Rotating member and robot apparatus

Abstract

The utility model provides a rotating component and robot equipment, relates to the technical field of robots, and is used for solving the problem that an existing robot is limited in operation after clamping an object. The rotating component comprises a first connecting piece and a second connecting piece. The first connecting piece is provided with a connecting hole. The two ends of the connecting hole penetrate through the first connecting piece in the extending direction of the connecting hole. The second connecting piece penetrates through the connecting hole, and the two ends of the second connecting piece are located outside the first connecting piece. Wherein the first connecting piece is used for being connected with a clamping mechanism of the robot to achieve positioning of the rotating component, and one end of the second connecting piece is used for being connected with a rotatable mechanism of the robot so that the second connecting piece can be driven by the rotatable mechanism to rotate. The rotating member is used for being installed on a robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a rotating member and a robot device. BACKGROUND

[0002] A robot is a man-made machine device capable of assisting human work and performing tasks. With the continuous development of technology, the functions that robots can achieve gradually increase, and the application fields are also more extensive. At present, robots can clamp articles, but the operations that can be performed after clamping are limited, and more specific tasks cannot be performed. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a rotating member and a robot device to solve the problem that the operations that the existing robot can perform after clamping articles are limited.

[0004] In a first aspect, the present application provides a rotating member for installation on a robot. The rotating member comprises a first connecting piece and a second connecting piece. The first connecting piece is provided with a connecting hole. Along the extension direction of the connecting hole, both ends of the connecting hole penetrate through the first connecting piece. The second connecting piece is arranged in the connecting hole, and both ends thereof are located outside the first connecting piece. The first connecting piece is used to connect with the clamping mechanism of the robot to realize the positioning of the rotating member, and one end of the second connecting piece is used to connect with the rotatable mechanism of the robot to make the second connecting piece rotate under the driving of the rotatable mechanism.

[0005] The rotating member provided by the present application can be connected with the clamping mechanism of the robot through the first connecting piece to realize the positioning and fixation of the rotating member. Since the second connecting piece is arranged in the connecting hole of the first connecting piece and both ends thereof are located outside the first connecting piece, one end of the second connecting piece can be connected with the rotatable mechanism of the robot to rotate under the driving of the rotatable mechanism. At this time, since the first connecting piece is connected with the clamping mechanism, the rotation of the second connecting piece will not affect the connection between the first connecting piece and the clamping mechanism, and the rotation can be smoothly performed under the condition of ensuring the stable connection, so as to facilitate the realization of wiping and other rotating operations by means of the rotation of the second connecting piece, make the robot convenient to realize the rotating operation after clamping articles, improve the diversity of operation, and complete more tasks.

[0006] In some embodiments, the second connecting piece comprises a connecting body and a first connecting joint. The connecting body is arranged in the connecting hole. The first connecting joint is connected with the first end of the connecting body. Along the extension direction of the connecting hole, the first connecting joint is located on one side of the first connecting piece and is formed with a first limiting portion. The first limiting portion is used to abut against the end portion of the first connecting piece.

[0007] In some embodiments, the connecting body is formed with a second limiting portion. The second limiting portion is located on a side of the first connecting member away from the first connecting joint along the extension direction of the connecting hole. The second limiting portion is configured to abut against the end of the first connecting member.

[0008] In some embodiments, the first connecting joint is formed with a docking portion on a side of the connecting body away from the connecting body. The docking portion is configured to connect with the rotatable mechanism of the robot.

[0009] In some embodiments, the second connecting member comprises a connecting body and a second connecting joint. The connecting body is arranged in the connecting hole. The second connecting joint is connected to the second end of the connecting body. The second connecting joint is located on a side of the first connecting member along the extension direction of the connecting hole. The second connecting joint is configured as a multi-purpose connecting joint capable of connecting different execution members.

[0010] In some embodiments, the second connecting joint comprises a clamping member and a fixing member. The clamping member is connected to the second end of the connecting body. The clamping member is formed with a mounting hole on a side of the clamping member away from the connecting body. The mounting hole is configured to have an adjustable aperture size to clamp execution members of different sizes. The fixing member is connected to the clamping member and is configured to adjust the aperture size of the mounting hole to fix the execution member to the clamping member.

[0011] In some embodiments, the clamping member comprises a first connecting portion and a plurality of second connecting portions. The first connecting portion is connected to the second end of the connecting body. The plurality of second connecting portions are located on a side of the first connecting portion away from the connecting body and are connected to the first connecting portion at one end. The plurality of second connecting portions are elastic and are arranged around the circumference of the first connecting portion to form the mounting hole. The fixing member is movably connected to the first connecting portion and is configured to abut against the plurality of second connecting portions to change the aperture size of the mounting hole formed by the plurality of second connecting portions.

[0012] In some embodiments, the fixing member comprises a first fixing portion and a second fixing portion. The first fixing portion is arranged around the periphery of the first connecting portion. The first fixing portion is configured to be adjusted in position along the axis of the mounting hole and connected to the first connecting portion. The second fixing portion is located on a side of the first fixing portion away from the connecting body and is arranged around the periphery of the second connecting portion and connected to the first fixing portion. The inner diameter of the second fixing portion gradually increases or decreases along the axis of the mounting hole and in the direction away from the first fixing portion.

[0013] In some embodiments, the second connecting member comprises a connecting body and a second connecting joint. The connecting body is arranged in the connecting hole. The second connecting joint is connected to the second end of the connecting body. The second connecting joint is located on a side of the first connecting member along the extension direction of the connecting hole. The second connecting joint comprises a universal joint. The universal joint is configured to connect with the execution member.

[0014] In a second aspect, the present application provides a robot device, comprising a robot and any one of the rotating members in the first aspect.

[0015] Since the robot device provided by the present application comprises any one of the rotating members in the first aspect, the same technical problems as the rotating members described above can be solved, and the same technical effects can be achieved, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0017] Figure 1 A structural schematic diagram of a rotating member provided by an embodiment of the present application is shown in the figure.

[0018] Figure 2 A structural schematic diagram of a rotating member provided by an embodiment of the present application is shown in the figure. Figure 1

[0019] Figure 3 A structural schematic diagram of a first connecting joint provided by an embodiment of the present application is shown in the figure.

[0020] Figure 4 A structural schematic diagram of a second connecting member provided by an embodiment of the present application is shown in the figure. Figure 2

[0021] Figure 5 A structural schematic diagram of another rotating member provided by an embodiment of the present application is shown in the figure.

[0022] Figure 6 A structural schematic diagram of another rotating member provided by an embodiment of the present application is shown in the figure. Figure 5

[0023] Figure 7 A structural schematic diagram of another rotating member provided by an embodiment of the present application is shown in the figure. Figure 5

[0024] Figure 8 A structural schematic diagram of another rotating member provided by an embodiment of the present application is shown in the figure. Figure 7

[0025] Reference signs:

[0026] ​​​​​100-rotating member; 10-first connecting piece; 101-connecting hole; 20-second connecting piece; 21-connecting body; 211-second limiting part; 22-first connecting joint; 221-first limiting part; 2211-first positioning hole; 2212-second positioning hole; 222-butting part; 2221-first butting protrusion; 2222-second butting protrusion; 23-second connecting joint; 231-clamping piece; 2311-first connecting part; 2312-second connecting part; 2313-mounting hole; 232-fixing piece; 2321-first fixing part; 2322-second fixing part; 233-gimbal; 234-first rotating piece; 235-second rotating piece; 236-rotating assembly; 2361-mounting piece; 2362-first connecting shaft; 2363-second connecting shaft; 30-executing piece; 31-first executing piece; 311-extended part; 312-abutting part; 32-second executing piece; 40-bearing; 50-connecting column; 60-clamping ring. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0028] It should be noted that, in this document, the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or system that comprises a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such process, method, article, or system. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or system that includes the element.

[0029] Hereinafter, the terms "first", "second", and the like are only used for description convenience, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0030] In the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, "connection" can be fixed mechanical connection, or detachable mechanical connection, or integral; or "connection" can be direct connection, or indirect connection through intermediate medium.

[0031] In this application, two components are "parallel" to each other, which can mean completely parallel or approximately parallel within a certain acceptable deviation range. Furthermore, two components are "perpendicular" to each other, which can mean completely perpendicular or approximately perpendicular within a certain acceptable deviation range. The aforementioned acceptable deviation range can be determined by the limitations of the measurement system used by those skilled in the art.

[0032] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] This application provides a robotic device, which may include a robot and a rotating component. The robot can be of different types and can be used in industrial, commercial, or household applications to perform different operations. This application does not specifically limit the type of robot.

[0034] For example, the robot provided in this application embodiment can be a embodied robot or a non-embodied robot. Depending on the walking method, the robot provided in this application embodiment can be a wheeled robot, a tracked robot, or a legged robot.

[0035] The robot provided in this application embodiment may include a gripper and a rotatable mechanism. The gripper can act as a holding mechanism to hold an object, and the rotatable mechanism can rotate the object.

[0036] The robot provided in this application embodiment may also include other components. The composition of the robot provided in this application embodiment may vary depending on the application field and the functions to be implemented; this is only provided as an example and is not intended to be further limited. For example, the robot may also include a walking mechanism and a control mechanism, etc.

[0037] The rotating component provided in this application embodiment can be installed on a robot, enabling it to rotate smoothly using the robot's rotatable mechanism while being gripped by the robot's gripping mechanism (e.g., a gripper), thus performing more operations. The rotating component provided in this application embodiment will be further described below with reference to the accompanying drawings.

[0038] like Figure 1 As shown, the rotating member 100 provided in this embodiment may include a first connector 10 and a second connector 20. Figure 2 As shown, the first connector 10 may have a connecting hole 101. Along the extending direction of the connecting hole 101, both ends of the connecting hole 101 pass through the first connector 10.

[0039] The second connecting member 20 can be arranged in the connecting hole 101 and have two ends located outside the first connecting member 10. The first connecting member 10 can be used to connect with a clamping mechanism of a robot to realize positioning of the rotating member 100. One end of the second connecting member 20 can be used to connect with a rotatable mechanism of the robot to rotate the second connecting member 20 under the driving of the rotatable mechanism. The other end of the second connecting member 20 can be connected with the executing member 30.

[0040] Therefore, the rotating member 100 provided by the embodiment of the present application can realize positioning and fixing of the rotating member 100 by connecting the first connecting member 10 with the clamping mechanism of the robot. Since the second connecting member 20 is arranged in the connecting hole 101 of the first connecting member 10 and has two ends located outside the first connecting member 10, one end of the second connecting member 20 can be connected with the rotatable mechanism of the robot to rotate under the driving of the rotatable mechanism. At this time, since the first connecting member 10 is connected with the clamping mechanism, the rotation of the second connecting member 20 will not affect the connection between the first connecting member 10 and the clamping mechanism, and the rotation can be smoothly realized under the condition of ensuring stable connection, so that the rotation of the robot after clamping the object can be realized conveniently, the operation diversity is improved, and more tasks can be completed.

[0041] In some embodiments, as shown in Figure 1 and Figure 2 The rotating member 100 can further include an executing member 30. The executing member 30 can be connected with one end of the second connecting member 20 away from the rotatable mechanism of the robot. The executing member 30 can be used to mount external objects. For example, the executing member 30 can be used to mount cleaning members (such as a cloth) and artistic performance objects (such as flowers, lamps, and handkerchiefs). For example, the cleaning members, the artistic performance objects, and the like can be pasted or buckled to the executing member 30.

[0042] It should be noted that the executing member 30 can also be a part other than the rotating member 100. For example, the executing member 30 can be a mature cleaning member (such as a long-handled brush or a cloth) or an artistic performance object on the market.

[0043] In addition, in some embodiments, as shown in Figure 2 The rotating member 100 can further include a bearing 40. The bearing 40 can be sleeved on the second connecting member 20 and located on the inner side of the first connecting member 10. In this way, the first connecting member 10 and the second connecting member 20 can be in contact with the bearing 40, so as to reduce the friction between the first connecting member 10 and the second connecting member 20 when they rotate relative to each other, ensure the rotation effect, and improve the service life.

[0044] It can be understood that the number of bearings 40 can be set according to actual conditions. For example, in some embodiments, the number of bearings 40 can be two. The two bearings 40 are respectively located at the end positions of the first connecting piece 10.

[0045] In some embodiments, as shown in Figure 2 , the second connecting piece 20 can include a connecting body 21 and a first connecting joint 22. The connecting body 21 can be arranged in the connecting hole 101. The first connecting joint 22 can be connected with the first end of the connecting body 21 (i.e. Figure 2 , the lower end of the connecting body 21 as shown). Along the extension direction of the connecting hole 101, the first connecting joint 22 is located on one side of the first connecting piece 10, and a first limiting portion 221 is formed.

[0046] The first limiting portion 221 can be used to abut against the end of the first connecting piece 10. Based on this, when the first connecting joint 22 and the connecting body 21 are connected, the vertical projection of the first limiting portion 221 on the first plane is at least partially located outside the vertical projection of the connecting hole 101 on the first plane, and the first plane is perpendicular to the extension direction of the connecting hole 101. That is, the size of the first limiting portion 221 is greater than the size of the connecting hole 101, and the first limiting portion 221 cannot enter the inside of the connecting hole 101.

[0047] Therefore, the first limiting portion 221 of the first connecting joint 22 can play a limiting role. When the first connecting piece 10 slides relative to the second connecting piece 20 to the first connecting joint 22, the first limiting portion 221 can abut against the end of the first connecting piece 10, thereby avoiding the first connecting piece 10 from directly falling off from the first connecting joint 22, and ensuring the connection of the first connecting piece 10 and the second connecting piece 20.

[0048] Similarly, as shown in Figure 2 , in some embodiments, the connecting body 21 forms a second limiting portion 211. Along the extension direction of the connecting hole 101, the second limiting portion 211 is located on the side of the first connecting piece 10 away from the first connecting joint 22.

[0049] The second limiting portion 211 can also be used to abut against the end of the first connecting piece 10. Based on this, the vertical projection of the second limiting portion 211 on the first plane is at least partially located outside the vertical projection of the connecting hole 101 on the first plane. That is, the size of the second limiting portion 211 is greater than the size of the connecting hole 101, and the second limiting portion 211 also cannot enter the inside of the connecting hole 101.

[0050] Therefore, the second limiting part 211 can also play a limiting role. When the first connecting member 10 slides away from the first connecting joint 22 relative to the second connecting member 20, the second limiting part 211 can abut against the end of the first connecting member 10, thereby preventing the first connecting member 10 from falling off the end of the connecting body 21 and ensuring the connection effect of the first connecting member 10 and the second connecting member 20.

[0051] To facilitate the installation of the first connector 10 and the second connector 20, in some embodiments, the connecting body 21 can be detachably connected to the first connecting joint 22.

[0052] Thus, during installation, the connecting body 21 can be first inserted into the connecting hole 101 of the first connector 10, and then the first connecting connector 22 can be installed with the connecting body 21. This allows the first connector 10 to be positioned using the first limiting part 221 and the second limiting part 211, thus enabling the installation of the first connector 10 and the second connector 20. Conversely, during disassembly, the first connecting connector 22 can be removed from the connecting body 21 first, allowing the first connector 10 to be detached from the connecting body 21.

[0053] Of course, in other embodiments, the first connecting joint 22 and the connecting body 21 can also be fixedly connected. In this case, the first limiting part 221 can be elastic. During disassembly and installation, external force can be used to make the first connecting member 10 pass over the first limiting part 221, thereby realizing the installation of the first connecting member 10 and the second connecting member 20. For example, the first connecting joint 22 can be made of materials such as rubber.

[0054] based on Figure 2 The scheme shown, in order to achieve a detachable connection between the first connecting joint 22 and the connecting body 21, in some embodiments, such as Figure 3 As shown, the first limiting part 221 is close to the connecting body 21 ( Figure 2 One end of the first limiting part 221 may have a first positioning hole 2211. At this time, the connecting body 21 can extend into the first positioning hole 2211. In addition, the peripheral wall of the first limiting part 221 may also have a second positioning hole 2212, and the second positioning hole 2212 can communicate with the first positioning hole 2211.

[0055] Meanwhile, the rotating component 100 may also include a fastener (not shown in the figure), which can pass through the second positioning hole 2212 and extend into a part of the connecting body 21. In this way, a detachable connection between the connecting body 21 and the first connecting joint 22 can be achieved by means of the fastener.

[0056] Of course, the first connecting joint 22 and the connecting body 21 can also be detachably connected in other manners, which can be designed according to actual conditions, and here is only taken as an example for illustration, without further limitation. For example, in some other embodiments, the connecting body 21 can also be directly screwed with the first positioning hole 2211.

[0057] In some embodiments, as shown in Figure 3 the first connecting joint 22 is formed with a connecting part 222 away from one side of the connecting body 21. Figure 2 The connecting part 222 can be used to connect with the rotatable mechanism of the robot. Thus, the first connecting joint 22 can be connected with the rotatable mechanism of the robot through the connecting part 222.

[0058] In some embodiments, as shown in Figure 3 the connecting part 222 can include a connecting protrusion. At this time, the rotatable mechanism of the robot can be formed with a connecting hole. In this way, the connecting protrusion can directly extend into the corresponding connecting hole to realize the connection between the first connecting joint 22 and the rotatable mechanism.

[0059] In some embodiments, as shown in Figure 3 the connecting protrusion can include a first connecting protrusion 2221 and a second connecting protrusion 2222. The first connecting protrusion 2221 can be connected with the first limiting part 221, and the second connecting protrusion 2222 can be located away from one side of the first connecting protrusion 2221.

[0060] The first connecting protrusion 2221 can play a limiting role to realize clamping with the connecting hole, so that the first connecting joint 22 can rotate with the rotatable mechanism.

[0061] The second connecting protrusion 2222 can have an inclined side wall. The hole diameter of the inclined side wall gradually decreases in the direction away from the first connecting protrusion 2221. Thus, the second connecting protrusion 2222 can play a guiding role, which is more convenient when connecting.

[0062] Of course, the connecting part 222 can also have other structures, which can be designed according to conditions. For example, in some other embodiments, the connecting part 222 can also only include the first connecting protrusion 2221.

[0063] In order to realize the limiting between the connecting protrusion and the rotatable mechanism, in some embodiments, the first connecting protrusion 2221 can also have a plurality of planar side walls. The plurality of planar side walls are arranged in the circumferential direction. Thus, the plurality of planar side walls can be used to match with the inner wall of the connecting hole. In this way, the plurality of planar side walls can play a limiting role, so that the first connecting protrusion 2221 can rotate with the rotatable mechanism.

[0064] Of course, the peripheral wall of the first connecting protrusion 2221 can also be of other shapes as long as it can limit the position with the connecting hole. For example, the peripheral wall of the first connecting protrusion 2221 can be a non-cylindrical peripheral wall. Correspondingly, the inner wall of the connecting hole of the rotatable mechanism can be shaped to match the peripheral wall of the first connecting protrusion 2221 so that the two can be smoothly installed.

[0065] In some embodiments, as shown in Figure 2 The second connecting member 20 can further include a second connecting joint 23. The second connecting joint 23 is connected to the second end of the connecting body 21 (i.e. the upper end of the connecting body 21 as shown). Figure 2 Along the extension direction of the connecting hole 101, the second connecting joint 23 is located on one side of the first connecting member 10.

[0066] The second connecting joint 23 is configured as a multi-purpose connecting joint capable of connecting different execution members 30. Thus, through the second connecting joint 23, different execution members 30 can be connected to perform corresponding operations.

[0067] In order to enable the second connecting joint 23 to connect different execution members 30, in some embodiments, as shown in Figure 2 and Figure 4 The second connecting joint 23 can include a clamping member 231 and a fixing member 232.

[0068] The clamping member 231 is connected to the second end of the connecting body 21. The side of the clamping member 231 away from the connecting body 21 is formed with a mounting hole 2313. It should be noted that the mounting hole 2313 can pass through the clamping member 231 along the axial direction, or can not pass through the clamping member 231, i.e. the clamping member 231 can only be partially provided with the mounting hole 2313. The mounting hole 2313 is configured to have an adjustable hole diameter to clamp execution members 30 of different sizes. Thus, since the clamping member 231 is formed with the mounting hole 2313 having an adjustable hole diameter, execution members 30 of different sizes can all extend into the mounting hole 2313.

[0069] The fixing member 232 is connected to the clamping member 231 and is used to adjust the hole diameter of the mounting hole 2313 to fix the execution member 30 to the clamping member 231. In this way, the fixing member 232 can adjust the hole diameter of the mounting hole 2313 so that execution members 30 of different sizes (e.g. execution members 30 of different rod diameters) can all be clamped in the mounting hole 2313 to achieve good clamping effect. When it is needed to take out the execution member 30, the fixing member 232 can be used to increase the hole diameter of the mounting hole 2313, and the execution member 30 can be taken out from the mounting hole 2313.

[0070] Alternatively, in order to enable the second connecting joint 23 to connect different actuators 30, in other embodiments, the second connecting joint 23 can comprise a magnetic member. The magnetic member can be used to generate a magnetic attraction force. In this way, different sizes and different types of actuators 30 can be attracted by the magnetic attraction force of the magnetic member.

[0071] Based on this, the actuator 30 can be made of a material with magnetic attraction. Alternatively, a magnet can be installed on the different actuator 30. In this way, the magnet provided on the actuator 30 can also enable the second connecting joint 23 to connect different actuators 30.

[0072] It can be understood that the above-mentioned second connecting joint 23 is only described by way of example, and the second connecting joint 23 can also connect different actuators 30 in other ways. The specific structure of the second connecting joint 23 can be designed according to actual conditions, as long as the second connecting joint 23 can connect different actuators 30.

[0073] Based on Figure 4 In order to realize the adjustable aperture of the mounting hole 2313, in some embodiments, as shown in Figure 4 The clamping member 231 can comprise a first connecting portion 2311 and a plurality of second connecting portions 2312. The first connecting portion 2311 is connected to the second end of the connecting body 21. The plurality of second connecting portions 2312 are located on the side of the first connecting portion 2311 away from the connecting body 21, and one end of the plurality of second connecting portions 2312 is connected to the first connecting portion 2311.

[0074] Among them, the plurality of second connecting portions 2312 have elasticity, are arranged at intervals around the circumference of the first connecting portion 2311, and surround the mounting hole 2313. The fixing member 232 is movably connected to the first connecting portion 2311 and is used to abut against the plurality of second connecting portions 2312, so as to change the aperture of the mounting hole 2313 surrounded by the plurality of second connecting portions 2312.

[0075] Therefore, since the second connecting portion 2312 has elasticity, when the fixing member 232 abuts against the second connecting portion 2312, the plurality of second connecting portions 2312 can be inclined by the fixing member 232 towards the direction of approaching the central axis of the mounting hole 2313, so as to make the aperture of the mounting hole 2313 smaller, and enable the mounting hole 2313 to clamp an actuator 30 of a smaller size.

[0076] On the contrary, when the size of the actuator 30 is large, the actuator 30 can abut against the inner side of the second connecting part 2312, so that the second connecting part 2312 is inclined towards the direction away from the central axis of the mounting hole 2313, so that the hole diameter of the mounting hole 2313 is enlarged, thereby enabling the mounting hole 2313 to clamp the actuator 30 of a larger size. In addition, since the plurality of second connecting parts 2312 are arranged at intervals around the circumference of the first connecting part 2311, the plurality of second connecting parts 2312 are independent of each other, and are more likely to elastically deform.

[0077] Of course, in other embodiments, the second connecting part 2312 can also be a single one. At this time, the second connecting part 2312 can be annular and arranged around the circumference of the first connecting part 2311. At this time, the second connecting part 2312 can also clamp actuators 30 of different sizes by deforming under the action of an external force by virtue of its own elasticity.

[0078] In order to enable the fixing part 232 to exert an external force on the second connecting part 2312 to change the hole diameter of the mounting hole 2313, in some embodiments, as shown in Figure 2 The fixing part 232 can include a first fixing part 2321 and a second fixing part 2322.

[0079] The first fixing part 2321 can be sleeved on the periphery of the first connecting part 2311, and the first fixing part 2321 is configured to be adjustable in position along the axis direction of the mounting hole 2313 and connected with the first connecting part 2311. Thus, the first fixing part 2321 can move along the axis direction of the mounting hole 2313.

[0080] The second fixing part 2322 can be located on the side of the first fixing part 2321 away from the connecting body 21, sleeved on the periphery of the second connecting part 2312, and connected with the first fixing part 2321. Along the axis of the mounting hole 2313 and in the direction away from the first fixing part 2321, the inner diameter of the second fixing part 2322 gradually increases or decreases.

[0081] Thus, when the second fixing part 2322 moves along the axis direction of the mounting hole 2313, the distance between the position where the second fixing part 2322 contacts the second connecting part 2312 and the central axis of the mounting hole 2313 changes, thereby changing the distance between the second connecting part 2312 and the central axis of the mounting hole 2313, and finally changing the hole diameter of the mounting hole 2313.

[0082] It can be understood that the changing direction of the hole diameter of the second fixing part 2322 can be set according to actual conditions. In some embodiments, along the axis of the mounting hole 2313 and in the direction away from the first fixing part 2321, the inner diameter of the second fixing part 2322 gradually decreases. At this time, as shown inFigure 2 As shown, the second fixing part 2322 can be a hollow frustum structure.

[0083] Based on this, along the axial direction of the mounting hole 2313, when the second fixing part 2322 moves away from the first fixing part 2321, the distance between the contact position of the second fixing part 2322 and the second connecting part 2312 and the central axis of the mounting hole 2313 gradually increases. Conversely, when the second fixing part 2322 moves in the opposite direction, the distance between the contact position of the second fixing part 2322 and the second connecting part 2312 and the central axis of the mounting hole 2313 gradually decreases.

[0084] Of course, in other embodiments, the inner diameter of the second fixing part 2322 gradually increases along the axis of the mounting hole 2313 and away from the first fixing part 2321. In this case, when the second fixing part 2322 moves away from the first fixing part 2321, the distance between the contact point of the second fixing part 2322 and the second connecting part 2312 and the central axis of the mounting hole 2313 gradually decreases. When the second fixing part 2322 moves in the opposite direction, the distance between the contact point of the second fixing part 2322 and the second connecting part 2312 and the central axis of the mounting hole 2313 gradually increases.

[0085] In order to achieve a movable connection between the first fixing part 2321 and the first connecting part 2311, in some embodiments, such as Figure 4 As shown, the outer wall of the first connecting part 2311 may be formed with an external thread structure. Correspondingly, the first fixing part 2321 ( Figure 2 The inner wall of the first fixing part 2321 and the first connecting part 2311 are threaded together. Thus, by rotating the first fixing part 2321 and the first connecting part 2311, the first fixing part 2321 can move along the axial direction of the mounting hole 2313.

[0086] Of course, the first fixing part 2321 and the first connecting part 2311 can also be connected in other ways. For example, in some other embodiments, one of the first fixing part 2321 and the first connecting part 2311 may be formed with a plurality of first adjusting holes spaced apart along the axial direction of the connecting hole 101, and the other may be formed with a second adjusting hole. In this case, by inserting an external adjusting member into the second adjusting hole and the first adjusting holes at different positions, the first fixing part 2321 and the first connecting part 2311 can be fixed at different positions.

[0087] In some embodiments, such as Figure 5 and Figure 6As shown, the second connecting joint 23 may include a universal joint 233. The universal joint 233 can be used to connect with the actuator 30. Thus, the actuator 30 can rotate relative to the connecting body 21 through the universal joint 233, making the movement of the actuator 30 more flexible and making it more flexible and convenient when the actuator 30 comes into contact with external objects.

[0088] In some embodiments, the universal joint 233 may include a first rotating member 234, a second rotating member 235, and a rotating assembly 236. The first rotating member 234 may be connected to the connecting body 21, and the second rotating member 235 may be connected to the actuator 30.

[0089] The rotating assembly 236 can be connected to the first rotating member 234 and the second rotating member 235, and the rotating assembly 236 is movably connected to at least one of the first rotating member 234 and the second rotating member 235. In this way, the first rotating member 234 and the second rotating member 235 can move relative to each other through the rotating assembly 236, thereby enabling the actuator 30 and the connecting body 21 to move relative to each other.

[0090] based on Figure 6 The scheme shown, in order to achieve relative movement between the first rotating member 234 and the second rotating member 235, in some embodiments, such as Figure 6 As shown, the rotating assembly 236 may include a mounting member 2361, a first connecting shaft 2362, and a second connecting shaft 2363. Both the first connecting shaft 2362 and the second connecting shaft 2363 are connected to the mounting member 2361. The first connecting shaft 2362 is also rotatably connected to a first rotating member 234, and the second connecting shaft 2363 is also rotatably connected to a second rotating member 235. The first rotating member 234 and the second rotating member 235 rotate in different directions.

[0091] Therefore, the first rotating member 234 and the second rotating member 235 can rotate in different directions, thereby enabling the actuator 30 to rotate in different directions, thus improving flexibility. The specific rotation directions of the first rotating member 234 and the second rotating member 235 can be designed according to actual conditions. For example, the rotation axis of the first rotating member 234 and the rotation axis of the second rotating member 235 can be perpendicular to each other and both perpendicular to the axis of the connecting hole 101.

[0092] Of course, the universal joint 233 can also have other structures, as long as it can enable relative movement of the actuator 30. For example, in some embodiments, the universal joint 233 may also include a universal ball (not shown in the figure). The universal ball can be connected to the actuator 30. At the same time, the connecting body 21 can be formed with a spherical groove, and the universal ball is movably connected in the spherical groove. In this way, the relative movement of the actuator 30 can also be achieved through the cooperation of the universal ball and the spherical groove.

[0093] To realize the connection between the first rotating member 234 and the connecting body 21, in some embodiments, as shown in Figure 6 The rotating member 100 can further include a connecting column 50 and a clamping ring 60. The first rotating member 234 can be sleeved on the connecting body 21, and the connecting column 50 can penetrate the first rotating member 234 and the connecting body 21. Meanwhile, the clamping ring 60 can be sleeved on the first rotating member 234, and the two ends of the connecting column 50 abut against the clamping ring 60.

[0094] In this way, as shown in Figure 6 The connecting column 50 can connect the first rotating member 234 and the connecting body 21. Meanwhile, since the clamping ring 60 is sleeved on the first rotating member 234 and abuts against the two ends of the connecting column 50, the clamping ring 60 can prevent the connecting column 50 from being separated, thereby ensuring the connection effect. When disassembly is needed, the clamping ring 60 can be removed, and the connecting column 50 can be disassembled, thereby realizing the connection between the first rotating member 234 and the connecting body 21.

[0095] Similarly, in some embodiments, as shown in Figure 6 The connecting column 50 and the clamping ring 60 can be multiple. The second rotating member 235 can be sleeved on the executing member 30, and the connecting column 50 can further penetrate the executing member 30 and the second rotating member 235. Meanwhile, the clamping ring 60 is sleeved on the second rotating member 235, and the two ends of the connecting column 50 abut against the clamping ring 60.

[0096] In this way, the connecting column 50 can connect the second rotating member 235 and the executing member 30. Meanwhile, since the clamping ring 60 is sleeved on the second rotating member 235 and abuts against the two ends of the connecting column 50, the clamping ring 60 can prevent the connecting column 50 from being separated, thereby ensuring the connection effect. When disassembly is needed, the clamping ring 60 can be removed, and the connecting column 50 can be disassembled, thereby realizing the connection between the second rotating member 235 and the executing member 30.

[0097] It can be understood that the executing member 30 can have different structures for different second connecting members 20.

[0098] In some embodiments, as shown in Figure 2 The executing member 30 can include a first executing member 31 and a second executing member 32. The first executing member 31 can be connected with the second connecting member 20, and the second executing member 32 can be connected with the first executing member 31. In this way, the first executing member 31 can realize the connection with the second connecting member 20, and the second executing member 32 can be provided with an article such as a cleaning member.

[0099] In some embodiments, as shown in Figure 2As shown, the first execution member 31 can have a strip-shaped structure. In this way, the first execution member 31 can be conveniently inserted into the mounting hole 2313.

[0100] In some embodiments, the side of the second execution member 32 away from the first execution member 31 can have a placement plane, and the cleaning member can be mounted on the placement plane. In this way, when the cleaning member rotates, it can have better surface contact with the glass to be wiped, thereby ensuring the wiping effect.

[0101] The specific structure and shape of the second execution member 32 can be designed according to actual conditions. For example, as shown in Figure 2 As shown, the second execution member 32 can have a flat plate structure. For example, the second execution member 32 can have a disc-shaped structure. Of course, the second execution member 32 can also have other structures, and the specific design can be made according to actual conditions, which is not limited further herein.

[0102] As shown in Figure 7 In some embodiments, the first execution member 31 and the second execution member 32 can be detachably connected. At this time, it is convenient to replace the first execution member 31 and the second execution member 32. Of course, in other embodiments, the first execution member 31 and the second execution member 32 can also be integrally formed.

[0103] In some embodiments, as shown in Figure 7 and Figure 8 The first execution member 31 can include an extension part 311 and an abutting part 312. The second rotating member 235 can be sleeved on the periphery of the extension part 311, and the abutting part 312 can be located on the side of the second execution member 32 away from the second rotating member 235 and abut against the second execution member 32.

[0104] Therefore, the extension part 311 can realize the connection between the first execution member 31 and the second rotating member 235. At the same time, through the abutting of the abutting part 312 and the second execution member 32, the first execution member 31 and the second execution member 32 can be connected to each other.

[0105] The above-mentioned sequence numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A rotary member for mounting to a robot, characterized by, The rotating member comprises: a first connecting piece, which is provided with a connecting hole; along the extension direction of the connecting hole, both ends of the connecting hole penetrate through the first connecting piece; and a second connecting piece, which is arranged in the connecting hole and has both ends located outside the first connecting piece; wherein the first connecting piece is used for connecting with the clamping mechanism of the robot to realize the positioning of the rotating member; one end of the second connecting piece is used for connecting with the rotatable mechanism of the robot, so that the second connecting piece is driven to rotate by the rotatable mechanism.

2. The rotating member of claim 1, wherein The second connecting piece comprises: a connecting body arranged in the connecting hole; and a first connecting joint connected with the first end of the connecting body; along the extension direction of the connecting hole, the first connecting joint is located on one side of the first connecting piece; the first connecting joint is provided with a first limiting part; wherein the first limiting part is used for abutting against the end of the first connecting piece.

3. The rotating member of claim 2, wherein, The connecting body is provided with a second limiting part; along the extension direction of the connecting hole, the second limiting part is located on the side of the first connecting piece away from the first connecting joint; wherein the second limiting part is used for abutting against the end of the first connecting piece.

4. The rotating member of claim 2, wherein The side of the first connecting joint away from the connecting body is provided with a docking part; the docking part is used for connecting with the rotatable mechanism of the robot.

5. The rotating member of claim 1, wherein The second connecting piece comprises: a connecting body arranged in the connecting hole; and a second connecting joint connected with the second end of the connecting body; along the extension direction of the connecting hole, the second connecting joint is located on one side of the first connecting piece; the second connecting joint is configured as a multi-purpose connecting joint capable of connecting different executing members.

6. The rotating member of claim 5, wherein, The second connecting joint comprises: a clamping member connected with the second end of the connecting body, the side of the clamping member away from the connecting body is provided with a mounting hole; the mounting hole is configured to have adjustable aperture size to clamp different sizes of the executing member; and a fixing member connected with the clamping member, used for adjusting the aperture size of the mounting hole to fix the executing member to the clamping member.

7. The rotating member of claim 6, wherein The clamping member comprises: a first connecting part connected with the second end of the connecting body; and a plurality of second connecting parts located on the side of the first connecting part away from the connecting body, one end of each second connecting part is connected with the first connecting part; the plurality of second connecting parts have elasticity and are arranged around the circumference of the first connecting part to form the mounting hole; wherein the fixing member is movably connected with the first connecting part and is used for docking with the plurality of second connecting parts, so as to change the aperture size of the mounting hole formed by the plurality of second connecting parts.

8. The rotating member of claim 7, wherein, The fixing member comprises: a first fixing part sleeved on the periphery of the first connecting part, the first fixing part is configured to be adjustable in position of the first connecting part along the axis direction of the mounting hole and connected with the first connecting part; and a second fixing part connected with the plurality of second connecting parts. The second fixing part is located on the side of the first fixing part away from the connecting body, is sleeved on the periphery of the second connecting part, is connected with the first fixing part, and gradually increases or decreases in inner diameter along the axis of the mounting hole and in the direction away from the first fixing part.

9. The rotating member of claim 1, wherein, The second connecting member comprises: The connecting body is sleeved in the connecting hole; and The second connecting joint is connected with the second end of the connecting body, is located on one side of the first connecting member along the extension direction of the connecting hole, comprises a universal joint, and is used for being connected with an executing member.

10. A robotic device, characterized by A robot and the rotating member of any one of claims 1-9.

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