Mechanical arm and cleaning robot

Abstract

The utility model relates to the technical field of cleaning equipment, and provides a mechanical arm and a cleaning robot, the mechanical arm comprises a base assembly, a swing arm assembly, a driving unit, a working unit and a wire harness, the swing arm assembly is arranged on the base assembly, and the swing arm assembly comprises at least two swing arms which are connected with each other; the swinging arm is rotationally connected with other parts or other swinging arms through joint pieces, and the wire harness is used for connecting the driving unit and the working unit so as to control and supply power; wherein the swing arm assembly is internally provided with a wire passing channel, and the wire passing channel accommodates the whole area, from the base assembly to the working unit, of the wire harness. By arranging the wire passing channel in the swing arm assembly, the interior of the wire harness is hidden from the base assembly to all areas of the working unit, and the wire harness is prevented from being exposed. By means of the design, the wire harness is effectively prevented from being exposed in the external environment, corrosion or damage or aging caused by the fact that the wire harness makes contact with external substances is reduced, and the service life of the mechanical arm and the service life of the cleaning robot are remarkably prolonged.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a robotic arm and a cleaning robot. Background Technology

[0002] As people's living standards continue to improve, self-propelled cleaning equipment, such as intelligent robotic vacuum cleaners, has gradually become an important tool in household and commercial cleaning. In order to further improve cleaning efficiency and cope with more complex environments, more and more intelligent robotic vacuum cleaners are beginning to be equipped with robotic arms to achieve obstacle grabbing, object movement, or garbage removal.

[0003] Traditional robotic arm wiring harnesses and base mounting components are typically exposed. In household cleaning environments, these components are exposed to the air and are easily affected by the external environment, leading to corrosion or damage. Especially in humid or sewage-filled environments, if the electronic components and wiring harnesses of the robotic arm are not effectively protected, it may seriously affect the normal operation of the robot and even shorten its lifespan. Utility Model Content

[0004] In view of the shortcomings of the prior art described above, the purpose of this utility model is to propose a robotic arm and a cleaning robot to improve the service life of the robotic arm and the cleaning robot.

[0005] To achieve the above and other related objectives, a robotic arm, applied to a cleaning robot, includes:

[0006] Base assembly;

[0007] A swing arm assembly is disposed on the base assembly, the swing arm assembly including at least two interconnected swing arms;

[0008] A drive unit is disposed inside the swing arm assembly to drive the swing arm to rotate;

[0009] The working unit is located at the end of the swing arm assembly away from the base assembly;

[0010] A wiring harness for connecting the drive unit and the working unit for control and power supply;

[0011] The swing arm assembly includes a joint, and the swing arm is connected to other swing arms and / or the working unit and / or the base assembly through the joint. The swing arm assembly is provided with a wire passage, which accommodates the entire area of ​​the wire harness from the base assembly to the working unit.

[0012] In an optional embodiment of this utility model, the wire passage includes a through hole, which is disposed inside the joint and extends axially, the axial direction being the rotation axis direction of the swing arm.

[0013] In an optional embodiment of this utility model, the through hole is arranged coaxially with the axis of the joint.

[0014] In an optional embodiment of this utility model, a rotating connector is provided inside the joint, the rotating connector is used to connect two relatively rotating sides, the through hole is opened at the axial position of the rotating connector, a driven gear is provided on the rotating connector, and a driving gear is provided on the driving unit, the driven gear and the driving gear are connected in a transmission connection.

[0015] In an optional embodiment of this utility model, the rotating connector includes a seal to achieve a seal.

[0016] In an optional embodiment of this utility model, the driven gear and the driving gear form an external mesh.

[0017] In an optional embodiment of this utility model, the driven gear and the driving gear form an internal meshing.

[0018] In an optional embodiment of this utility model, the through hole is arranged eccentrically relative to the axis of the joint.

[0019] In an optional embodiment of this utility model, a protective layer is provided between the inner wall of the through hole and the outer periphery of the wire harness.

[0020] In an optional embodiment of this utility model, the protective layer covers the inner wall of the through hole.

[0021] In an optional embodiment of this utility model, the protective layer covers the outer periphery of the wire harness.

[0022] This utility model also provides a cleaning robot, including:

[0023] The robot itself;

[0024] A robotic arm is mounted on the robot body, and the robotic arm is the robotic arm described above.

[0025] In an optional embodiment of this utility model, the robot body is provided with a mounting groove, the base assembly is installed in the mounting groove, the base assembly is provided with a mounting part and a wire harness through hole, and the mounting part and the wire harness through hole are located on the side of the base assembly near the bottom of the mounting groove.

[0026] In an optional embodiment of this utility model, the robotic arm is connected to the robot body by screws, which are installed from the bottom side of the robot body upwards.

[0027] The technical advantage of this invention lies in the fact that by setting a wire passage within the swing arm assembly, the wiring harness is internally concealed in all areas from the base assembly to the working unit, preventing it from being exposed. This design effectively prevents the wiring harness from being exposed to the external environment, reducing corrosion, damage, or aging caused by contact with external substances (such as dust, sewage, etc.), and significantly extending the service life of the robotic arm and cleaning robot. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a three-dimensional structural diagram of the robotic arm in one embodiment of the present invention;

[0030] Figure 2 This is a wiring diagram of the wire harness in one embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the joint component of the present invention in the external meshing method in Embodiment 1;

[0032] Figure 4 This is a schematic diagram of the joint component of the present invention in the internal meshing method in Embodiment 1;

[0033] Figure 5 This is a schematic diagram of the joint component in Embodiment 2 of the present invention.

[0034] Explanation of reference numerals in the attached drawings: 10, base assembly; 20, swing arm assembly; 21, joint; 22, rotating connector; 23, through hole; 24, driven gear; 25, swing arm; 30, drive unit; 31, driving gear; 40, working unit; 50, wiring harness. Detailed Implementation

[0035] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0036] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0037] With the rapid development of science and technology and the continuous improvement of people's living standards, intelligent robotic vacuum cleaners have become an indispensable modern device in home and commercial cleaning. Utilizing advanced sensors, navigation systems, and automatic cleaning technology, intelligent robotic vacuum cleaners can not only clean floors but also adaptively adjust to the complexity of the environment, providing efficient cleaning solutions. To further improve cleaning performance and expand application scenarios, more and more intelligent robotic vacuum cleaners are being equipped with robotic arms. The addition of robotic arms enables robots to perform more complex tasks, such as grasping obstacles, moving objects, and cleaning up trash, thereby greatly improving the robot's applicability and functionality.

[0038] However, traditional robotic arm designs have some significant limitations. In particular, the electrical wiring harnesses and base mounting components are often exposed and lack effective protection. During cleaning in home or commercial environments, these components are susceptible to external factors such as dust, dirt, and moisture, leading to corrosion and damage. Especially in humid or wastewater-containing environments, unprotected assembly parts and wiring harnesses may experience accelerated oxidation, short circuits, or other types of malfunctions. This not only affects the robot's normal operation but may also significantly shorten its lifespan.

[0039] To address this issue, some designs attempt to use shields or shells to protect the exposed parts of the robotic arm from external environmental damage. However, this approach also presents new challenges. While protective shields effectively prevent damage to components, they typically increase the robot's size, impacting its flexibility and maneuverability. A larger size not only makes it more difficult for the robot to navigate confined spaces during cleaning but may also increase its weight, reducing its efficiency. Furthermore, the addition of a protective shield can negatively affect the robot's appearance, diminishing its aesthetic appeal.

[0040] Therefore, ensuring adequate protection for the robotic arm's components while maintaining the robot's compactness, lightweight design, and aesthetics has become a crucial challenge in the development of intelligent robotic vacuum cleaner technology. To achieve this goal, designers need to continuously explore new materials, optimize structural designs, and adopt innovative protection solutions to enhance the robot's overall performance and adaptability, meeting users' needs in various complex environments.

[0041] To achieve the above objectives and other related objectives, such as Figure 1-5 As shown, a robotic arm used in a cleaning robot includes a base assembly 10, a swing arm assembly 20, a drive unit 30, a working unit 40, and a wiring harness 50.

[0042] Cleaning robots, as automated cleaning devices, can clean floors according to predetermined paths. Beyond their basic vacuuming and wiping functions, cleaning robots are equipped with robotic arms, enabling them to handle more complex tasks such as grasping and moving obstacles, picking up items, removing trash, and charging. These additional functions significantly enhance the robot's applicability in various environments, particularly for the efficient cleaning needs of homes, offices, and commercial spaces.

[0043] The base assembly 10 is the foundation of the robotic arm system, typically made of high-strength materials, and primarily serves to support the overall structure of the robotic arm. The base provides the connection point between the robotic arm and the robot body, and bears the weight of the drive unit 30 and the swing arm assembly 20. The base is also responsible for transmitting power to the robotic arm and ensuring sufficient stability during operation. The base typically includes wheels or support points to ensure the robot can move stably on the ground and complete cleaning tasks.

[0044] The cleaning robot can be equipped with a first motor to drive the base assembly 10 to rotate, which in turn causes the swing arm assembly 20 on the base assembly 10 to rotate 360° in the horizontal plane. A second motor can be installed inside the base assembly 10 to drive the swing arm assembly 20 to rotate 180° in the vertical plane.

[0045] The swing arm assembly 20 is disposed on the base assembly 10. The swing arm assembly 20 includes at least two interconnected swing arms 25 and a joint 21. The swing arms 25 are rotatably connected to each other through the joint 21. The swing arms 25 can also be connected to the base assembly 10 through the joint 21.

[0046] The swing arm assembly 20 consists of at least two interconnected swing arms 25, which are connected by joints 21 and can rotate around the joints. The main function of the swing arm assembly 20 is to provide flexible motion, enabling the robotic arm to perform diverse tasks in different working environments. For example, the robotic arm can be used to grasp objects in front, move obstacles, or even sweep garbage into a container by rotating at an angle. The multi-degree-of-freedom motion capability of the swing arm allows the robot to work efficiently in more complex spaces, especially in confined or obstacle-filled environments.

[0047] A drive unit 30 is located inside the swing arm assembly 20 to drive the swing arm 25 to rotate. The function of the drive unit 30 is to drive the swing arm 25 to rotate or move via an electric motor or servo motor. The drive unit 30 is responsible for the motion control of the robotic arm, adjusting the rotation angle of each joint according to preset commands to complete functions such as grasping, releasing, and clamping. The drive unit 30 needs to have high precision and high response speed to ensure that the robotic arm can execute tasks quickly and accurately. The drive unit 30 can be located at various joint positions of the swing arm 25 to drive the swing arm 25 to achieve 360° rotation in the vertical plane. Specifically, the drive unit 30 can be a DC motor, a hydraulic drive system, a pneumatic drive system, etc.

[0048] The working unit 40 is located at the end of the swing arm assembly 20 away from the base assembly 10. The swing arm 25 can also be connected to the working unit 40 via the joint 21. The working unit 40, located at the end of the swing arm assembly 20 away from the base assembly 10, is typically the end effector of the robotic arm. The design and function of the working unit 40 vary depending on the specific requirements. Common working units 40 include gripping devices, grasping devices, camera devices, charging sockets, etc.

[0049] The wiring harness 50 is used to connect the drive unit 30 and the working unit 40 for control and power supply. The wiring harness 50 serves as a power and data transmission line, ensuring that each component of the robotic arm receives the corresponding instructions or power supply when needed. The design of the wiring harness 50 needs to balance flexibility and reliability, ensuring that the robotic arm can operate smoothly and stably when performing tasks.

[0050] The swing arm assembly 20 includes a wiring channel that accommodates the entire area of ​​the wiring harness 50 from the base assembly 10 to the working unit 40. In the operating environment of the cleaning robot, especially in humid or sewage-containing environments, the exposed wiring harness 50 is susceptible to moisture, dust, or dirt, which can affect its power transmission and lead to corrosion, short circuits, or malfunctions. The wiring channel effectively isolates the wiring harness 50 from external moisture and dust by safely enclosing it in a closed space, reducing the possibility of external contamination. This protection ensures that the wiring harness 50 maintains stable operation even in humid or harsh environments. During the operation of the cleaning robot, the movements of the robotic arm and other moving parts cause frequent displacement, rotation, and collisions. If the wiring harness 50 is not properly protected, it is easily interfered with by mechanical parts, leading to loosening, breakage, or unstable connections. The wiring channel effectively secures the wiring harness 50 within a predetermined track, preventing accidental interference due to the swing of the robotic arm or the movement of other components, and maintaining the stability of the electrical connection. In the long run, the wiring channel effectively protects the wiring harness 50 from damage caused by the environment and mechanical components, reducing the frequency of harness 50 failures. With reduced damage to the wiring harness 50 and other components, the overall reliability and stability of the robotic arm are improved. This directly helps extend the service life of the cleaning robot and reduces maintenance costs caused by damage to the wiring harness 50.

[0051] In an optional embodiment of this utility model, the wire passage includes a through hole 23, which is disposed inside the joint 21 and extends axially, with the axial direction being the rotation axis of the swing arm. The swing arm of a robotic arm is typically connected by multiple connecting components via the joint 21, which rotates around the rotation axis during operation. Without proper protection and wiring design, the wire harness 50 may be twisted, stretched, or rubbed during movement, leading to damage or signal interruption. By providing a through hole 23 inside the joint 21 and allowing it to extend along the rotation axis of the swing arm, a stable and safe passage is provided for the wire harness 50, allowing it to pass smoothly between the relatively rotating components, avoiding the problems of wire harness 50 exposure and interference in traditional designs. The through hole 23 is aligned with the rotation axis of the swing arm, allowing the wire harness 50 to maintain continuous transmission while the joint 21 rotates, unaffected by the joint's rotation. Since the rotation axis is the main direction of the swing arm's movement, the through hole 23 ensures that the wire harness 50 is not bent or twisted due to the joint's rotation. Through the wire passage, the wire harness 50 is constrained and protected during rotation. The through-hole 23 inside the joint 21 prevents the wire harness 50 from being rubbed or damaged by external components, ensuring the transmission stability of the wire harness 50. Furthermore, the wire harness 50 maintains its flexibility during rotation, preventing performance degradation or breakage due to excessive stretching or bending. The design of the through-hole 23 allows the wire harness 50 to avoid direct contact with other components during robotic arm operation. The wire harness 50 smoothly passes through the rotating component via the through-hole 23 without needing to cross or contact the swing arm or other moving parts, reducing the risk of friction and collision. In this way, the wire harness 50 not only maintains stable power and signal transmission but also avoids physical damage caused by friction. Reducing friction also lowers the robot's noise and vibration.

[0052] In Embodiment 1, the through hole 23 and the joint 21 are arranged coaxially. "Coaxial arrangement" means that the rotation axis of the through hole 23 and the joint 21 are collinear, that is, the centerline of the through hole 23 and the rotation axis of the joint are on the same axis. During the swinging motion of the robotic arm, the joint 21 rotates around the rotation axis, and the through hole 23 provides a path for the wiring harness 50 to pass through. With this arrangement, the wiring harness 50 moves freely along a path consistent with the direction of the rotation axis when the joint rotates, avoiding interference and unnecessary friction with other components. If the through hole 23 is not aligned with the rotation axis when the wiring harness 50 passes through the rotating component, the wiring harness 50 may twist or become entangled during rotation, which could lead to excessive bending or stretching of the wiring harness 50, resulting in unstable power or signal transmission, or even damage to the wiring harness 50. It could also cause friction between the wiring harness 50 and the component, potentially leading to wear, breakage, or corrosion of the wiring harness 50. With the coaxial arrangement, the wiring harness 50 is fixed within a predetermined path and always moves smoothly along the direction of the rotation axis. This layout avoids interference from other moving parts to the wiring harness 50. Compared to traditional designs, the coaxial arrangement of the through-hole 23 effectively guides the wiring harness 50 along a predetermined trajectory, preventing signal transmission abnormalities or physical damage due to excessive bending during joint rotation. The coaxial arrangement not only facilitates smooth wiring harness 50 transmission but also helps reduce the complexity of the robotic arm design. In traditional designs, if the wiring harness 50 needs to bypass rotating joints or take irregular paths, more guiding components and protective devices may be required, increasing structural complexity and maintenance difficulty. With the coaxial arrangement, the path of the wiring harness 50 becomes simpler and more standardized, reducing external interference and lowering the difficulty and cost of equipment maintenance.

[0053] In an optional embodiment of this utility model, a rotating connector 22 is provided inside the joint 21. The rotating connector 22 is used to connect the two relatively rotating sides. The main function of the rotating connector 22 is to connect the two relatively rotating components in the robotic arm. Through the rotating connector 22, the swing arm 25 of the robotic arm can rotate around the rotation axis to complete the required action. This connection method allows the robotic arm to maintain flexibility during operation and provides an efficient power transmission method. The through hole 23 is opened at the axial position of the rotating connector 22, providing a stable and interference-free channel for the wire harness 50, allowing the wire harness 50 to pass smoothly through the two relatively rotating sides. During the rotation of the swing arm, the wire harness 50 can freely pass through the through hole 23, avoiding the problems of wire harness 50 tangling, twisting, or breaking that may occur in traditional designs. Due to the setting of the through hole 23, the rotation of the rotating connector 22 and the joint 21 no longer affects the normal operation of the wire harness 50, ensuring the continuity of power transmission and the stability of signal transmission. This design effectively improves the protection of the wire harness 50, avoiding damage to the wire harness 50 from external friction or stretching.

[0054] A driven gear 24 is mounted on the rotating connector 22, and a driving gear 31 is mounted on the drive unit 30. The driven gear 24 is connected to the driving gear 31 in a transmission manner. In the drive system of the robotic arm, the gear transmission system transmits power from the drive unit 30 to the working unit 40. Specifically, the driving gear 31 is powered by the drive unit 30 (usually a motor), while the driven gear 24 transmits power to the rotating connector 22 through its connection with the driving gear 31, thereby driving the swing arm to perform corresponding movements. The precise engagement of the driving gear 31 and the driven gear 24 ensures the smooth rotation of the rotating connector 22, avoiding instability caused by gear backlash or transmission errors. This design effectively improves the response speed and movement accuracy of the robotic arm, ensuring precise grasping or cleaning of items during task execution.

[0055] In an optional embodiment of this invention, the rotating connector 22 includes a seal to prevent external environmental factors (such as moisture, dust, or other contaminants) from penetrating into the moving parts inside the robotic arm, thereby ensuring its smooth operation. By integrating the seal with the rotating connector 22, sealing performance can be effectively improved, reducing potential malfunctions and damage. Designing the seal and rotating connector 22 as a single unit means that they are tightly integrated, forming a single component. Traditionally, seals are usually installed as separate parts on the outside of the rotating connector 22; however, in the integrated design, the seal and connector are fused together through precision manufacturing, resulting in a tighter and seamless connection. The main function of the seal is to prevent external liquids, gases, or solid particles from entering the rotating connection part of the robotic arm, protecting its internal precision components from contamination or corrosion. Especially in equipment such as cleaning robots, the working environment is often filled with moisture, dust, or dirt. Without proper sealing measures, external contaminants may enter the equipment, causing electrical malfunctions or mechanical wear, shortening the service life of the robotic arm. The integrated design makes the assembly of the rotating connector 22 and the seal simpler and more efficient, reducing reliance on external sealing structures. In traditional designs, the installation of the seal may be affected by human error, causing unnecessary sealing problems, while the integrated design effectively avoids this risk.

[0056] like Figure 3As shown, the driven gear 24 and the driving gear 31 form an external meshing. External meshing gears (also known as external gear drives) are a type of gear transmission characterized by the gear teeth being located on the outer side of the gear, transmitting power through meshing. In this design, the driving gear 31 is powered by the drive unit 30, while the driven gear 24 transmits power through meshing with the driving gear 31, enabling the joints of the robotic arm to rotate according to a set direction and force. The through hole 23 located at the center of the driven gear 24 prevents direct contact or interference between the wiring harness 50 and the meshing gear.

[0057] like Figure 4 As shown, the driven gear 24 and the driving gear 31 form an internal meshing. Internal meshing gears (also called internal gear drives) mean that the tooth surface of the driven gear 24 is located on the inner side of the gear, while the tooth surface of the driving gear 31 is located on the outer side, and the two mesh with each other through their tooth surfaces. Internal meshing gears allow for a more compact relative position between the two gears by placing the tooth surfaces on the inner side of the gear. This is particularly important for mechanical systems that need to arrange gears and other components within a limited space. Internal meshing gears can typically reduce the diameter of the gears, providing the same transmission effect in a smaller size under the same gear transmission conditions.

[0058] like Figure 5 As shown in Embodiment 2, the through hole 23 is arranged eccentrically relative to the axis of the joint member 21. In this embodiment, the eccentric arrangement of the through hole 23 means that its position is not exactly on the axis of the joint member 21, but slightly offset. Since the wire harness 50 within the eccentrically positioned through hole 23 of the joint member 21 only twists by a maximum of 360°, this compensates for any twisting or stretching of the wire harness 50 caused by rotation. This redundancy provides sufficient flexibility to ensure that the wire harness 50 can rotate freely throughout the entire rotational range of the joint member 21 without being damaged due to insufficient length or excessive stretching.

[0059] The drive shaft of the drive unit 30 is coaxially arranged with the axis of the joint 21, meaning that the drive unit 30 directly transmits power to the joint 21 through the axis, eliminating the need for an additional gear transmission system. Traditional transmission systems typically require complex gears, chains, or other transmission components, increasing structural complexity and weight. The coaxial arrangement allows the rotational power of the drive unit 30 to be directly transmitted to the joint 21, eliminating intermediate transmission components such as gears. This design not only simplifies the transmission path but also reduces friction and energy loss, thereby improving transmission efficiency. Eliminating gears and other transmission components reduces the overall weight of the robotic arm or cleaning device, resulting in a more compact structure. This is particularly important for applications such as intelligent robotic vacuum cleaners, as lightweight design enhances the robot's maneuverability and flexibility. The reduced weight also lowers energy consumption and increases the device's uptime.

[0060] The through hole 23 is formed on the rotating connector 22 and located on the outer periphery of the drive shaft, allowing the wiring harness 50 to be arranged along a more stable path that does not interfere with other moving parts. In this way, the wiring harness 50 can smoothly pass through the joint's movement path without being pulled or compressed by the rotation of the drive shaft.

[0061] In an optional embodiment of this invention, a protective layer is provided between the inner wall of the through hole 23 and the outer periphery of the wire harness 50, which can effectively reduce the friction between the wire harness 50 and the inner wall of the through hole 23. As the robotic arm rotates, the wire harness 50 is subjected to a certain degree of stretching and friction. The protective layer can slow down or eliminate wear caused by this friction, thereby extending the service life of the wire harness 50. The protective layer can effectively prevent the cable surface from being directly rubbed and damaged by external forces, especially during the movement of the robotic arm. This reduces electrical faults caused by friction and ensures the normal operation of the system. By reducing the loss of the wire harness 50, the stability of the system is improved. The protective layer not only provides physical isolation but also helps maintain the normal operating condition of the wire harness 50, reducing the equipment failure rate caused by wear of the wire harness 50.

[0062] The selection of a protective layer is crucial for enhancing the durability of the wire harness 50, reducing wear, and improving the overall reliability of the equipment. The choice of protective layer material is typically determined based on the environment, operating conditions, type of wire harness 50, and requirements.

[0063] The protective layer can be made of polyurethane (PU), polyethylene (PE), fluoroplastic (PTFE), silicone rubber, polyvinyl chloride (PVC), nylon, etc. Different materials offer different advantages, and the choice depends on the specific application environment and requirements. For example, silicone or PTFE is more suitable for systems operating in high-temperature environments; PE or polyurethane performs better in humid or corrosive environments. The choice of protective layer material directly affects the durability, safety, and system stability of the wiring harness 50.

[0064] In an optional embodiment of this invention, the protective layer covers the inner wall of the through-hole 23. The protective layer must be firmly attached to the inner wall of the through-hole 23 to prevent displacement due to friction from the wire harness 50, machine movement, or external pressure. Stability of the protective layer can be ensured through bonding, embedded design, or friction retention. The shape of the through-hole 23 (e.g., grooves or protrusions on the inner wall) can be designed to help better position the protective layer and prevent displacement during use.

[0065] In an optional embodiment of this invention, a protective layer covers the outer periphery of the wire harness 50. Covering the wire harness 50 with a protective layer is generally easier to implement. Through a simple wrapping or sleeve design, the protective layer can be easily installed on the outside of the wire harness 50 without requiring a particularly complex installation process. Covering the wire harness 50 with a protective layer effectively prevents damage caused by external forces or friction. This approach is particularly suitable for applications where the wire harness 50 needs to be frequently moved or bent.

[0066] This utility model also provides a cleaning robot, including a robot body and a robotic arm.

[0067] The robotic arm is mounted on the robot body, and the robotic arm is the one described above.

[0068] In an optional embodiment of this invention, the robot body is provided with a mounting groove, and the base assembly 10 is installed in the mounting groove. The base assembly 10 is provided with a mounting part and a wiring harness through hole. The mounting part provides a fixed position for the robotic arm, while the wiring harness through hole allows the cable or wiring harness 50 to pass through the base and connect to the electrical system of the robot body. This through hole is located on the bottom side of the base assembly 10 near the mounting groove, allowing the wiring harness 50 to continue to be safely transmitted inside the machine after passing through the base. This design effectively hides the connecting components, thereby protecting the wiring harness 50 from interference from the external environment. This design of the base assembly 10 hides the interface and wiring harness through hole, reducing exposed electrical interfaces and avoiding the impact of the external environment (such as dust, moisture, collisions, etc.) on the wiring harness 50. The wiring harness 50 is effectively protected when passing through the base in the through hole, avoiding direct friction with the robot's external environment or other components, thereby extending the service life of the wiring harness 50. Because the interface and wiring harness 50 are hidden, this design not only improves the overall aesthetics of the structure, but also makes the cleaning robot easier to clean, reducing the accumulation of dust and debris on exposed parts.

[0069] In an optional embodiment of this invention, the robotic arm is connected to the robot body via screws, with the screws installed from the bottom of the robot body upwards. This installation method allows the screws to be hidden at the bottom or inside of the robot, rather than exposed to the outside. This not only improves the robot's aesthetic simplicity but also effectively protects the screw connection from external environmental influences. By installing the screws on the bottom of the robot body, the connecting parts are not visible from the outside, which is a plus for the product's appearance, making the robot look more streamlined and concise. The concealed installation method avoids exposing the screws and other connecting parts to the outside, reducing the risk of external impact, friction, or moisture ingress, and extending the service life of the connecting parts.

[0070] In summary, the design of the wire passage effectively protects the wire harness 50 from external moisture, dust, and mechanical interference, ensuring the stability of power and signal transmission, reducing the frequency of wire harness 50 failures, and thus improving the stability and lifespan of the robotic arm system. The multi-degree-of-freedom design of the swing arm assembly 20 enables the robotic arm to perform efficient tasks in complex environments, especially in confined or obstacle-filled spaces. Its jointed connections provide flexible movement, allowing for various complex actions such as grasping, moving objects, and cleaning debris. The high-precision control of the drive unit 30 ensures the robotic arm can perform tasks quickly and accurately, improving overall cleaning efficiency. The coaxial arrangement of the through-hole 23 and the sealed design of the rotating connector 22 effectively protect the wire harness 50 from physical damage and external environmental contamination, further improving the durability of the robotic arm. The protective layer provides additional protection between the inner wall of the through-hole 23 and the outer periphery of the wire harness 50, reducing friction between the wire harness 50 and the through-hole 23, thereby extending the service life of the wire harness 50 and reducing maintenance costs. The sealing design effectively prevents external factors from affecting the internal components of the robotic arm, enhancing the overall structure's sealing and anti-contamination capabilities. This design allows for closer and more effective collaboration among components such as the wiring harness 50, drive unit 30, and working unit 40, enabling the cleaning robot to perform more complex and diverse tasks and significantly improving its autonomous operation capabilities. The concealed screw installation method makes the connection between the robotic arm and the robot body simpler and more aesthetically pleasing, while also avoiding interference from the external environment, improving the robot's appearance quality and durability.

[0071] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

[0072] Throughout this description, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of these specific details or by other devices, systems, components, methods, parts, materials, components, etc. In other instances, well-known structures, materials, or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0073] Throughout this specification, references to "an embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the present invention can be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the present invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the present invention.

[0074] It should also be understood that one or more of the elements shown in the figures may be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0075] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a separation or combination capability that is unclear, a combination of components or steps will also be considered as indicated.

[0076] As used herein and throughout the claims below, unless otherwise specified, “a” and “the” include the plural references. Similarly, as used herein and throughout the claims below, unless otherwise specified, “in” means “in” and “on”.

[0077] The above description of the embodiments shown in this utility model (including the content set forth in the abstract of the specification) is not intended to be an exhaustive enumeration or to limit the utility model to the precise forms disclosed herein. Although specific embodiments and examples of the utility model have been described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the utility model, as will be recognized and understood by those skilled in the art. As indicated, these modifications can be made to the utility model in accordance with the above description of the embodiments described herein, and such modifications will be within the spirit and scope of the utility model.

[0078] This document has generally described the systems and methods in detail to aid in understanding the present invention. Furthermore, various specific details have been set forth to provide a general understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention can be practiced without one or more specific details, or using other devices, systems, accessories, methods, components, materials, parts, etc. In other instances, well-known structures, materials, and / or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0079] Therefore, although the present invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the scope of the above disclosure, and it should be understood that in some cases, certain features of the present invention may be adopted without departing from the scope and spirit of the invention and without corresponding use of other features. Thus, many modifications can be made to adapt a particular environment or material to the essential scope and spirit of the present invention. The present invention is not intended to be limited to the specific terms used in the following claims and / or the specific embodiments disclosed as the best mode of carrying out the present invention, but the present invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the present invention will be determined only by the appended claims.

Claims

1. A robotic arm used in a cleaning robot, characterized in that, include: Base assembly; A swing arm assembly is disposed on the base assembly, the swing arm assembly including at least two interconnected swing arms; A drive unit is disposed inside the swing arm assembly to drive the swing arm to rotate; The working unit is located at the end of the swing arm assembly away from the base assembly; A wiring harness for connecting the drive unit and the working unit for control and power supply; The swing arm assembly includes a joint, and the swing arm is connected to other swing arms and / or the working unit and / or the base assembly through the joint. The swing arm assembly is provided with a wire passage, which accommodates the entire area of ​​the wire harness from the base assembly to the working unit.

2. The robotic arm according to claim 1, characterized in that, The cable passage includes a through hole, which is disposed inside the joint and extends axially, the axial direction being the rotation axis direction of the swing arm.

3. The robotic arm according to claim 2, characterized in that, The through hole is arranged coaxially with the axis of the joint.

4. The robotic arm according to claim 3, characterized in that, The joint is internally provided with a rotating connector for connecting two relatively rotating sides. The through hole is opened at the axial position of the rotating connector. The rotating connector is provided with a driven gear, and the drive unit is provided with a driving gear. The driven gear is connected to the driving gear in a transmission manner.

5. The robotic arm according to claim 4, characterized in that, The rotating connector includes a seal to achieve a seal.

6. The robotic arm according to claim 4, characterized in that, The driven gear and the driving gear are in external meshing.

7. The robotic arm according to claim 4, characterized in that, The driven gear and the driving gear are internally meshed.

8. The robotic arm according to claim 2, characterized in that, The through hole is arranged eccentrically relative to the axis of the joint.

9. The robotic arm according to claim 2, characterized in that, A protective layer is provided between the inner wall of the through hole and the outer periphery of the wire harness.

10. The robotic arm according to claim 9, characterized in that, The protective layer covers the inner wall of the through hole.

11. The robotic arm according to claim 9, characterized in that, The protective layer covers the outer periphery of the wire harness.

12. A cleaning robot, characterized in that, include: The robot itself; A robotic arm is mounted on the robot body, wherein the robotic arm is the robotic arm as described in any one of claims 1-10.

13. The cleaning robot according to claim 12, characterized in that, The robot body is provided with a mounting slot, and the base assembly is installed in the mounting slot. The base assembly is provided with a mounting part and a wire harness through hole, and the mounting part and the wire harness through hole are located on the side of the base assembly near the bottom of the mounting slot.

14. The cleaning robot according to claim 12, characterized in that, The robotic arm is connected to the robot body by screws, which are installed from the bottom to the top of the robot body.

Images