Mechanical arm and cleaning robot

Abstract

The utility model relates to the field of cleaning equipment, and discloses a mechanical arm and a cleaning robot. The mechanical arm comprises a mechanical arm body and a mechanical claw, the mechanical arm body at least can drive the mechanical claw to rotate in the horizontal direction and swing in the vertical direction, the mechanical claw comprises a base, a driving component and two clamping claws, the driving component and the two clamping claws are arranged on the base, and the driving component can drive the two clamping claws to be close to or away from each other. The clamping jaw is used for clamping an object to be cleaned or assembling a cleaning piece. The cleaning robot comprises a robot body and the mechanical arm. The mechanical arm can be installed on the cleaning robot, the mechanical arm body drives the mechanical claw to rotate in the horizontal direction and swing in the vertical direction, the movement range of the mechanical claw can be increased, the mechanical arm can be supported at the designated position, and the mechanical claw can clamp objects to be cleaned; and the cleaning robot can clean scenes such as wall surfaces, slits, low areas, behind doors and the like by assembling cleaning pieces such as a brush and a sponge brush, and the application range of the cleaning robot is widened.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of cleaning equipment, and particularly relates to a mechanical arm and a cleaning robot. BACKGROUND

[0002] The cleaning robot is a kind of intelligent household appliance, which can complete floor cleaning work in a room automatically by certain artificial intelligence. Generally, it adopts brushing and vacuuming to absorb floor debris into its garbage storage box, thereby completing the function of floor cleaning.

[0003] With the economic development, the sweeper has entered many families. Although the current sweeper can navigate autonomously and avoid obstacles, its function is limited to spacious horizontal ground, and is mainly used for sweeping open horizontal ground, and it is difficult to enter narrow gaps, low areas and other difficult-to-reach parts such as wall surfaces and the bottom of household appliances, so that its functionality is limited, and it is only suitable for specific types of cleaning tasks, and has limitations in use. UTILITY MODEL CONTENT

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the utility model provides a kind of mechanical arm and cleaning robot.

[0005] The utility model provides a kind of mechanical arm, apply to cleaning robot, including mechanical arm body and the mechanical claw of setting on the mechanical arm body, the mechanical arm body can at least drive the mechanical claw rotates along horizontal direction and oscillates vertically, the mechanical claw includes base and the drive member and two clamping jaws of setting on the base, the drive member can drive two the clamping jaw is close to or far away, and the clamping jaw is used to clamp article or assemble cleaning piece.

[0006] Optionally, the drive member includes a first drive member and two transmission members, and the first drive member can drive two clamping jaws to move through two transmission members respectively.

[0007] Optionally, the output end of the first drive member is provided with a worm, the transmission member includes a transmission gear set and a link structure, the first end gear of the transmission gear set can be engaged with the worm, and the last end gear of the transmission gear set is connected with the clamping jaw through the link structure.

[0008] Optionally, the link structure includes a first rod and a second rod.

[0009] One end of the first rod is connected with the last end gear of the transmission gear set, and the other end of the first rod is hingedly connected with the clamping jaw.

[0010] One end of the second rod is hingedly connected with the base, and the second end of the second rod is hingedly connected with the clamping jaw.

[0011] Optionally, the mechanical arm comprises a second driving member arranged on the body of the cleaning robot and a rotating seat, the second driving member being capable of driving the rotating seat to rotate, and the mechanical arm body being arranged on the rotating seat.

[0012] Optionally, the mechanical arm body comprises a first arm, a second arm and a third arm connected in sequence, the first arm being arranged on the rotating seat, and the mechanical gripper being arranged on the third arm.

[0013] The first arm is capable of swinging along a vertical direction relative to the rotating seat, the second arm is capable of swinging along a vertical direction relative to the first arm, and the third arm is capable of swinging along a vertical direction relative to the second arm.

[0014] Optionally, the first arm is internally provided with a third driving member for driving the first arm to swing along a vertical direction relative to the rotating seat.

[0015] And / or, the first arm is internally provided with a fourth driving member for driving the second arm to swing along a vertical direction relative to the first arm.

[0016] And / or, the second arm is internally provided with a fifth driving member for driving the third arm to swing along a vertical direction relative to the second arm.

[0017] Optionally, the second arm is located at one side of the first arm, and the third arm is located at an end of the second arm.

[0018] The utility model further provides a kind of cleaning robot, including body and the above-mentioned mechanical arm being arranged on the body.

[0019] Optionally, the body is provided with a cover assembly, which is arranged to be opened when the mechanical arm is in a working state and covered on the outer periphery of the mechanical arm when it is in a non-working state.

[0020] Optionally, the cover assembly comprises a first cover and a second cover arranged oppositely, the body is provided with a first turnover member and a second turnover member, the first turnover member can drive the first cover to turn over, the second turnover member can drive the second cover to turn over, and the second cover after turning over can be stacked on the first cover.

[0021] Optionally, the first turnover member comprises a first turnover driving member and a first turnover connecting rod, the first turnover connecting rod comprises a first driving rod and a first supporting rod, one end of the first driving rod is connected with an output end of the first turnover driving member, the other end of the first driving rod is hingedly connected with an end of the first supporting rod, and the end of the first supporting rod away from the first driving rod is hingedly connected with the first cover body.

[0022] Optionally, the second turnover member comprises a second turnover driving member and a second turnover connecting rod, the second turnover connecting rod comprises a second driving rod and a second supporting rod, an end of the second driving rod is bent, the bent end of the second driving rod is connected with an output end of the second turnover driving member, the other end of the second driving rod is hingedly connected with the second cover body, one end of the second supporting rod is hingedly connected with the machine body, and the other end of the second supporting rod is hingedly connected with the second cover body.

[0023] The technical scheme provided by the utility model has the following advantages compared with the prior art:

[0024] The mechanical arm provided by the utility model can be installed on a cleaning robot, the horizontal rotation and vertical swinging of the mechanical arm body along with the mechanical claw can increase the activity range of the mechanical claw, the mechanical arm can be supported at a specified position, the mechanical claw can clamp the to-be-cleaned object, and the cleaning element such as the brush and the sponge brush can be assembled to clean the wall surface, the narrow gap, the low area and the area behind the door, thereby increasing the use range of the cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0025] The drawings incorporated into the specification and constituting a part of the specification show the embodiments consistent with the utility model and are used together with the specification to explain the principle of the utility model.

[0026] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows, and obviously, other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings.

[0027] Figure 1 The structure schematic view of the mechanical arm provided by the utility model is arranged on a cleaning robot;

[0028] Figure 2 The structure schematic view of the mechanical claw provided by the utility model is arranged on a cleaning robot;

[0029] Figure 3 The structure schematic view of the mechanical arm provided by the utility model is arranged on a cleaning robot;

[0030] Figure 4 A structure schematic view of the cleaning robot according to the embodiment of the present application is shown in the figure.

[0031] Figure 5 A structure schematic view of the cover assembly in the open state according to the embodiment of the present application is shown in the figure.

[0032] Figure 6 A sectional view of the cover assembly in the closed state according to the embodiment of the present application is shown in the figure.

[0033] Figure 7 A sectional view of the cover assembly in the open state according to the embodiment of the present application is shown in the figure.

[0034] Explanation of reference signs

[0035] 1, mechanical arm body; 11, first arm; 12, second arm; 13, third arm; 2, mechanical claw; 21, base; 22, driving member; 221, first driving piece; 2211, worm; 222, transmission piece; 2221, transmission gear set; 22211, first gear; 22212, second gear; 22213, third gear; 2222, connecting rod structure; 22221, first rod; 22222, second rod; 22223, third rod; 23, clamping jaw; 231, arc-shaped slot; 3, machine body; 31, rotating seat; 32, first overturning piece; 321, first overturning driving piece; 322, first overturning connecting rod; 3221, first driving rod; 3222, first supporting rod; 33, second overturning piece; 332, second overturning connecting rod; 3321, second driving rod; 3322, second supporting rod; 4, cover assembly; 41, first cover; 42, second cover. DETAILED DESCRIPTION

[0036] In order to more clearly understand the above purpose, features and advantages of the present application, the scheme of the present application will be further described below.

[0037] In the following description, many specific details are set forth in order to fully understand the present application, but the present application can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some of the embodiments of the present application, not all the embodiments.

[0038] As Figure 1As shown, the mechanical arm provided by the utility model implementation mode is applied to a cleaning robot, the cleaning robot comprises a mechanical arm body 1 and a mechanical claw 2 arranged on the mechanical arm body 1, wherein the mechanical arm body 1 can be installed on the body 3 of the cleaning robot, and it can be understood that the mechanical arm body 1 can also be installed on other equipment according to requirements, and these are not restrictive. The mechanical claw 2 is arranged at one end of the mechanical arm body 1, so that the mechanical claw 2 can be moved by the mechanical arm body 1.

[0039] The mechanical arm body 1 can at least drive the mechanical claw 2 to rotate along the horizontal direction and swing along the vertical direction, that is, the specific arrangement mode of the mechanical arm body 1 is not limited, as long as the requirement of driving the mechanical claw 2 to rotate along the horizontal direction and swing along the vertical direction can be met. The mechanical claw 2 comprises a base 21, a driving member 22 and two clamping claws 23 arranged on the base 21, the base 21 is arranged on the mechanical arm body 1, the two clamping claws 23 are oppositely arranged on the base 21, and the clamping claws 23 extend out of the end of the base 21, so as to facilitate clamping and cleaning work. The driving member 22 can drive the two clamping claws 23 to approach or move away, and the clamping claws 23 are used for clamping to-be-cleaned articles or assembling cleaning pieces. When the driving member 22 drives the two clamping claws 23 to approach, the two clamping claws 23 can clamp garbage and other to-be-cleaned articles, and when the driving member 22 drives the two clamping claws 23 to move away, the two clamping claws 23 can release the garbage and other to-be-cleaned articles, so as to carry out picking-up work, garbage throwing and other work. In addition, after the two clamping claws 23 move away, a brush, a sponge brush and other cleaning pieces can be assembled, so as to carry out cleaning work through cooperation with the mechanical arm body 1.

[0040] The mechanical arm provided by the utility model can be installed on a cleaning robot, the mechanical claw 2 can be driven by the mechanical arm body 1 to rotate along the horizontal direction and swing along the vertical direction, so as to increase the activity range of the mechanical claw 2, the mechanical arm can be supported at a specified position, the mechanical claw 2 can clamp to-be-cleaned articles, and can clean a wall surface, a narrow gap, a low area, a scene behind a door and the like by assembling a brush, a sponge brush and other cleaning pieces, so as to increase the use range of the cleaning robot.

[0041] In some embodiments, as shown, Figure 2 The driving member 22 comprises a first driving piece 221 and two transmission pieces 222, the first driving piece 221 and the two transmission pieces 222 are arranged on the base 21, the first driving piece 221 can drive the two clamping claws 23 to move through the two transmission pieces 222 respectively, so as to drive the two clamping claws 23 to approach or move away, and the transmission piece 222 can support the clamping claw 23 outside the base 21.

[0042] In this design, the two clamping jaws 23 can be driven to approach or move away from each other by the first driving member 221 and the two transmission members 222, the cost of the driving components is reduced, and the two clamping jaws 23 can move synchronously, which facilitates the positioning of the two clamping jaws 23.

[0043] It can be understood that, in other embodiments, the driving member 22 includes two driving components, the two driving components respectively drive the two clamping jaws 23 to move or the two driving components respectively drive the two clamping jaws 23 to move through two transmission components, so that the two clamping jaws 23 can approach or move away from each other, which is not restrictive.

[0044] In some embodiments, continuing to refer to Figure 2 , the output end of the first driving member 221 is provided with a worm 2211, so as to drive the worm 2211 to rotate by the first driving member 221. The transmission member 222 includes a transmission gear set 2221 and a linkage structure 2222, the transmission gear set 2221 includes a plurality of gears that are sequentially meshed, the leading gear of the transmission gear set 2221 can be meshed with the worm 2211, and the terminal gear of the transmission gear set 2221 is connected with the clamping jaw 23 through the linkage structure 2222, so as to drive the clamping jaw 23 to move through the linkage structure 2222, thereby realizing the approach or movement away from each other of the two clamping jaws 23.

[0045] Among them, the plurality of gears of the transmission gear set 2221 can all be helical gears, the leading gear of the transmission gear set 2221 is meshed with the worm 2211 as a turbine, so as to be driven to rotate by the worm 2211, thereby transmitting power through the transmission gear set 2221. Alternatively, the plurality of gears of the transmission gear set 2221 are all spur gears, the first gear of the transmission gear set 2221 is coaxially connected with a turbine, the turbine and the first gear of the transmission gear set 2221 can rotate synchronously, thereby being driven to rotate by the turbine.

[0046] In this design, the driving direction of the first driving member 221 can be changed through the cooperation of the turbine worm 2211, which facilitates the setting of the first driving member 221, reduces the space occupation in the vertical direction, and the transmission path can be changed through the setting of the gear transmission set, which facilitates the design of the position of the first driving member 221. That is, through the design of the turbine worm 2211 and the gear transmission set, the structure of the mechanical claw 2 is more compact. Among them, the first driving member 221 includes a driving motor or a combination of a driving motor and a speed reducer, which can be selected according to actual needs.

[0047] In some embodiments, continuing to refer to Figure 2The connecting rod structure 2222 includes a first rod 22221 and a second rod 22222; one end of the first rod 22221 is connected with the terminal gear of the transmission gear set 2221, and the other end of the first rod 22221 is hingedly connected with the clamping jaw 23; one end of the second rod 22222 is hingedly connected with the base 21, and the second end of the second rod 22222 is hingedly connected with the clamping jaw 23. The second rod 22222 is arranged on the inner side of the first rod 22221, and the first rod 22221 and the second rod 22222 extend in parallel. It can be understood that the first rod 22221 and the second rod 22222 can also have a certain included angle.

[0048] In this design, the second rod 22222 can support the clamping jaw 23, the first rod 22221 can rotate with the rotation of the terminal gear of the transmission gear set 2221, thereby driving the clamping jaw 23 to rotate, so that the two clamping jaws 23 are close to or away from each other, the driving is convenient, and the supporting effect of the clamping jaw 23 can be ensured. Moreover, the design of the mechanical claw 2 enables the clamping jaw 23 to be horizontally opened outward and retracted inward, which not only enhances the stability and accuracy of clamping, but also provides greater flexibility, so that the clamping jaw 23 can adapt to objects of different shapes and sizes.

[0049] In some embodiments, the connecting rod structure 2222 further includes a third rod 22223, the third rod 22223 is arranged on the clamping jaw 23, and the end of the first rod 22221 and the end of the second rod 22222 are respectively hingedly connected with the two ends of the third rod 22223, thereby increasing the convenience of connection.

[0050] In some embodiments, continuing to refer to Figure 2 The transmission gear set 2221 includes a first gear 22211, a second gear 22212 and a third gear 22213 which are sequentially meshed, the first gear 22211, the second gear 22212 and the third gear 22213 are all helical gears, the first gear 22211 is meshed with the worm 2211 as a turbine, the second gear 22212 is meshed with the first gear 22211, the third gear 22213 is meshed with the second gear 22212, and the first rod 22221 is arranged on the third gear 22213. The arrangement positions of the first gear 22211, the second gear 22212 and the third gear 22213 are not limited and can be designed according to actual needs.

[0051] It can be understood that the transmission gear set 2221 of the present application can also adopt other numbers of gears, as long as the transmission requirements are met.

[0052] In some embodiments, the two clamping jaws 23 are provided with arc-shaped grooves 231 on the corresponding sides, and the two arc-shaped grooves 231 on the two clamping jaws 23 are oppositely arranged to clamp the garbage and other objects to be cleaned, and in particular, to clamp small-sized flexible objects and regular-shaped hard objects. The clamping of the garbage and other objects to be cleaned can be based on sensors and intelligent algorithms to locate the garbage and other objects to be cleaned and put them into the designated area. Such sensing, feedback and positioning methods are conventional techniques in the art, and will not be described in detail here, nor are they the protection points of the present application.

[0053] In some embodiments, the inner side of the end of the two clamping jaws 23 close to the base 21 is provided with a slope surface to avoid affecting the movement of the clamping jaw 23 and prevent the clamping jaw 23 from scratching the base 21.

[0054] In some embodiments, the clamping jaw 23 adopts a strip structure, and the outer side of the end of the clamping jaw 23 is provided with a slope surface to facilitate the assembly of cleaning elements such as brushes and sponge brushes.

[0055] In addition, this way can realize automatic head replacement, that is, the cleaning elements such as brushes and sponge brushes are placed horizontally in the head replacement area, when the head needs to be replaced, the cleaning robot moves to the head replacement area, and the clamping jaw 23 is placed horizontally by the mechanical arm body 1, and then the clamping jaw 23 is inserted into the cleaning element such as a brush or a sponge brush by the movement of the cleaning robot, to realize the automatic assembly of the cleaning element. Or the clamping jaw 23 is inserted into the placement position to reset the cleaning element such as a brush or a sponge brush, thereby realizing automatic head replacement. Such automatic head replacement method is a conventional technique, and will not be described in detail here, nor is it the protection point of the present application.

[0056] In some embodiments, as shown in Figure 1 The mechanical arm includes a second driving member for being arranged on the body 3 of the cleaning robot and a rotating seat 31, the second driving member can drive the rotating seat 31 to rotate, and the mechanical arm body 1 is arranged on the rotating seat 31.

[0057] In this design, the rotating seat 31 can be driven to rotate by the second driving member, and the mechanical arm body 1 can be driven to rotate 360° in the horizontal plane, which is convenient to drive and saves space. The second driving member includes a driving motor or a combination of a driving motor and a speed reducer, which can be designed according to actual needs.

[0058] In some embodiments, continuing to refer to Figure 1, the mechanical arm body 1 comprises a first arm 11, a second arm 12 and a third arm 13 connected in sequence, the first arm 11 is arranged on the rotating seat 31, and the mechanical gripper 2 is arranged on the third arm 13. Wherein, the first arm 11 can swing along the vertical direction relative to the rotating seat 31, the second arm 12 can swing along the vertical direction relative to the first arm 11, and the third arm 13 can swing along the vertical direction relative to the second arm 12.

[0059] In this design, the mechanical arm body 1 adopts the cooperation of the first arm 11, the second arm 12 and the third arm 13, which can increase the swinging range and flexibility of the mechanical gripper 2 in the vertical direction, so that the mechanical arm body 1 can drive the mechanical gripper 2 to move to the narrow gap and the low area, thereby increasing the working range of the cleaning robot.

[0060] It can be understood that the number of arms of the mechanical arm body 1 includes but is not limited to the above-mentioned manner, and can be designed according to actual needs.

[0061] In some embodiments, the inside of the first arm 11 is provided with a third driving member for driving the first arm 11 to swing along the vertical direction relative to the rotating seat 31. Specifically, the third driving member is arranged at the bottom end of the first arm 11, the output shaft of the third driving member extends out of the side of the first arm 11 and is connected with the support on the rotating seat 31. Since the position of the base 21 in the vertical direction is unchanged, the third driving member drives the first arm 11 to swing in the vertical direction through the rotation of the output shaft of the third driving member. Wherein, the third driving member includes a driving motor or a combination of a driving motor and a speed reducer, which can be selected according to actual needs.

[0062] In some embodiments, the inside of the first arm 11 is provided with a fourth driving member for driving the second arm 12 to swing along the vertical direction relative to the first arm 11. Specifically, the fourth driving member is arranged at the top end of the first arm 11, the output shaft of the fourth driving member extends out of the side of the first arm 11 and is connected with the second arm 12, so as to drive the second arm 12 to rotate 360° in the vertical plane through the fourth driving member. Wherein, the fourth driving member includes a driving motor or a combination of a driving motor and a speed reducer, which can be selected according to actual needs.

[0063] In some embodiments, the inside of the second arm 12 is provided with a fifth driving member for driving the third arm 13 to swing along the vertical direction relative to the second arm 12. Specifically, the fifth driving member is arranged at the top end of the second arm 12, the output shaft of the fifth driving member extends out of the side of the second arm 12 and is connected with the third arm 13, so as to drive the third arm 13 to swing in the vertical direction through the fifth driving member. Wherein, the fifth driving member includes a driving motor or a combination of a driving motor and a speed reducer, which can be selected according to actual needs.

[0064] The mechanical arm body 1 in this design has four independent movement axes, and can realize four degrees of freedom movement. The first arm 11 has two degrees of freedom, allowing the mechanical arm body 1 to rotate in the horizontal plane and the vertical plane, to realize left and right swinging in the horizontal plane, and to provide up and down movement capability, so that the mechanical arm body 1 can swing up and down in the vertical plane. The second arm 12 allows the mechanical arm body 1 to rotate in the vertical direction, controlling the spatial position of the mechanical claw 2. The third arm 13 is used to rotate the mechanical claw 2 in the vertical direction, to adapt to different tool angles and directions.

[0065] In some embodiments, in combination with Figure 1 and Figure 2 As shown, the second arm 12 is located at one side of the first arm 11, and the third arm 13 is located at the end of the second arm 12.

[0066] In this design, as shown in Figure 3 , the mechanical arm body 1 can be attached to the top of the body 3 of the cleaning robot in the retracted state, reducing the space occupation in the vertical direction, so that the structure of the body 3 of the cleaning robot is more compact.

[0067] It can be understood that in other embodiments, the second arm 12 is located at the end of the first arm 11, and the third arm 13 is located at the end of the second arm 12, so that the first arm 11, the second arm 12 and the third arm 13 are stacked on the top of the body 3 of the cleaning robot in the retracted state, which is not limited.

[0068] As shown in Figure 1 , the utility model also provides a cleaning robot, including body 3 and setting on body 3 above-mentioned mechanical arm, the mechanical arm at this place includes all technical features of above-mentioned mechanical arm. Wherein, the cleaning and its heat at this place can be any form of sweeper, and above-mentioned mechanical arm also can be collocated other forms of mechanical equipment when using collocation sweeper.

[0069] The cleaning robot in this design greatly extends the cleaning range, extending the cleaning scene of the cleaning robot from open horizontal ground to narrow gaps and low areas, and has the ability to drop garbage and cooperate with cleaning elements to clean, making the cleaning function of the cleaning robot more abundant and the cleaning effect more excellent.

[0070] In some embodiments, as shown in Figure 4 , the body 3 is provided with a cover assembly 4, which is arranged to be opened when the mechanical arm is in a working state, and covered on the outer periphery of the mechanical arm when it is in a non-working state.

[0071] In this design, the cover assembly 4 can protect the mechanical arm when it is in a non-working state, increasing the service life of the mechanical arm.

[0072] In some embodiments, in combination Figures 4 to 7 As shown, the cover assembly 4 includes a first cover 41 and a second cover 42 arranged oppositely, which means that the first cover 41 and the second cover 42 are arranged oppositely in the horizontal direction. The body 3 is provided with a first turnover member 32 and a second turnover member 33, the first turnover member 32 can drive the first cover 41 to turn over, and the second turnover member 33 can drive the second cover 42 to turn over, and the turned-over second cover 42 can be stacked on the first cover 41.

[0073] In this design, the opened second cover 42 is stacked on the first cover 41, which can reduce the space occupation of the unfolded cover assembly 4. The butted first cover 41 and the second cover 42 can be seamlessly and non-overlappingly connected when stored, which improves the sealing performance and structural stability of the cover assembly 4, and makes the appearance more complete.

[0074] In some embodiments, in combination Figure 6 and Figure 7 As shown, one end of the first cover 41 away from the second cover 42 is hingedly connected to the body 3, the first turnover member 32 includes a first turnover driving member 321 and a first turnover connecting rod 322, the first turnover driving member 321 is arranged on the body 3, and the first cover 41 is connected to the first turnover driving member 321 through the first turnover connecting rod 322. The first turnover connecting rod 322 includes a first driving rod 3221 and a first supporting rod 3222, one end of the first driving rod 3221 is connected to the output end of the first turnover driving member 321, so that the first driving rod 3221 can be driven to rotate by the first turnover driving member 321, the other end of the first driving rod 3221 is hingedly connected to the end of the first supporting rod 3222, one end of the first supporting rod 3222 away from the first driving rod 3221 is hingedly connected to the first cover 41, specifically, the end of the first supporting rod 3222 is hingedly connected to the part of the first cover 41 close to the second cover 42. The first turnover driving member 321 includes a driving motor or a combination of a driving motor and a speed reducer, which can be selected according to actual needs.

[0075] In the initial state, the first driving rod 3221 extends downward or is inclined downward, and the end of the first supporting rod 3222 is hingedly connected to the end of the first driving rod 3221. When opening the cover, the first turnover driving member 321 drives the first driving rod 3221 to rotate (counterclockwise), and then drives the first supporting rod 3222 to move upward through the first driving rod 3221, so that the end of the first supporting rod 3222 away from the first driving rod 3221 lifts the first cover 41, to avoid the movement of the robot arm body 1, and then returns to the original position for stacking the second cover 42.

[0076] In this driving mode, the driving is convenient, and the first cover body 41 can be lifted by a small rotation of the output shaft of the first turnover driving member 321, thereby increasing the efficiency.

[0077] In some embodiments, the first support rod 3222 has a protrusion at the end connected with the first driving rod 3221, so that the end of the first support rod 3222 connected with the first driving rod 3221 has a hook structure.

[0078] In this arrangement, the first support rod 3222 can provide sufficient support.

[0079] In some embodiments, the second turnover member 33 includes a second turnover driving member and a second turnover connecting rod 332. The second turnover driving member is arranged on the machine body 3. The second turnover connecting rod 332 includes a second driving rod 3321 and a second support rod 3322. The end of the second driving rod 3321 is bent, and the bent end of the second driving rod 3321 is connected with the output end of the second turnover driving member to increase the rotation angle of the second driving rod 3321. The other end of the second driving rod 3321 is hingedly connected with the second cover body 42, so as to drive the second cover body 42 to turn around the axis of the output shaft of the second turnover driving member by the second turnover driving member. One end of the second support rod 3322 is hingedly connected with the machine body 3, and the other end of the second support rod 3322 is hingedly connected with the second cover body 42. The second turnover driving member includes a driving motor or a combination of a driving motor and a speed reducer, which can be selected according to actual needs.

[0080] In this design, the second driving rod 3321 can cooperate with the second support rod 3322 to make the second cover body 42 always extend horizontally when the second cover body 42 is turned, so that the second cover body 42 can be covered on the top of the first cover body 41.

[0081] It should be noted that, in this document, relational terms such as "first" and "second", and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element preceded by "comprises... " does not, without more limitations, foreclose the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0082] The above description is merely that of specific embodiments of the present application, which enables those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments described herein but is to be accorded the widest scope consistent with this disclosure and the principles and novel features disclosed herein.

Claims

1. A mechanical arm applied to a cleaning robot, characterized in that, The mechanical arm comprises a mechanical arm body (1) and a mechanical gripper (2) arranged on the mechanical arm body (1), the mechanical arm body (1) can drive the mechanical gripper (2) to rotate in a horizontal direction and swing in a vertical direction, the mechanical gripper (2) comprises a base (21) and a driving member (22) and two clamping jaws (23) arranged on the base (21), the driving member (22) can drive the two clamping jaws (23) to move close to or away from each other, and the clamping jaws (23) are used for clamping articles to be cleaned or assembling cleaning pieces.

2. The robot arm of claim 1, wherein, The driving member (22) comprises a first driving member (221) and two transmission members (222), the first driving member (221) can drive the two clamping jaws (23) to move through the two transmission members (222) respectively.

3. The robot arm of claim 2, wherein, The output end of the first driving member (221) is provided with a worm (2211), the transmission member (222) comprises a transmission gear set (2221) and a linkage structure (2222), the first end gear of the transmission gear set (2221) can be engaged with the worm (2211), and the last end gear of the transmission gear set (2221) is connected with the clamping jaw (23) through the linkage structure (2222).

4. The robot arm of claim 3, wherein, The linkage structure (2222) comprises a first rod (22221) and a second rod (22222); One end of the first rod (22221) is connected with the last end gear of the transmission gear set (2221), and the other end of the first rod (22221) is hingedly connected with the clamping jaw (23); One end of the second rod (22222) is hingedly connected with the base (21), and the second end of the second rod (22222) is hingedly connected with the clamping jaw (23).

5. The robotic arm of claim 1, wherein, The mechanical arm comprises a second driving member and a rotating seat (31) arranged on the body (3) of the cleaning robot, the second driving member can drive the rotating seat (31) to rotate, and the mechanical arm body (1) is arranged on the rotating seat (31).

6. The robot arm of claim 5, wherein, The mechanical arm body (1) comprises a first arm (11), a second arm (12) and a third arm (13) connected in sequence, the first arm (11) is arranged on the rotating seat (31), and the mechanical gripper (2) is arranged on the third arm (13). The first arm (11) can swing in the vertical direction relative to the rotating seat (31), the second arm (12) can swing in the vertical direction relative to the first arm (11), and the third arm (13) can swing in the vertical direction relative to the second arm (12).

7. The robot arm of claim 6, wherein, The inside of the first arm (11) is provided with a third driving member for driving the first arm (11) to swing in the vertical direction relative to the rotating seat (31); And / or, the inside of the first arm (11) is provided with a fourth driving member for driving the second arm (12) to swing in the vertical direction relative to the first arm (11); And / or, the inside of the second arm (12) is provided with a fifth driving member for driving the third arm (13) to swing in the vertical direction relative to the second arm (12).

8. The robotic arm of claim 6, wherein, The second arm (12) is located at one side of the first arm (11), and the third arm (13) is located at an end of the second arm (12).

9. A cleaning robot, characterized in that, The mechanical arm as claimed in any one of claims 1 to 8 is arranged on a machine body (3).

10. The cleaning robot according to claim 9, wherein, The machine body (3) is provided with a cover assembly (4) arranged to be opened when the mechanical arm is in a working state and to cover the outer periphery of the mechanical arm when the mechanical arm is in a non-working state. 11.The cleaning robot according to claim 10, wherein, The cover assembly (4) comprises oppositely arranged first and second covers (41, 42), and the machine body (3) is provided with first and second turnover members (32, 33), the first turnover member (32) being capable of driving the first cover (41) to turn over, the second turnover member (33) being capable of driving the second cover (42) to turn over, and the turned-over second cover (42) being capable of being stacked on the first cover (41).

12. The cleaning robot according to claim 11, wherein, The first turnover member (32) comprises a first turnover driving member (321) and a first turnover connecting rod (322), the first turnover connecting rod (322) comprising a first driving rod (3221) and a first supporting rod (3222), one end of the first driving rod (3221) being connected with an output end of the first turnover driving member (321), the other end of the first driving rod (3221) being hingedly connected with an end of the first supporting rod (3222), and the end of the first supporting rod (3222) away from the first driving rod (3221) being hingedly connected with the first cover (41).

13. The cleaning robot of claim 11, wherein, The second turnover member (33) comprises a second turnover driving member and a second turnover connecting rod (332), the second turnover connecting rod (332) comprising a second driving rod (3321) and a second supporting rod (3322), the end of the second driving rod (3321) being bent, the bent end of the second driving rod (3321) being connected with an output end of the second turnover driving member, the other end of the second driving rod (3321) being hingedly connected with the second cover (42), one end of the second supporting rod (3322) being hingedly connected with the machine body (3), and the other end of the second supporting rod (3322) being hingedly connected with the second cover (42).

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