate posture control of each joint of the mechanical arm when the joint moves out of the cleaning device storage body. In addition, the motor can assist the accurate control of the posture of the mechanical arm without using an encoder, which greatly reduces the cost, and the trigger switch can withstand pressure for a long time, thereby reducing the maintenance cost in the later period.

[0217] Specifically, as shown in the figure, Figures 32-34 The plurality of mechanical arms include a support arm 22, a connecting arm 23 and a working arm 24 rotationally connected in sequence, the connecting arm 23 and the support arm 22 can be rotationally connected to be in a folded state or an unfolded state, and the working arm 24 and the connecting arm 23 can be rotationally connected to be in a folded state or an unfolded state.

[0218] Wherein, in the stacking direction when the mechanical arm is in the folded state, the thickness of the support arm 22 and the working arm 24 is greater than the thickness of the connecting arm 23. The connecting arm 23 is mainly used to connect the support arm 22 and the working arm 24, so that the working arm 24 is in different working posture relative to the support arm 22; the connecting arm 23 does not need to be provided with transition components, for example, it does not need to be provided with a driving motor for driving the steering seat and a driving motor for driving the mechanical hand 25 to rotate, so that the wire harness can pass through the connecting arm 23, thereby making the connecting arm 23 can be designed as a light and thin structure, and the thickness is smaller than the support arm 22 and the working arm 24.

[0219] Wherein, the support arm 22 is provided with a first trigger switch 281, when the connecting arm 23 and the support arm 22 are relatively rotated to be in the folded state, the connecting arm 23 triggers the first trigger switch 281; the working arm 24 is provided with a second trigger switch 282, when the working arm 24 and the connecting arm 23 are relatively rotated to be in the folded state, the connecting arm 23 triggers the second trigger switch 282. Because the support arm 22 and the working arm 24 are provided with more components, the thickness of the support arm 22 and the working arm 24 is relatively large, and the connecting arm 23 is provided with relatively few components, so it is relatively light and thin; therefore, the trigger switch can be arranged in the original space of the support arm 22 and the working arm 24, and the thickness of the support arm 22 and the working arm 24 will not be increased due to the arrangement of the trigger switch.

[0220] Wherein, the first trigger switch 281 is located on the end of the support arm 22 away from the connecting arm 23. The end of the support arm 22 away from the connecting arm 23 is connected with the steering seat, and a driving assembly is arranged on the side facing the bottom plate 2111 to drive the support arm 22 to perform pitching motion relative to the steering seat, so that the side of the support arm 22 away from the bottom plate 2111 has a mounting space, which facilitates the layout of the first trigger switch 281 on the support arm 22, and the thickness of the support arm 22 will not be increased due to the arrangement of the first trigger switch 281.

[0221] Wherein, the second trigger switch 282 is located on the side of the working arm 24 away from the mechanical hand 25. Because the working arm 24 is provided with a first driver 241 and a rotary joint 242 at the end close to the mechanical hand 25, the side of the working arm 24 away from the mechanical hand 25 has a mounting space, which facilitates the layout of the second trigger switch 282 on the working arm 24, and the thickness of the working arm 24 will not be increased due to the arrangement of the second trigger switch 282.

[0222] The mechanical arm provided with the trigger switch is formed with a containing space, and a through hole is formed on the mechanical arm, the switch body of the trigger switch is assembled in the containing space, and the trigger key of the trigger switch extends to the periphery of the mechanical arm through the through hole. The length of the trigger key extending to the periphery of the mechanical arm through the through hole satisfies that two adjacent mechanical arms can trigger the switch by being pressed in the folded state, and the switch can be disconnected when the two adjacent mechanical arms are converted from the folded state to the unfolded state.

[0223] When the two mechanical arms are relatively rotated to be in the folded state, one of the two mechanical arms presses the trigger key on the other mechanical arm to trigger the trigger switch. The switch is directly triggered by the shell of the mechanical arm, without the need of setting other trigger structures, the triggering precision is high, and the thickness of the mechanical arm can be avoided from being increased. Of course, a trigger structure for pressing the trigger switch can also be separately set to press the trigger switch in the folded state to make the trigger switch in the open state, and the present disclosure does not limit this.

[0224] Specifically, the third trigger switch 283 is arranged on at least one of the base and the support arm 22, and when the mechanical arm is rotated relative to the base to be in the folded state, one of the base and the mechanical arm triggers the third trigger switch 283 arranged on the other. By arranging the third trigger switch 283 on at least one of the base and the support arm 22, when the support arm 22 is in the recovery position relative to the base, the third trigger switch 283 can control the support arm 22 to stop rotating through the signal, and the motor can be accurately controlled in the posture with the aid of the encoder, and the cost is greatly reduced.

[0225] As shown in Figure 34 The third trigger switch 283 is arranged on the support arm 22, and the abutting piece 2114 is arranged on the base; when the support arm 22 is rotated relative to the base 21 of the mechanical arm to be in the folded state, the abutting piece 2114 triggers the third trigger switch 283. Since the driving assembly needs to be assembled in the support arm 22, the support arm 22 is formed with a containing space, and the third trigger switch 283 can be arranged in the support arm 22.

[0226] The third trigger switch 283 on the support arm 22 is located on the end of the mechanical arm away from the rotation connection with the base. Since the driving assembly in the support arm 22 is located on the end close to the rotation base, the end away from the rotation base has more installation space, and the layout of the third trigger switch 283 is facilitated.

[0227] The abutting piece 2114 can be a pressing block fixed on the bottom plate 2111 by a threaded member, which is convenient to assemble and has high stability.

[0228] As shown in Figure 35As shown, the trigger switch can be a micro switch. The squeezing force provided by the mechanical arm acts on the action spring 2842 through the trigger key 2841 (such as a press pin, button, lever, scroll wheel, etc.) of the micro switch, and when the action spring 2842 is displaced to the critical point, an instantaneous action is generated, which makes the action spring 2842 trigger the switch contact 2843, so that the switch body 2844 is turned on or off. When the squeezing force on the trigger key 2841 is removed, the action spring 2842 generates a reverse action force, and when the reverse stroke of the transmission element reaches the action critical point of the spring, the reverse action is completed instantaneously. The micro switch has a short action stroke, small pressing force, and quick on-off, and the action speed of the moving contact is independent of the action speed of the transmission element.

[0229] In one embodiment, as shown in the figure, Figure 36 The mechanical arm 25 includes a main body part 250, a driving assembly 253, and a camera 254. The main body part 250 includes opposite first and second ends in a first direction. A first clamp jaw 2521 and a second clamp jaw 2522 are rotationally connected to the first end of the main body part 250. The driving assembly 253 is arranged on the main body part 250 and is configured to drive the first clamp jaw 2521 and the second clamp jaw 2522 to switch between an open state and a clamping state. The camera 254 is fixedly arranged on the main body part 250 and faces the first end in a direction pointing from the second end to the first end. The camera 254 is arranged in a second direction different from the first direction and offset from the first clamp jaw 2521 and the second clamp jaw 2522.

[0230] The mechanical arm 25 provided by the present disclosure has a structure layout in which the clamp jaws of the mechanical arm are in front and the camera 254 is below, so that the visual range of the camera 254 is at a stable angle, and the clamp jaws and the grasped object can be observed to achieve accurate visual positioning, thereby improving the recognition rate.

[0231] Specifically, as shown in the figure, Figure 36 The mechanical arm 25 further includes a fill light 255 arranged at the first end of the main body part 250 and facing the first end in a direction pointing from the second end to the first end. The fill light 255 improves the shooting effect of the camera 254 in a dark environment.

[0232] The fill light 255 is arranged on the same side of the first clamp jaw 2521 and the second clamp jaw 2522 as the camera 254 in the second direction. The fill light 255 and the camera 254 are arranged on the same side of the first clamp jaw 2521 and the second clamp jaw 2522 in the second direction, which provides better fill light effect and further improves the shooting effect of the camera 254 in a dark environment.

[0233] The fill light 255 is offset from the camera 254 along a third direction, which intersects with both the second and first directions. This offset positioning of the fill light 255 from the camera 254 ensures that the light source provided by the fill light 255 is not blocked by the camera 254, further improving the shooting performance of the camera 254 in low-light environments. The first direction can be the length direction of the main body 250, the second direction can be the thickness direction of the main body 250, and the third direction can be the width direction of the main body 250.

[0234] In the first direction, the fill light 255 is positioned on the side of the camera 254 near the second end of the main body 250, that is, the fill light 255 is located behind the camera 254, so that the light source provided by the fill light 255 will not cause the camera 254 to be overexposed and cross-exposed, thereby further improving the shooting effect of the camera 254.

[0235] Among them, such as Figure 37 As shown, in the third direction, the camera 254 is located in the middle area of ​​the main body 250. By positioning the camera 254 in the middle of the main body 250, that is, in the image captured by the camera 254, the robotic arm 25 can be positioned in the middle, thereby improving the accurate visual positioning function between the gripper and the object being grasped and increasing the recognition rate.

[0236] Specifically, such as Figure 38 As shown, the first gripper 2521 and the second gripper 2522 are connected to the first end of the main body 250 and extend from the end face of the first end of the main body 250. A clearance groove 2565 is formed on the first end of the main body 250, and the camera 254 is located in the clearance groove 2565. On the one hand, this avoids the camera 254 from protruding from the shape of the main body 250, thereby avoiding the increase in the size of the robot arm 25 due to the installation of the camera 254. On the other hand, the clearance groove 2565 can avoid the wiring at the first mechanical joint 261 on the connecting arm 23, thus preventing the main body 250 from squeezing and wearing the wiring harness in the folded state.

[0237] The supplementary light 255 is located in the clearance groove 2565, which avoids the supplementary light 255 protruding from the main body 250, thereby avoiding the increase in the size of the robot arm 25 due to the installation of the supplementary light 255.

[0238] The main body 250 includes a housing 256 formed with an accommodation space, and the housing 256 is provided with a first mounting hole and a second mounting hole communicating with the accommodation space; the camera 254 is located in the accommodation space and is assembled on the first mounting hole to expose for shooting through the first mounting hole; and the light supplement lamp 255 is located in the accommodation space and is assembled on the second mounting hole to expose for light supplement through the second mounting hole. The camera 254 and the light supplement lamp 255 are arranged in the accommodation space of the housing 256, and the housing 256 forms protection for the camera 254 and the light supplement lamp 255, avoiding bumping or being affected by sewage and dust during use, thereby improving the use reliability of the camera 254 and the light supplement lamp 255.

[0239] Specifically, as shown in Figure 39 and Figure 40 , the clamping jaw and the grasped object can be observed at the same time through the camera 254, so that the camera 254 can realize the function of accurate visual positioning in cooperation with the processor.

[0240] The mechanical arm 25 can rotate within a range of 0°-240° under the driving of the working arm 24, that is, by rotating the mechanical arm 25, the camera 254 can be rotated from below the first clamping jaw 2521 and the second clamping jaw 2522 to above the first clamping jaw 2521 and the second clamping jaw 2522, so as to facilitate shooting or human-computer interaction.

[0241] As shown in Figure 41 , when the mechanical arm 25 is in a horizontal state, the central axis of the camera 254 is also horizontally arranged, and the field of view (FOV) ∠A of the camera 254 can be 110°-120°, for example, 110°, 112°, 115.6°, 118°, 120°, etc., and the present disclosure does not enumerate one by one here, so as to be able to cover the end of the clamping jaw on the mechanical arm and the object 30 to be clamped in the target area.

[0242] As shown in Figure 41As shown, when the robotic arm 25 is in a horizontal position, the supplementary light 255 emits light at a lower angle towards the ground. Since the supplementary light 255 is located to the side and rear of the camera 254, the housing 256 above the supplementary light 255 provides some obstruction to it. By directing the light emission angle of the supplementary light 255 towards the ground, the light from the supplementary light can be projected onto the object 30 to be clamped in the target area as much as possible, thereby improving the supplementary lighting effect. The illumination angle ∠B of the supplementary light 255 can be 55° to 60°, such as 55°, 56°, 57°, 58°, 58.57°, 59°, 60°, etc., which are not listed here. The angle ∠C between the illumination angle of the supplementary light 255 and the horizontal line can be 10° to 20°, such as 10°, 13°, 15°, 18°, 20°, etc., which are not listed here.

[0243] In some embodiments, the robotic arm 25 includes: a housing 256, a drive assembly 253, and two grippers, namely a first gripper 2521 and a second gripper 2522. The housing 256 forms a receiving space, the drive assembly 253 is disposed in the receiving space, the mounting ends of the two grippers are located in the receiving space and connected to the drive assembly 253, and the gripping ends of the two grippers extend out of the housing 256. The drive assembly 253 is configured to drive the two grippers to move closer or further apart to achieve gripping or releasing of an object.

[0244] The robotic arm 25 disclosed herein has a drive assembly 253 connected to a first gripper 2521 and a second gripper 2522, which drives the first gripper 2521 and the second gripper 2522 to move closer or further apart, thereby enabling the robotic arm 25 to grasp or release objects. The housing 256 forms an accommodating space, and the drive assembly 253 is disposed within the accommodating space. The mounting ends of the first gripper 2521 and the second gripper 2522 are located within the accommodating space and connected to the drive assembly 253. The clamping ends of the first gripper 2521 and the second gripper 2522 extend out of the housing 256. The entire drive assembly 253 is fixed on a housing 256, which integrates the components and makes the overall size smaller. The drive assembly 253 is not exposed, which improves the aesthetics. At the same time, the housing 256 can provide good protection for the driver 2531 and the transmission mechanism 2532, reducing the possibility of foreign objects colliding with the driver 2531 and the transmission mechanism 2532, reducing the possibility of impurities contaminating the driver 2531 and the transmission mechanism 2532, extending the service life of the driver 2531 and the transmission mechanism 2532, and improving the reliability of the driver 2531 and the transmission mechanism 2532.

[0245] Among them, such as Figure 42 As shown, the housing 256 may include an upper housing 2561, a lower housing 2562 and a bottom housing 2563, which are fastened together to form an integral housing with a receiving space.

[0246] Specifically, as shown in Figures 43-45 The driving assembly 253 includes a driver 2531, a transmission mechanism 2532, and an elastic member 2534. The driver 2531 is connected with the two clamps through the transmission mechanism 2532 to drive the two clamps to move close to or away from each other. At least one clamp is movably connected with the transmission mechanism 2532 through the elastic member 2534, and the elastic member 2534 is configured to apply a force to the connected clamp to move close to the other clamp. The lower shell 2562 is provided with a mounting structure matched with the driving assembly 253, and the driving assembly 253 can be assembled on the lower shell 2562.

[0247] In the related art, since the movement speed of the clamp on the manipulator 25 is small but the clamping demand torque is large, a small motor is usually used to drive a large reduction ratio transmission mechanism 2532 to reduce the weight of the module, so that the clamp of the manipulator 25 is generally difficult to be manually moved in reverse by the user, and forcibly moving in reverse may cause the manipulator 25 to malfunction and cannot be used normally. When the manipulator 25 grasps an object, if the manipulator 25 or the cleaning equipment is accidentally powered off, the manipulator 25 will remain in the state of clamping the object, which is not convenient for the user to take out the clamped object. The manipulator 25 provided by the present disclosure can drive the two clamps to move close to or away from each other, and can manually realize the operation of grasping or releasing the object by the manipulator 25.

[0248] Specifically, at least one clamp is movably connected with the transmission mechanism 2532 through the elastic member 2534, so that the clamp connected with the elastic member 2534 can move relative to the transmission mechanism 2532. Thus, when the manipulator 25 remains in the state of clamping an object, the clamp connected with the elastic member 2534 is moved in reverse, and the deformation of the elastic member 2534 can make the clamp connected with the elastic member 2534 move relative to the transmission mechanism 2532 to take out the object between the two clamps, avoiding the problem that the manipulator 25 or the cleaning equipment cannot take out the object clamped by the manipulator 25 after accidental power-off, improving the convenience of taking out the object clamped by the manipulator 25 after power-off, and improving the user experience.

[0249] Wherein, one of the clamping jaws can be movably connected with the transmission mechanism 2532 through the elastic member 2534, and the object clamped by the manipulator 25 can be taken out after power failure by reversely moving the clamping jaw connected with the elastic member 2534, which is simple to operate, convenient to use, and conducive to reducing production cost. Alternatively, both of the clamping jaws can be movably connected with the transmission mechanism 2532 through the elastic member 2534, and the object clamped by the manipulator 25 can be taken out after power failure by reversely moving the two clamping jaws connected with the elastic member 2534, which is simple to operate and convenient to use. Both of the clamping jaws movably connected with the transmission mechanism 2532 through the elastic member 2534 can increase the relative movement range of the two clamping jaws in the state of clamping the object by the manipulator 25, reduce the problem of the irregular object being stuck with the clamping jaw during the process of taking out the object from the clamping state of the manipulator 25, and then the object clamped by the manipulator 25 can be quickly, smoothly and conveniently taken out, and the use range can be expanded.

[0250] Wherein, the elastic member 2534 is configured to apply a force to the connected clamping jaw to approach the other clamping jaw, which can be understood as that the elastic member 2534 acts on the clamping jaw to make the clamping jaw have an initial close-together force, which can ensure that when the manipulator 25 is in the clamping state, the force of the elastic member 2534 makes the two clamping jaws approach each other, and the clamping jaw has sufficient torque to ensure that the object can be reliably and stably clamped between the two clamping jaws.

[0251] Wherein, the first clamping jaw 2521 and the second clamping jaw 2522 can be fixed on the mounting shaft on the lower shell 2562 through the pressing piece 2525 and the screw. Threaded holes can be provided on the mounting shaft, and when the rotating parts of the first clamping jaw 2521 and the second clamping jaw 2522 are respectively sleeved on the corresponding mounting shafts, a pressing piece 2525 is used to simultaneously press the rotating parts of the first clamping jaw 2521 and the second clamping jaw 2522, and then a screw is screwed into the threaded hole on the mounting shaft to limit and fix the first clamping jaw 2521 and the second clamping jaw 2522 in the axial direction.

[0252] Further, the transmission mechanism 2532 is provided with a self-locking structure, i.e. the transmission mechanism 2532 is configured to have a self-locking function, so that after the drive 2531 is powered off, the transmission mechanism 2532 stops working, and the clamping jaw can be reliably and stably kept in the current state to improve the stability and accuracy of the object clamped by the manipulator 25.

[0253] The drive 2531 is provided with an overcurrent self-locking device. For example, the drive 2531 is a motor, and the motor is provided with an overcurrent self-locking device, that is, the motor has an overcurrent protection function. When the two clamping jaws meet the object 30 to be clamped during the process of the clamping jaws being driven by the drive 2531 from opening to closing, the two clamping jaws clamp the object 30 to be clamped, and the motor is blocked. At this time, the overcurrent self-locking device of the motor works, that is, due to the overcurrent protection function of the motor, the motor is overcurrent detected, and the motor stops rotating. The self-locking structure of the transmission mechanism 2532 is in a self-locking state, so that the drive 2531 can keep the clamping force on the object 30 to be clamped by the two clamping jaws under the self-locking function of the transmission mechanism 2532, to achieve reliable and stable clamping operation of the object to be clamped.

[0254] The clamping force of the drive 2531 on the object to be clamped through the clamping jaws can be less than or equal to the initial close force of the elastic member 2534 on the clamping jaws, so that the clamping jaws can achieve reliable and stable clamping operation of the object to be clamped without rotating relative to the transmission mechanism 2532. Alternatively, the clamping force of the drive 2531 on the object to be clamped through the clamping jaws can be slightly greater than the initial close force of the elastic member 2534 on the clamping jaws, so that the clamping jaws can still keep reliable and stable clamping operation of the object to be clamped by rotating a small angle relative to the transmission mechanism 2532 in the direction of opening.

[0255] When the clamping jaws clamp the object to be clamped, when the clamping jaws are rotated in the opening direction by an external force, that is, the clamping jaws are rotated in the direction of moving away from each other, when the external force is greater than the initial close force of the elastic member 2534 on the clamping jaws, the clamping jaws are opened, and the object is released.

[0256] The overcurrent self-locking device detects the working current of the motor. When the clamping jaws stop rotating and the motor continues to output, the current value of the motor will rise rapidly at this time. The overcurrent self-locking device can detect the increase of the current of the motor, so as to control the motor to stop driving. When the motor stops driving, for example, the self-locking structure is self-locked through the overcurrent self-locking device. When the overcurrent self-locking device works to make the self-locking structure self-locked, the angle range of the clamping jaws rotating relative to the transmission mechanism 2532 is 7°-10°, for example, 7°, 8°, 9°, or 10°.

[0257] Specifically, as shown in Figure 44 The transmission mechanism 2532 can include a worm wheel 25321 and a worm 25322, and the worm 25322 and the worm wheel 25321 are provided with a self-locking function. After the drive 2531 is powered off, the transmission mechanism 2532 stops working, and the two clamping jaws can reliably and stably keep the current state to reliably and stably clamp the object to be clamped.

[0258] The angle range of the clamping jaw relative to the transmission mechanism 2532 is 7°-10°, that is, the angle range of each clamping jaw rotating in the direction away from each other is 7°-10° when the clamping jaw clamps the object, so as to ensure that the distance between the two clamping jaws is large enough under the action of external force, and provide enough movement space for the clamping object to smoothly separate from the clamping jaw, thereby improving the smoothness of the clamping object separating from the clamping jaw.

[0259] When the angle range of the clamping jaw relative to the transmission mechanism 2532 is 10°, it can be understood that the clamping force of the driver 2531 acting on the clamped object through the clamping jaw makes the clamping jaw not rotate relative to the transmission mechanism 2532, and when the angle range of the clamping jaw relative to the transmission mechanism 2532 is 7°, it can be understood that the clamping force of the driver 2531 acting on the clamped object through the two clamping jaws makes the clamping jaw rotate by an angle of 10°-7°=3° relative to the transmission mechanism 2532.

[0260] Specifically, the clamping jaw is rotationally connected with the transmission mechanism 2532, and a limiting structure is arranged between the clamping jaw and the transmission mechanism 2532, which is used to limit the rotation angle of the clamping jaw relative to the transmission mechanism 2532. Due to the fact that the elastic member 2534 is configured to apply a force to the connected clamping jaw to approach the other clamping jaw, and the limiting structure is provided, the clamping jaw can rotate within a preset angle range relative to the transmission mechanism 2532, so as to ensure that the clamping jaw connected with the elastic member 2534 has a movement trend of approaching the other clamping jaw in a free state, thereby ensuring that the clamping jaw has sufficient torque to reliably and stably clamp the object between the two clamping jaws, and quickly, smoothly and conveniently take out the object clamped by the mechanical hand 25 in the case of reverse operation of the clamping jaw, which is simple and convenient to operate.

[0261] The preset angle can be 5°-15°, for example, 5°, 7°, 8°, 10°, 12°, 13°, 15°, and the like, which are not listed one by one; that is, the angle of the clamping jaw rotating relative to the transmission mechanism 2532 under the action of external force can be 5°-15°. Further, the range of the angle of the clamping jaw rotating relative to the transmission mechanism 2532 when the over-current self-locking device of the driver 2531 is working and the self-locking structure of the transmission mechanism 2532 is self-locked can be reasonably set according to the specific value of the preset angle, so as to improve the smoothness of the clamping object separating from the clamping jaw.

[0262] The limiting structure is used to limit the movement of the clamping jaw relative to the transmission mechanism 2532 between the first position and the second position. The same clamping jaw is closer to the other clamping jaw in the first position than in the second position, and the clamping jaw is configured to switch from the first position to the second position under the action of external force, and the clamping jaw is configured to switch from the second position to the first position under the action of the elastic member 2534.

[0263] When the manipulator 25 is in the clamping state, the clamping jaws are in the first position under the action of the elastic member 2534 and the limiting structure, and the clamping jaws in the first position are closer to the other clamping jaw than the clamping jaws in the second position; at this time, the elastic member 2534 makes the clamping jaws have a movement tendency of approaching the other clamping jaw, so as to ensure that the clamping jaws have sufficient torque, so that the object can be reliably and stably clamped between the two clamping jaws. If the manipulator 25 or the cleaning device is powered off in this state, the drive 2531 is powered off, and the clamping jaws cannot be driven away from each other by the transmission mechanism 2532 to take out the clamped object from the manipulator 25, the user can reverse the clamping jaws to move the clamping jaws away from each other, so that the clamping jaws move from the first position to the second position against the elastic force of the elastic member 2534 under the action of the external force; thus, the object clamped by the manipulator 25 can be conveniently taken out from between the two clamping jaws, and the operation is simple and convenient to use.

[0264] When the clamping jaws move from the first position to the second position against the elastic force of the elastic member 2534 under the action of the external force, the elastic member 2534 stores energy; therefore, when the external force disappears, the elastic member 2534 releases energy to switch the clamping jaws from the second position to the first position and keep the clamping jaws in the first position, so as to reset the clamping jaws and ensure that the clamping jaws have sufficient torque.

[0265] When the clamping jaws are in the first position, it can be understood that the clamping jaws are in the initial position relative to the transmission mechanism 2532, and at this time, the clamping jaws are not rotated relative to the transmission mechanism 2532. When the clamping jaws are in the second position, it can be understood that the clamping jaws are in the active position relative to the transmission mechanism 2532, and at this time, the rotation angle of the clamping jaws relative to the transmission mechanism 2532 is the preset angle.

[0266] Specifically, as shown in Figure 44 The drive 2531 can drive the two clamping jaws to approach or move away from each other through the worm gear 25321 and the worm 25322 mechanism, so as to realize the operation of grasping or releasing the object by the manipulator 25.

[0267] The worm gear 25321 and the worm 25322 transmission can ensure that the transmission mechanism 2532 has a large speed reduction ratio, so that the movement speed of the clamping jaws is low and has sufficient clamping torque under the condition that the power of the drive 2531 is small, the stability and accuracy of the manipulator 25 clamping the object are improved, and the weight of the manipulator 25 is reduced, which is convenient for operation.

[0268] The worm wheel 25321 and the clamping jaw are connected through the rotating shaft and the elastic element 2534, that is, the worm wheel 25321 rotates to drive the clamping jaw to rotate synchronously. The elastic element 2534 corresponds to the clamping jaw, that is, the number of the elastic element 2534 is two, and the two ends of the elastic element 2534 are connected with the corresponding clamping jaw and the worm wheel 25321, so that each clamping jaw can rotate relative to the corresponding worm wheel 25321; in the state that the manipulator 25 clamps the object, the relative movement range of the two clamping jaws can be increased by reversely moving the two clamping jaws, so that the object clamped by the manipulator 25 can be quickly, smoothly and conveniently taken out, and the use range can be expanded.

[0269] The limiting structure is arranged between the corresponding clamping jaw and the worm wheel 25321, so that the limiting structure can limit the rotation angle of the clamping jaw relative to the corresponding worm wheel 25321, to ensure that the clamping jaw has sufficient torque, so that the object can be reliably and stably clamped between the two clamping jaws, and the object clamped by the manipulator 25 can be conveniently and quickly taken out of the manipulator 25.

[0270] The self-locking function can be configured between the worm 25322 and the worm wheel 25321. After the driver 2531 is powered off, the transmission mechanism 2532 stops working, and the clamping jaw can be reliably and stably kept in the current state, to improve the stability and accuracy of the manipulator 25 clamping the object.

[0271] Specifically, as shown in Figure 44 and Figure 45 The limiting structure includes a limiting groove 25351 and a positioning protrusion 25352, one of the limiting groove 25351 and the positioning protrusion 25352 is arranged on the worm wheel 25321, and the other is arranged on the clamping jaw, the positioning protrusion 25352 is located in the limiting groove 25351 and can move in the limiting groove 25351, so as to switch the clamping jaw between the first position and the second position. Wherein, the limiting groove 25351 and the positioning protrusion 25352 are convenient to process and easy to realize.

[0272] The limiting groove 25351 can be arranged on the worm wheel 25321, and the positioning protrusion 25352 can be located on the clamping jaw; or the limiting groove 25351 can be arranged on the clamping jaw, and the positioning protrusion 25352 can be located on the worm wheel 25321.

[0273] The limiting groove 25351 includes a first side wall and a second side wall along the rotation direction of the clamping jaw relative to the worm wheel 25321, the first side wall is close to the other clamping jaw, and the second side wall is away from the other clamping jaw. The clamping jaw is driven by the elastic member 2534 to abut the positioning protrusion 25352 against the first side wall of the limiting groove 25351, and at this time, the clamping jaw is located at the first position; when the clamping jaw is moved away from the other clamping jaw under the action of an external force, the clamping jaw is located at the second position when the positioning protrusion 25352 abuts against the second side wall of the limiting groove 25351, that is, the clamping jaw moves between the first side wall and the second side wall in the limiting groove 25351 under the action of the limiting structure. The rotation angle of the clamping jaw between the first side wall and the second side wall is the preset angle, for example, the preset angle can be 5°-15°.

[0274] Under the action of the elastic member 2534, when the transmission mechanism 2532 is fixed, the clamping jaw moves to abut against the first side wall of the limiting groove 25351 and has an initial close-together force. When the clamping jaw is subjected to an external force away from each other, when the external force is greater than, for example, 8N, the elastic member 2534 is further compressed and twisted, the clamping jaw starts to rotate away from each other, and an open state is formed. When the external force is greater than or equal to, for example, 12N, the clamping jaw abuts against the second side wall, and at this time, the clamping jaw reaches the maximum angle (relative to the worm wheel 25321) of the open state.

[0275] The elastic member 2534 can be a torsion spring, the torsion spring is arranged at the rotating shaft of the worm wheel 25321, one end of the torsion spring is connected with the worm wheel 25321, and the other end of the torsion spring is connected with the clamping jaw. The rotating shaft connects the worm wheel 25321 and the clamping jaw, the torsion spring can be arranged coaxially with the rotating shaft, that is, the torsion spring is located on the outer circumferential side of the rotating shaft, the first end of the torsion spring is connected with the worm wheel 25321, and the second end of the torsion spring is connected with the clamping jaw, so that the torsion spring can stably provide an elastic force, the clamping jaw can be switched from the second position to the first position, and the clamping jaw can be kept in the first position.

[0276] The elastic member 2534 can also be a spring, one end of the spring is connected with the worm wheel 25321, and the other end of the spring is connected with the clamping jaw, so that the spring can stably provide an elastic force, the clamping jaw can be switched from the second position to the first position, and the clamping jaw can be kept in the first position. In addition, the elastic member 2534 can also be a tension spring, one end of the tension spring is connected with the worm wheel 25321, and the other end of the tension spring is connected with the clamping jaw, so that the tension spring can stably provide an elastic force, the clamping jaw can be switched from the second position to the first position, and the clamping jaw can be kept in the first position. The type of the elastic member 2534 can be reasonably selected according to the structural requirements and the installation position, and it can be understood that the elastic member 2534 can also be an elastic component other than the torsion spring, the spring and the tension spring, which can provide an elastic force to switch the clamping jaw from the second position to the first position and keep the clamping jaw in the first position.

[0277] As shown in Figure 44 and Figure 45 The elastic member 2534 is a torsion spring, the worm wheel 25321 is provided with a first clamping groove 25361, the clamping jaw is provided with a second clamping groove 25362, the first torsion arm of the torsion spring is limited in the first clamping groove 25361, and the second torsion arm of the torsion spring is limited in the second clamping groove 25362. The installation of the torsion spring is realized through the first clamping groove 25361 and the second clamping groove 25362, which is simple in structure and convenient to install. The first torsion arm of the torsion spring can be inserted into the first clamping groove 25361, clamped in the first clamping groove 25361, or bonded in the first clamping groove 25361 by an adhesive. The second torsion arm of the torsion spring can be inserted into the second clamping groove 25362, clamped in the second clamping groove 25362, or bonded in the second clamping groove 25362 by an adhesive.

[0278] The torsion spring can be a compression torsion spring. Under the action of the limiting structure, the first torsion arm and the second torsion arm of the torsion spring are stressed and limited in the first clamping groove 25361 and the second clamping groove 25362 respectively, so as to ensure that the torsion spring can switch the clamping jaw from the second position to the first position and keep it in the first position.

[0279] Specifically, the angle between the first clamping groove 25361 and the second clamping groove 25362 is smaller than the angle between the first torsion arm and the second torsion arm of the torsion spring in a free state during the switching of the clamping jaw between the first position and the second position. By reasonably setting the positions of the first clamping groove 25361 and the second clamping groove 25362, the torsion spring is in a compressed state under the action of the limiting structure, that is, the first torsion arm and the second torsion arm of the torsion spring are stressed and limited in the first clamping groove 25361 and the second clamping groove 25362 respectively, so as to ensure that the torsion spring can switch the clamping jaw from the second position to the first position and keep it in the first position.

[0280] Specifically, the torsion spring is contained in the accommodation space defined by the worm wheel 25321 and the clamping jaw, so that the structure of the worm wheel 25321, the torsion spring and the clamping jaw is compact, which can meet the design requirements of compact structure and small volume of the mechanical hand 25, and further meet the design requirements of compact structure and small volume of the mechanical arm mechanism 20 and the cleaning equipment.

[0281] As shown in Figure 44 and Figure 45As shown, the worm wheel 25321 is provided with a first accommodating groove 2537 in communication with the first clamping groove 25361 for accommodating part of the torsion spring, and the clamping jaw is provided with a second accommodating groove 2523 in communication with the second clamping groove 25362 for accommodating part of the torsion spring. The first torsion arm of the torsion spring is accommodated in the first clamping groove 25361, the second torsion arm of the torsion spring is accommodated in the second clamping groove 25362, and the other part of the torsion arm is accommodated in the accommodating space formed by the first accommodating groove 2537 and the second accommodating groove 2523, so that the torsion arm can be more compactly accommodated in the accommodating space defined by the worm wheel 25321 and the clamping jaw, and movably connected with the worm wheel 25321 and the clamping jaw, simple structure, and can meet the design requirements of compact structure and small size of the mechanical hand 25.

[0282] Specifically, the limiting structure is located between the first clamping groove 25361 and the second clamping groove 25362; the worm wheel 25321 is provided with a tooth portion meshing with the worm 25322 in the circumferential direction of the part away from the first clamping groove 25361 and the limiting structure, that is, the tooth portion meshing with the worm 25322 is not arranged on the entire circumferential side of the worm wheel 25321, but the tooth portion meshing with the worm 25322 and the limiting structure connected with the clamping jaw and the elastic element 2534 are distributed at different positions in the circumferential direction of the worm wheel 25321, so that the first clamping groove 25361, the limiting structure and the tooth portion are arranged in combination, compared with arranging the tooth portion on the entire circumferential side of the worm wheel 25321, it is beneficial to improve the overall strength of the worm wheel 25321, and further improve the service life of the worm wheel 25321.

[0283] Among them, the limiting groove 25351 of the limiting structure is opened on the worm wheel 25321, and the positioning protrusion 25352 is located on the clamping jaw, part of the worm wheel 25321 is provided with a tooth portion in the circumferential direction, and the first clamping groove 25361 and the limiting groove 25351 are opened on the surface opposite to the clamping jaw on the part of the worm wheel 25321 away from the tooth portion, so as to ensure that the first clamping groove 25361 can be reliably connected with the elastic element 2534, and the limiting groove 25351 can be reliably matched with the positioning protrusion 25352 on the clamping jaw.

[0284] Specifically, as shown in the figure, Figure 44 The mechanical hand 25 further comprises a switch element 2572 and a position switch 2571, the switch element 2572 is used to change the action state of the position switch 2571 when the clamping jaw is in the limit position, so that the position switch 2571 sends a signal to the position.

[0285] The limit position of the clamping jaw can be understood as a limit position in which the driver 2531 drives the two clamping jaws away from each other through the transmission mechanism 2532, and the opening angle between the two clamping jaws at the limit position can be less than or equal to 180°, such as 150°, 170°, 180°, or other angles. Of course, the opening angle between the two clamping jaws at the limit position can also be greater than 180°, which is not limited in the present disclosure.

[0286] When the clamping jaw is at the limit position, if the driver 2531 drives the two clamping jaws to continue moving away from each other through the transmission mechanism 2532, it is easy to cause the clamping jaw to collide with other parts of the robot hand 25 and be damaged. By setting the switch piece 2572 and the position switch 2571, when the clamping jaw is at the limit position, the switch piece 2572 changes the action state with the position switch 2571, so that the position switch 2571 sends a signal to the position, and the driver 2531 stops rotating according to the signal to the position of the position switch 2571, which can avoid the problem that the clamping jaw at the limit position continues to move away from each other and collides with other parts of the robot hand 25 and is damaged, thereby improving the service life of the clamping jaw and improving the reliability of the robot hand 25 as a whole.

[0287] The position switch 2571 can be an optical switch, a mechanical switch, or other detection mechanisms that meet the requirements.

[0288] The action state of the switch piece 2572 and the position switch 2571 can include contact and non-contact, shielding and non-shielding, etc. For example, when the position switch 2571 is a mechanical switch, the action state of the switch piece 2572 and the position switch 2571 can be contact and non-contact. When the position switch 2571 is an optical switch, the action state of the switch piece 2572 and the position switch 2571 can be shielding and non-shielding.

[0289] Specifically, one of the position switch 2571 and the switch piece 2572 is fixed relative to the shell 256, and the other is at least linked with the clamping jaw at the limit position, so that when the clamping jaw is at the limit position, the switch piece 2572 is driven to change the action state of the switch piece 2572 and the position switch 2571, and the position switch 2571 sends a signal to the position.

[0290] The position switch 2571 can be fixed relative to the shell 256, and the switch piece 2572 is at least linked with the clamping jaw at the limit position; or the switch piece 2572 can be fixed relative to the shell 256, and the position switch 2571 is at least linked with the clamping jaw at the limit position.

[0291] The one of the position switch 2571 and the switch piece 2572 is fixed relative to the shell 256, that is, the one of the position switch 2571 and the switch piece 2572 is connected with and fixed on the shell 256, or the one of the position switch 2571 and the switch piece 2572 is connected with the driver 2531 and the transmission mechanism 2532 fixed relative to the shell 256, to realize the fixing relative to the shell 256. The other of the position switch 2571 and the switch piece 2572 is linked with at least the clamp jaw in the limit position, that is, the clamp jaw in the limit position drives the other of the position switch 2571 and the switch piece 2572 to act, to change the action state of the switch piece 2572 and the position switch 2571; or the clamp jaw movement can drive the other of the position switch 2571 and the switch piece 2572 to act, and in the limit position, the switch piece 2572 changes the action state of the switch piece 2572 and the position switch 2571.

[0292] The position switch 2571 is fixed on the shell 256, the switch piece 2572 includes a rotating part 25720 rotationally connected with the shell 256, and a first supporting leg 25721 and a second supporting leg 25722 arranged at the circumferential side of the rotating part 25720, the first supporting leg 25721 is in contact with or located near the position switch 2571, and the second supporting leg 25722 faces the clamp jaw, and the clamp jaw pushes the second supporting leg 25722 to rotate during the rotation to the limit position, to drive the first supporting leg 25721 to press the position switch 2571. The position switch 2571 can be connected with the shell 256 by means of bolt connection, clamping, bonding or the like; the position switch 2571 is fixed in the interior of the shell 256, to protect the position switch 2571 by the shell 256, to prolong the service life of the position switch 2571 and improve the reliability of the whole mechanical hand 25.

[0293] The first supporting leg 25721 of the switch piece 2572 faces the position switch 2571, that is, the first supporting leg 25721 is in contact with or located near the position switch 2571. In the initial state or free state of the switch piece 2572, that is, when the switch piece 2572 is not subjected to external force, that is, when the clamp jaw does not reach the limit position, the first supporting leg 25721 does not trigger the position switch 2571 to act; at this time, the first supporting leg 25721 can be in contact with the position switch 2571, or the first supporting leg 25721 is separated from the position switch 2571 and located near the position switch 2571.

[0294] The second leg 25722 faces the gripper. As the gripper rotates to its limit position, it pushes the second leg 25722 to rotate, thereby causing the first leg 25721 to rotate and press the position switch 2571. Through the linkage between the gripper rotating to the limit position and the second leg 25722, the first leg 25721 and the position switch 2571 are switched from a contact or separation state to a pressed state, thereby changing the working state of the switch 2572 and the position switch 2571, triggering the position switch 2571 to act, and causing the position switch 2571 to send an on signal.

[0295] Among them, such as Figure 46 As shown, a mounting shaft 2574 may be provided on the housing 256, and the rotating part 25720 of the switch 2572 is a collar. The first support 25721 and the second support 25722 are spaced apart on the periphery of the collar, and the collar is sleeved on the mounting shaft 2574.

[0296] Specifically, the gripper is equipped with a pushing structure, which pushes the second leg 25722 to rotate as the gripper rotates to its limit position.

[0297] Among them, such as Figure 43 As shown, the actuating structure includes a groove 2524 disposed on the periphery of the gripping arm near the position switch 2571. A second leg 25722 extends into the groove 2524. During the rotation of the gripping arm to its limit position, the groove wall of the groove 2524 is configured to abut against the second leg 25722 to push the second leg 25722 to rotate. When the gripper of the robotic arm 25 rotates from the gripping state to the open state and rotates to the open limit position, the groove wall of the groove 2524 first abuts against the second leg 25722, and then pushes the second leg 25722 to rotate, thereby driving the first leg 25721 to rotate. When the gripper opens to its limit position, the second leg 25722 drives the first leg 25721 to rotate, causing the first leg 25721 to press the position switch 2571 and causing the position switch 2571 to send an active signal. By opening a groove 2524 on the gripper, the gripper's own structure is improved, and the action part that abuts against the second foot 25722 is set up, which simplifies the structure and helps to reduce manufacturing costs. At the same time, it makes the structure of the switch 2572 and the gripper compact, which can meet the design requirements of the robot 25 to be compact and small in size, and thus meet the design requirements of the robot arm mechanism 20 to be compact and small in size.

[0298] Specifically, such as Figure 46As shown, an elastic member 2573 is provided between the switch 2572 and the housing 256. The elastic member 2573 is configured to apply a force to the rotating part 25720 in the opposite direction to the pushing force applied by the gripper. That is, the elastic member 2573 can make the first leg 25721 be located near the position switch 2571 and separated from the position switch 2571, or the first leg 25721 contact the position switch 2571 in the initial state or free state, without triggering the position switch 2571 to act and send an position signal.

[0299] One end of the elastic member 2573 is connected to the switch member 2572, and the other end of the elastic structure is connected to the housing 256, so that in the initial state, the first support 25721 of the switch member 2572 is in contact with the position switch 2571 but will not press the position switch 2571 to send a position signal. The elastic structure can be a spring, torsion spring, tension spring, or other structure, and the torsion spring can be sleeved on the mounting shaft 2574.

[0300] Specifically, a rotation limiting structure is provided between the switch 2572 and the housing 256. The rotation limiting structure is configured to limit the rotation angle of the switch 2572 toward the side opposite to the direction of the steering trigger position. When the switch 2572 is in a free state, under the force of the elastic member 2573, the switch 2572 is located at the position where the position switch 2571 is not triggered. That is, by the cooperation of the rotation limiting structure and the elastic member 2573, the first foot 25721 can be located near the position switch 2571 and separated from the position switch 2571, or the first foot 25721 can be in contact with the position switch 2571 in the initial state or free state without triggering the position switch 2571 to send a position signal.

[0301] Among them, such as Figure 46 As shown, the rotation limiting structure may include a third leg 25723 formed on the switch member 2572 and an abutment protrusion 2564 located on the housing 256. When the switch member 2572 is in a free state, the switch member 2572 rotates toward the side away from the position switch 2571 under the force of the elastic member 2573. At this time, the third leg 25723 cooperates with the abutment protrusion 2564 to limit the rotation angle of the switch member 2572, so that the first leg 25721 is located near the position switch 2571 and separated from the position switch 2571, or the first leg 25721 is in contact with the position switch 2571 in the initial state or free state, and will not trigger the position switch 2571 to send an position signal.

[0302] The embodiments of the present disclosure also provide a cleaning system, which comprises a base station and the cleaning device provided by the above-mentioned embodiments, and the base station is used for parking the cleaning device, and the cleaning device can perform functions such as charging, self-cleaning, parking, sewage discharge, water replenishment and the like on the base station. The beneficial effects of the cleaning system provided by the present disclosure are described in detail in the above-mentioned cleaning device embodiments, and will not be described here.

[0303] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present disclosure cover any and all variations of the present disclosure that come within the scope of the following claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

Claims

1. A robotic arm, characterized in that, include: The main body includes a first end and a second end opposite to each other along a first direction; The first gripper and the second gripper are rotatably connected to the first end of the main body. A driving component is disposed on the main body and is configured to drive the first gripper and the second gripper to switch between an open state and a clamping state. A camera is fixedly mounted on the main body and faces the second end toward the first end; the camera is offset from the first gripper and the second gripper along a second direction, and the second direction intersects the first direction; A fill light is provided at the first end of the main body and faces the second end in a direction pointing towards the first end.

2. The robotic arm according to claim 1, characterized in that, The fill light is located on the same side of the first gripper and the second gripper along the second direction as the camera.

3. The robotic arm according to claim 1, characterized in that, The fill light is offset from the camera along a third direction, and the third direction intersects with the second direction and the first direction.

4. The robotic arm according to claim 3, characterized in that, In the third direction, the camera is located in the middle area of ​​the main body.

5. The robotic arm according to claim 4, characterized in that, In the first direction, the fill light is positioned relative to the side of the camera closer to the second end.

6. The robotic arm according to claim 1, characterized in that, An avoidance groove is formed on the first end of the main body, and the camera is located in the avoidance groove.

7. The robotic arm according to claim 1, characterized in that, A clearance groove is formed on the first end of the main body, and the supplementary light is located in the clearance groove.

8. The robotic arm according to claim 1, characterized in that, The main body includes a housing, which forms a receiving space, and the housing is provided with a first mounting hole and a second mounting hole communicating with the receiving space; The camera is located in the receiving space and mounted on the first mounting hole, so as to be exposed through the first mounting hole for shooting; the fill light is located in the receiving space and mounted on the second mounting hole, so as to be exposed through the second mounting hole for fill light.

9. The robotic arm according to claim 1, characterized in that, The field of view of the camera is 110° to 120°.

10. The robotic arm according to claim 1, characterized in that, The illumination angle of the supplementary light is 55° to 60°.

11. A robotic arm mechanism, characterized in that, include: Base; A support arm, one end of which is rotatably connected to the base so that it can be in a folded or unfolded state. A connecting arm, one end of which is rotatably connected to the other end of the supporting arm so that they are in a folded or unfolded state. A working arm, one end of which is rotatably connected to the other end of the connecting arm so that they are in a folded or unfolded state. The robotic arm according to any one of claims 1 to 10, wherein the second end of the main body of the robotic arm is connected to the other end of the working arm.

12. The robotic arm mechanism according to claim 11, characterized in that, The robotic arm is rotatably connected to the working arm, and the main body can rotate around the first direction.

13. The robotic arm mechanism according to claim 11, characterized in that, The connecting arm has a wire harness on the side facing the working arm, and a clearance groove is formed on the first end of the main body; when the working arm is in a folded state relative to the connecting arm, the part of the wire harness corresponding to the working arm is located in the clearance groove.

14. A cleaning device, characterized in that, include: Equipment body: The robotic arm mechanism according to any one of claims 11 to 13, wherein the robotic arm mechanism is disposed on the main body of the device.

15. A cleaning system, characterized in that, include: The cleaning device as claimed in claim 14; A base station, which is used to interface with the cleaning equipment.

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