Mechanical arm, cleaning equipment and cleaning system

Abstract

The utility model provides a mechanical arm, cleaning equipment and a cleaning system. The mechanical arm comprises a first arm body and a second arm body. The second arm is hinged to the first arm, so that the first arm and the second arm can be unfolded and folded; an anti-pinch device is arranged on the first arm and / or the second arm, when foreign matter exists at the relative folding position, the anti-pinch device controls the first arm and the second arm to stop the folding action, and the problem that the safety of the mechanical arm is low in the working process can be solved.

Description

Technical Field

[0001] This disclosure relates to the technical field of cleaning tools, specifically to a robotic arm, cleaning equipment, and cleaning system. Background Technology

[0002] Cleaning equipment typically uses roller brushes, side brushes, and cloths to sweep and mop, and is widely used in homes and public places for cleaning operations, bringing great convenience to life and work. To better achieve the cleaning function, a robotic arm that can extend outside the machine body is also added to grab or move obstacles, items, and garbage around the machine body. When not in use, the robotic arm can be retracted into the machine body.

[0003] However, robotic arms often lack the ability to perceive their surroundings. When a robotic arm retracts from its extended state to its folded state, there is a risk of it trapping objects or fingers, which could lead to damage to objects or personal injury, posing a safety hazard. Utility Model Content

[0004] In view of the problems existing in the prior art, this disclosure provides a robotic arm, cleaning equipment and cleaning system to improve the problem of low safety of the robotic arm during operation.

[0005] To achieve the above and other related objectives, the first aspect of this disclosure provides a robotic arm, which includes: a first arm and a second arm; the second arm is hinged to the first arm so that the first and second arms can be unfolded and folded; wherein the first arm and / or the second arm are provided with an anti-pinch device, and when a foreign object is present at the relative folding position, the anti-pinch device controls the first and second arms to stop the folding action.

[0006] In the above technical solution, an anti-pinch device is provided on the first arm and / or the second arm. When the first arm and the second arm are folding, if there is a foreign object at the relative folding position of the first arm and the second arm, the anti-pinch device can provide feedback on the foreign object and control the first arm and the second arm to stop the folding action, effectively preventing the risk of pinching injury and improving the safety of the robotic arm during use.

[0007] In one embodiment of the robotic arm disclosed herein, the anti-pinch device further includes at least one sensing mechanism and a floating plate; the sensing mechanism is disposed on the first arm, and the floating plate is slidably connected to the first arm, wherein when the first arm and the second arm are in a folded state, the floating plate is located between the sensing mechanism and the second arm; and / or, the sensing mechanism is disposed on the second arm, and the floating plate is slidably connected to the second arm, wherein when the first arm and the second arm are in a folded state, the floating plate is located between the sensing mechanism and the first arm.

[0008] In the above technical solution, by setting a sensing mechanism and a floating plate on the first and / or second arm, and utilizing the sliding connection characteristics of the floating plate, the floating plate is always positioned between the sensing mechanism and the other arm when the robotic arm is folded. Because the floating plate has a large area, contact with a foreign object at any location can trigger the sensing mechanism, thereby ensuring all-around anti-pinch detection and improving the sensitivity and reliability of safety protection. Furthermore, this design is compact, does not affect the normal movement of the robotic arm, and is suitable for applications with high precision and high safety requirements.

[0009] In one embodiment of the robotic arm disclosed herein, at least one protrusion is provided on the side of the floating plate facing the sensing mechanism. The protrusion is provided corresponding to the sensing part of the sensing mechanism. The protrusion can contact the sensing part when there is a foreign object between the first arm and the second arm, so as to control the first arm and the second arm to stop the folding action.

[0010] In the above technical solution, a protruding structure is added to the side of the floating plate facing the sensing mechanism, ensuring its precise alignment with the sensing area of ​​the mechanism. When a foreign object is present during the folding process of the robotic arm, the floating plate is compressed and displaced, causing the protrusion to directly contact the sensing area, quickly triggering the anti-pinch protection mechanism and ensuring timely cessation of the folding action. This design, through the directional triggering method of the protrusion, improves sensing sensitivity and response speed, while optimizing the structural layout, making anti-pinch detection more accurate and reliable, and suitable for robotic arm applications with high safety requirements.

[0011] In one embodiment of the robotic arm disclosed herein, an elastic pad is provided at the end of the protrusion near the sensing part.

[0012] In the above technical solution, an elastic pad is added to the protruding end of the floating plate, allowing it to make flexible contact with the sensing part of the sensing mechanism. This design enhances contact sensitivity through elastic deformation, improving the accuracy and response speed of foreign object detection. Furthermore, the cushioning properties of the elastic pad reduce mechanical impact, extending the lifespan of the sensing mechanism. Its material properties also provide auxiliary heat dissipation, ensuring the stability of the sensing mechanism during long-term operation. The overall structure improves anti-pinch safety performance while also ensuring reliability and durability, making it suitable for high-precision, high-frequency robotic arm systems.

[0013] In one embodiment of the robotic arm disclosed herein, the anti-pinch device further includes at least one elastic element located between the floating plate and the first arm, and / or between the floating plate and the second arm, wherein the floating plate is compressed when there is a foreign object between the first arm and the second arm, and rebounds after the foreign object is removed.

[0014] In the above technical solution, an elastic element is installed between the floating plate and the first and / or second arm, enabling the floating plate to have an automatic reset function. When a foreign object is detected during the folding process of the robotic arm, the floating plate is compressed by the elastic element, triggering the anti-pinch protection; after the foreign object is removed, the elastic element automatically rebounds, restoring the floating plate to its initial position, ensuring that the anti-pinch device can be reused. This design not only enhances the reliability and durability of the system but also simplifies the maintenance process, allowing the robotic arm to maintain stable safety performance even during frequent operations.

[0015] In one embodiment of the robotic arm disclosed herein, an anti-pinch device is disposed on the first arm, and an elastic element connects the first arm and / or the floating plate; and / or, an anti-pinch device is disposed on the second arm, and an elastic element connects the second arm and / or the floating plate.

[0016] In the above technical solution, the elastic element can be independently installed at any position of the first arm, second arm, or floating plate, or a multi-position combination configuration can be adopted to meet the installation requirements of different robotic arm structures. The multi-position selectable characteristic of the elastic element allows for optimal layout according to the actual spatial constraints of the robotic arm, improving the overall structural compactness.

[0017] In one embodiment of the robotic arm disclosed herein, the anti-pinch device further includes at least one anti-detachment mechanism, wherein the floating plate is slidably fixedly connected to the first arm and / or slidably fixedly connected to the second arm through the anti-detachment mechanism to prevent the floating plate from detaching from the first arm and / or the second arm.

[0018] In the above technical solution, by adding an anti-detachment mechanism, the floating plate forms a slidable but limited connection structure with the first and / or second arms. The anti-detachment mechanism ensures, on the one hand, that the floating plate slides flexibly within a preset stroke to accurately trigger the anti-pinch function; on the other hand, it effectively prevents the floating plate from detaching from the robotic arm, avoiding component detachment problems caused by misoperation or long-term use. This design can improve the reliability and durability of the anti-pinch device.

[0019] In one embodiment of the robotic arm disclosed herein, the anti-detachment mechanism includes a limiting part, a fixed connection part, and a sliding connection part connected to each other; an anti-pinch device is disposed on the first arm, the fixed connection part is detachably fixedly connected to the first arm or the floating plate, the sliding connection part passes through the floating plate or the first arm and is slidably connected to the floating plate or the first arm, and the limiting part is detachably connected to the end of the sliding connection part away from the fixed connection part; and / or, the anti-pinch device is disposed on the second arm, the fixed connection part is detachably fixedly connected to the second arm or the floating plate, the sliding connection part passes through the floating plate or the second arm and is slidably connected to the floating plate or the second arm, and the limiting part is detachably connected to the end of the sliding connection part away from the fixed connection part.

[0020] In the above technical solution, the through-type design of the sliding connection, combined with the limiting part, ensures that the floating plate slides stably within the preset stroke range, meeting both the anti-pinch trigger requirement and preventing overtravel failure. The physical blocking mechanism of the limiting part improves the safety factor of anti-detachment. Furthermore, this design is simple in structure and easy to replace.

[0021] In one embodiment of the robotic arm disclosed herein, the anti-pinch device further includes at least one guide mechanism, which connects the floating plate to the first arm and / or connects the floating plate to the second arm, so that the floating plate slides along a preset trajectory of the guide mechanism.

[0022] In the above technical solution, by adding a guiding mechanism, the sliding motion between the floating plate and the first arm and / or the second arm strictly follows the preset trajectory, ensuring the accuracy and consistency of the anti-pinch action.

[0023] In one embodiment of the robotic arm disclosed herein, the guiding mechanism includes a guide rod and a guide sleeve that are slidably connected; an anti-pinch device is disposed on the first arm, the guide rod is disposed on the first arm and / or the floating plate, and the guide sleeve is disposed on the floating plate and / or the first arm; and / or, the anti-pinch device is disposed on the second arm, the guide rod is disposed on the second arm and / or the floating plate, and the guide sleeve is disposed on the floating plate and / or the second arm.

[0024] In the above technical solution, the sliding engagement between the guide rod and the guide sleeve ensures that the floating plate moves along a strictly linear trajectory, eliminating the risk of lateral deviation and improving the accuracy of anti-pinch triggering. The guide assembly can be flexibly configured on the first arm, second arm, or floating plate, achieving modular installation and improving the versatility and assembly efficiency of the overall robotic arm design. The compact axial layout achieves reliable guiding function within a limited space without affecting the original range of motion and structural strength of the robotic arm, thus improving space utilization.

[0025] In one embodiment of the robotic arm disclosed herein, an anti-pinch device is disposed on a first arm, a first cavity is provided on the folded side of the first arm, a sensing mechanism is disposed in the first cavity, and a floating plate is at least partially located in the first cavity; and / or, an anti-pinch device is disposed on a second arm, a second cavity is provided on the folded side of the second arm, a sensing mechanism is disposed in the second cavity, and a floating plate is at least partially located in the second cavity.

[0026] In the above technical solution, the concave cavity structure provides physical protection for the anti-pinch device, preventing external collisions, dust, or liquid intrusion, and enhancing the device's anti-interference capability and environmental adaptability. The inner wall of the first or second concave cavity naturally constrains the sliding trajectory of the floating plate, ensuring its stable movement direction and preventing false triggering or failure caused by deviation. The embedded layout saves external space of the robotic arm, maintains the overall structural compactness, and does not affect the flexibility of the folding action.

[0027] A second aspect of this disclosure also provides a cleaning device including the robotic arm of any of the above.

[0028] The above technical solution includes a robotic arm equipped with an anti-pinch device. When the first and second arms are folding, if there is a foreign object at the relative folding position of the first and second arms, the anti-pinch device can provide feedback on the foreign object and control the first and second arms to stop folding, effectively preventing the risk of pinching injury and improving the safety of the robotic arm during use.

[0029] A third aspect of this disclosure also provides a cleaning system, including a base station and the aforementioned cleaning equipment.

[0030] In the above technical solution, by using the cleaning equipment equipped with the anti-pinch device, the risk of pinching injury can be effectively prevented and the safety of the robotic arm during use can be improved.

[0031] The robotic arm disclosed herein is equipped with an anti-pinch device on the first arm and / or the second arm. When the first arm and the second arm are folding, if there is a foreign object at the relative folding position of the first arm and the second arm, the anti-pinch device can provide feedback on the foreign object and control the first arm and the second arm to stop the folding action, effectively preventing the risk of pinching injury and improving the safety of the robotic arm during use. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of the robotic arm of this disclosure in a folded state in one embodiment;

[0034] Figure 2 This is a schematic diagram of the robotic arm of the present disclosure in its deployed state in one embodiment;

[0035] Figure 3 This is a schematic diagram of the structure of the first arm and the anti-pinch device of the robotic arm in one embodiment of the present disclosure;

[0036] Figure 4 This is a schematic diagram of the structure of the anti-pinch device of the robotic arm in one embodiment of the present disclosure after the floating plate is removed;

[0037] Figure 5 This is a schematic diagram of the floating plate structure of the robotic arm of this disclosure in one embodiment;

[0038] Figure 6In one embodiment of the robotic arm disclosed herein Figure 3 A sectional view;

[0039] Figure 7 In one embodiment of the robotic arm disclosed herein Figure 6 A magnified view of a portion of point A in the middle.

[0040] Component designation explanation:

[0041] 100, First arm; 110, First cavity; 200, Second arm; 300, Anti-pinch device; 310, Sensing mechanism; 320, Floating plate; 321, Protrusion; 322, Elastic pad; 330, Elastic element; 340, Anti-detachment mechanism; 341, Limiting part; 342, Fixed connection part; 343, Sliding connection part; 350, Guide mechanism; 351, Guide rod; 352, Guide sleeve. Detailed Implementation

[0042] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. This disclosure 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 disclosure. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of this disclosure is for describing specific implementation schemes and not for limiting the scope of protection of this disclosure. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0043] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in this disclosure, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this disclosure, as well as the prior art known to those skilled in the art and the descriptions in this disclosure, may be implemented using any prior art methods, apparatus, and materials similar to or equivalent to the methods, apparatus, and materials in the embodiments of this disclosure.

[0044] It should be noted that the terms such as "upper", "lower", "left", "right", "middle" and "one" used in this specification are only for clarity of description and are not intended to limit the scope of this disclosure. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this disclosure.

[0045] Please see Figures 1 to 7This disclosure provides a robotic arm, cleaning equipment, and cleaning system. The robotic arm includes an anti-pinch device 300, which can prevent the risk of pinching injury and improve the safety of the robotic arm during use.

[0046] Please see Figure 1 and Figure 2 This disclosure provides a robotic arm, comprising a first arm 100 and a second arm 200. In one embodiment, the first arm 100 may be a support arm, and the second arm 200 may be a working arm. In another embodiment, the first arm 100 may be a working arm, and the second arm 200 may be a support arm. In other embodiments, both the first arm 100 and the second arm 200 may be support arms. In this embodiment, the first arm 100 is a support arm, and the second arm 200 is a working arm. The second arm 200 is hinged to the first arm 100, allowing both the first arm 100 and the second arm 200 to be extended and folded. When the first arm 100 and the second arm 200 are extended, the working range of the robotic arm can be expanded. When the first arm 100 and the second arm 200 are folded, space can be saved, thereby achieving suitability for different operational scenarios. There are various ways to extend and fold the first arm 100 and the second arm 200, which are not limited to this one. This structural configuration is not the main improvement of this disclosure and will not be described in detail.

[0047] Please see Figure 1 and Figure 2 An anti-pinch device 300 is provided on the first arm 100 and / or the second arm 200. The anti-pinch device 300 may be provided only on the first arm 100, only on the second arm 200, or on both the first arm 100 and the second arm 200; this is not limited. In this embodiment, the anti-pinch device 300 is provided on the first arm 100. The anti-pinch device 300 can take many forms, such as contact sensing devices, non-contact sensing devices, or mechanical passive protection devices, but is not limited to these. As long as a foreign object is present at the relative folding position of the first arm 100 and the second arm 200, the anti-pinch device 300 can control the first arm 100 and the second arm 200 to stop the folding action. It should be noted that the relative folding position of the first arm 100 and the second arm 200 is the space between the two opposite sides of the first arm 100 and the second arm 200 when folded; the presence of a foreign object at the relative folding position of the first arm 100 and the second arm 200 refers to the presence of a foreign object within the aforementioned space. The anti-pinch device 300 can stop the folding motion. The braking method can be direct power-off braking or indirect control of the folding motion, such as detecting the presence of a foreign object through a sensor and then transmitting a signal to the control system to stop the folding motion. The anti-pinch device 300 effectively prevents the risk of pinching injuries and improves the safety of the robotic arm during use.

[0048] Please see Figure 4 and Figure 6 In one embodiment of the robotic arm disclosed herein, the anti-pinch device 300 further includes at least one sensing mechanism 310 and a floating plate 320. The sensing mechanism 310 can be of various types, such as a mechanical trigger sensing mechanism 310 (e.g., a microswitch, limit switch), an electronic contact sensor sensing mechanism 310 (e.g., a pressure-sensitive resistance sensor, strain gauge sensor), a non-contact sensor sensing mechanism 310 (e.g., an infrared photoelectric sensor, a capacitive proximity sensor), or a magnetic field sensing mechanism 310 (e.g., a Hall sensor or a magnetic encoder), etc., and is not limited thereto. This embodiment provides two sensing mechanisms 310, which are symmetrically arranged to improve the detection sensitivity of the sensing mechanisms 310.

[0049] In one embodiment, please refer to Figure 4 and Figure 6 The sensing mechanism 310 is disposed on the first arm 100, and the floating plate 320 is slidably connected to the first arm 100. When the first arm 100 and the second arm 200 are in the folded state, the floating plate 320 is located between the sensing mechanism 310 and the second arm 200. It should be noted that the slidable connection means that the floating plate 320 can float on the first arm 100, and when the first arm 100 and the second arm 200 are folded, the floating plate 320 is always located between the sensing mechanism 310 and the second arm 200. When a foreign object is present at the folded position of the first arm 100 and the second arm 200, the floating plate 320 can float, thereby acting on the sensing mechanism 310 to detect the foreign object. Because the floating plate 320 has a large area, contact with a foreign object at any location can trigger the sensing mechanism 310, thus ensuring all-around anti-pinch detection and improving the sensitivity and reliability of safety protection. Furthermore, this design is compact, does not affect the normal movement of the robotic arm, and is suitable for applications with high precision and high safety requirements.

[0050] In another embodiment, the sensing mechanism 310 is disposed on the second arm 200, and the floating plate 320 is slidably connected to the second arm 200. When the first arm 100 and the second arm 200 are in a folded state, the floating plate 320 is located between the sensing mechanism 310 and the first arm 100. It should be noted that the slidable connection means that the floating plate 320 can float on the second arm 200, and when the first arm 100 and the second arm 200 are folded, the floating plate 320 is always located between the sensing mechanism 310 and the first arm 100. When there is a foreign object at the folded position of the first arm 100 and the second arm 200, the floating plate 320 can float, thereby acting on the sensing mechanism 310 to detect the foreign object. In some other embodiments, the sensing mechanism 310 and the floating plate 320 are disposed on both the first arm 100 and the second arm 200, with the same structure as in the above embodiments, and will not be described again.

[0051] Please see Figure 3and Figure 5 Considering the large area of ​​the floating plate 320 and the small area of ​​the sensing part of the sensing mechanism 310, in order to improve the sensitivity of the sensing mechanism 310, in one embodiment of the robotic arm disclosed herein, at least one protrusion 321 is provided on the side of the floating plate 320 facing the sensing mechanism 310. Since there are two sensing mechanisms 310 in this embodiment, two protrusions 321 are provided on the floating plate 320, and each protrusion 321 corresponds to the sensing part of the sensing mechanism 310. It should be noted that the sensing part is the part of the sensing mechanism 310 that can directly sense the change in the force applied by the protrusion 321, such as the contact in a micro switch, the variable grating area in a strain gauge sensor, etc. The protrusion 321 of the sensing mechanism 310 can contact the sensing part at least when there is a foreign object between the first arm 100 and the second arm 200. It should be noted that when there is no foreign object between the first arm 100 and the second arm 200 and they can be folded normally, whether the protrusion 321 contacts the sensing part is not limited, that is, it may or may not contact. In this embodiment, the sensing mechanism 310 employs a piezoresistive strain gauge. The protrusion 321 is in constant contact with the sensing mechanism 310. When a foreign object is present, the piezoresistive strain gauge detects the resistance change caused by the deformation of the floating plate 320 under pressure, converts it into an electrical signal, amplifies it through an instrumentation amplifier, and filters out noise before digitizing it. After threshold judgment and redundancy verification, a safety control signal is triggered to control the folding action of the first arm 100 and the second arm 200 to stop abruptly or decelerate gently. This design, through the directional triggering method of the protrusion 321, improves the sensing sensitivity and response speed, while optimizing the structural layout, making the anti-pinch detection more accurate and reliable.

[0052] Please see Figure 5 and Figure 7 In one embodiment of the robotic arm disclosed herein, an elastic pad 322 is provided at the end of the protrusion 321 near the sensing part to achieve flexible contact between the end of the protrusion 321 and the sensing part of the sensing mechanism 310. The material of the elastic pad 322 is not limited and can be silicone rubber, polyurethane, or metal rubber, etc. In this embodiment, silicone rubber is used. The design of the elastic pad 322 enhances contact sensitivity through elastic deformation, improving the accuracy and response speed of foreign object detection. Furthermore, the cushioning characteristics of the elastic pad 322 reduce mechanical impact, extending the lifespan of the sensing mechanism 310. Simultaneously, its material properties also provide auxiliary heat dissipation, ensuring the stability of the sensing mechanism 310 during long-term operation. The overall structure improves anti-pinch safety performance while also considering reliability and durability, making it suitable for robotic arm systems performing high-precision, high-frequency operations.

[0053] Please see Figure 4 and Figure 6In one embodiment of the robotic arm disclosed herein, the anti-pinch device 300 further includes at least one elastic element 330. The elastic element 330 can be a metal spring, an elastomer element (such as silicone rubber, pneumatic elasticity, etc.), or a conformal elastic structure, as long as it can achieve compression and rebound, its structure is not limited. In this embodiment, the elastic element 330 is made of foam, and the material of the foam is not limited, for example, it can be polyurethane, silicone rubber, polyethylene, or rubber. In one embodiment, the anti-pinch device 300 is disposed on the first arm 100, and the elastic element 330 is disposed between the floating plate 320 and the first arm 100. In another embodiment, the anti-pinch device 300 is disposed on the second arm 200, and the elastic element 330 is disposed between the floating plate 320 and the second arm 200. In some other embodiments, the anti-pinch device 300 is disposed on both the first arm 100 and the second arm 200, and the elastic element 330 is disposed between the floating plate 320 and the first arm 100, and between the floating plate 320 and the second arm 200. The elastic element 330 is compressed by the floating plate 320 when a foreign object exists between at least the first arm 100 and the second arm 200, and rebounds after the foreign object is removed. By providing the elastic element 330 between the floating plate 320 and the first arm 100 and / or the second arm 200, the floating plate 320 has an automatic reset function. When a foreign object is detected during the folding process of the robotic arm, the floating plate 320 is compressed by the elastic element 330, triggering the anti-pinch protection; after the foreign object is removed, the elastic element 330 automatically rebounds, allowing the floating plate 320 to return to its initial position, ensuring that the anti-pinch device 300 is reusable. This design not only enhances the reliability and durability of the system but also simplifies the maintenance process, enabling the robotic arm to maintain stable safety protection performance even during frequent operations.

[0054] Please see Figure 4 and Figure 6In one embodiment of the robotic arm disclosed herein, an anti-pinch device 300 is disposed on the first arm 100, and an elastic member 330 connects the first arm 100 and / or the floating plate 320; and / or, the anti-pinch device 300 is disposed on the second arm 200, and the elastic member 330 connects the second arm 200 and / or the floating plate 320. The elastic member 330 can be independently disposed at any position on the first arm 100, the second arm 200, or the floating plate 320, or can be configured in multiple positions to meet the installation requirements of different robotic arm structures. When the anti-pinch device 300 is disposed on the first arm 100, in one embodiment, the elastic member 330 is simultaneously connected to the first arm 100 and the floating plate 320. The elastic member 330 can both compress and rebound in coordination with the floating of the floating plate 320, and can also prevent the floating plate 320 from detaching from the first arm 100. In another embodiment, the elastic element 330 is connected only to the floating plate 320 or only to the first arm 100. This arrangement places relatively low demands on the elastic element 330, requiring only that it achieves compression and rebound effects, thus reducing design complexity and production costs. When the anti-pinch device 300 is located on the second arm 200, in one embodiment, the elastic element 330 connects both the second arm 200 and the floating plate 320. The elastic element 330 can both cooperate with the floating plate 320 to perform compression and rebound, and also prevent the floating plate 320 from detaching from the second arm 200. In another embodiment, the elastic element 330 is connected only to the floating plate 320 or only to the second arm 200. This arrangement places relatively low demands on the elastic element 330, requiring only that it achieves compression and rebound effects, thus reducing design complexity and production costs. In this embodiment, the elastic element 330 is only connected to the first arm 100. The multi-position selectable characteristic of the elastic element 330 allows for optimal layout based on the actual spatial constraints of the robotic arm, improving the overall structural compactness.

[0055] Please see Figures 4 to 7 In one embodiment of the robotic arm disclosed herein, the anti-pinch device 300 further includes at least one anti-detachment mechanism 340. The floating plate 320 is slidably and fixedly connected to the first arm 100 and / or the second arm 200 through the anti-detachment mechanism 340, thereby preventing the floating plate 320 from detaching from the first arm 100 and / or the second arm 200. The anti-detachment mechanism 340 can have various structural forms, such as an elastic structure, a flexible structure, a slide rail slider mechanism, a limit screw mechanism, etc., and is not limited thereto, as long as it can achieve the dual functions of allowing the floating plate 320 to slide freely and providing physical constraints to prevent detachment. By adding the anti-detachment mechanism 340, the floating plate 320 and the first arm 100 and / or the second arm 200 form a slidable but limited connection structure. The anti-detachment mechanism 340 ensures, on the one hand, that the floating plate 320 slides flexibly within a preset stroke to accurately trigger the anti-pinch function; on the other hand, it effectively prevents the floating plate 320 from detaching from the robotic arm, avoiding the problem of component detachment due to misoperation or long-term use. This design can improve the reliability and durability of the anti-pinch device 300.

[0056] Please see Figures 4 to 7 In one embodiment of the robotic arm disclosed herein, the anti-detachment mechanism 340 includes a limiting part 341, a fixed connection part 342, and a sliding connection part 343 interconnected with each other. In one embodiment, the anti-pinch device 300 is disposed on the first arm 100, the fixed connection part 342 is detachably fixedly connected to the first arm 100 or the floating plate 320, the sliding connection part 343 passes through the floating plate 320 or the first arm 100 and is slidably connected to the floating plate 320 or the first arm 100, and the limiting part 341 is detachably connected to the end of the sliding connection part 343 away from the fixed connection part 342; in another embodiment, the anti-pinch device 300 is disposed on the second arm 200, the fixed connection part 342 is detachably fixedly connected to the second arm 200 or the floating plate 320, the sliding connection part 343 passes through the floating plate 320 or the second arm 200 and is slidably connected to the floating plate 320 or the second arm 200, and the limiting part 341 is detachably connected to the end of the sliding connection part 343 away from the fixed connection part 342. In some other embodiments, both the first arm 100 and the second arm 200 are provided with anti-pinch devices 300, and the specific structure of the anti-detachment mechanism 340 is a combination of the above two embodiments, which will not be described in detail here.

[0057] Please see Figures 4 to 7 In this embodiment, the anti-pinch device 300 includes two sets of anti-detachment mechanisms 340. A fixed connection portion 342 is detachably fixed to the first arm 100, a sliding connection portion 343 penetrates the floating plate 320 and is slidably connected to it, and a limiting portion 341 is detachably connected to the end of the sliding connection portion 343 away from the fixed connection portion 342. The through-type design of the sliding connection portion 343, combined with the limiting portion 341, ensures that the floating plate 320 slides stably within a preset stroke range, satisfying the anti-pinch trigger requirement while preventing over-travel failure. The physical blocking mechanism of the limiting portion 341 improves the safety factor of the anti-detachment mechanism. Furthermore, this design is simple in structure and easy to replace.

[0058] Please see Figures 4 to 7 In one embodiment of the robotic arm disclosed herein, the anti-pinch device 300 further includes at least one guide mechanism 350. The guide mechanism 350 connects the floating plate 320 to the first arm 100, and / or the floating plate 320 to the second arm 200, so that the floating plate 320 slides along a preset trajectory of the guide mechanism 350. The guide structure can take various forms, such as a cylindrical guide rod, a linear slide rail, a dovetail groove guide rail, or a magnetic levitation guide rail, etc., and is not limited thereto. By adding the guide mechanism 350, the sliding motion between the floating plate 320 and the first arm 100 and / or the second arm 200 strictly follows the preset trajectory, ensuring the accuracy and consistency of the anti-pinch action.

[0059] Please see Figures 4 to 7In one embodiment of the robotic arm disclosed herein, the guiding mechanism 350 includes a guide rod 351 and a guide sleeve 352 that are slidably connected. In one embodiment, an anti-pinch device 300 is disposed on the first arm 100, the guide rod 351 is disposed on the first arm 100 and / or the floating plate 320, and the guide sleeve 352 is disposed on the floating plate 320 and / or the first arm 100. In another embodiment, the anti-pinch device 300 is disposed on the second arm 200, the guide rod 351 is disposed on the second arm 200 and / or the floating plate 320, and the guide sleeve 352 is disposed on the floating plate 320 and / or the second arm 200. In some other embodiments, anti-pinch devices 300 are disposed on both the first arm 100 and the second arm 200, in which case the specific structure of the guiding mechanism 350 is a combination of the above two embodiments, which will not be described in detail here. In this embodiment, the anti-pinch device 300 includes four sets of guide mechanisms 350, a guide sleeve 352 is disposed on the first arm 100, and a guide rod 351 is disposed on the side of the floating plate 320 opposite to the first arm 100.

[0060] Please see Figures 4 to 7 Through the sliding engagement of guide rod 351 and guide sleeve 352, the floating plate 320 can be ensured to move along a strictly linear trajectory, eliminating the risk of lateral deviation and improving the accuracy of anti-pinch triggering. The guide assembly can be flexibly configured on the first arm 100, the second arm 200, or the floating plate 320, achieving modular installation and improving the versatility and assembly efficiency of the overall robotic arm design. The compact axial layout achieves reliable guiding function within a limited space without affecting the original range of motion and structural strength of the robotic arm, thus improving space utilization.

[0061] Please see Figures 4 to 6 In one embodiment of the robotic arm disclosed herein, when the anti-pinch device 300 is disposed on the first arm 100, a first cavity 110 is provided on the folded side of the first arm 100, a sensing mechanism 310 is disposed within the first cavity 110, and a floating plate 320 is at least partially located within the first cavity 110. When the anti-pinch device 300 is disposed on the second arm 200, a second cavity (not shown in the figure) is provided on the folded side of the second arm 200, a sensing mechanism 310 is disposed within the second cavity, and a floating plate 320 is at least partially located within the second cavity. The cavity structure provides physical protection for the anti-pinch device 300, preventing external collisions, dust, or liquid intrusion, and enhancing the device's anti-interference capability and environmental adaptability. The inner wall of the first cavity 110 or the second cavity naturally constrains the sliding trajectory of the floating plate 320, ensuring its stable movement direction and preventing false triggering or failure caused by deviation. The embedded layout saves external space of the robotic arm, maintains the overall structural compactness, and does not affect the flexibility of the folding action.

[0062] A second aspect of this disclosure also provides a cleaning device (not shown in the figures) including the robotic arm described above. This enhances the cleaning device's capabilities by enabling it to perform tasks including complex cleaning actions, household chores, and obstacle crossing. The robotic arm includes a first arm 100, a second arm 200, and an anti-pinch device 300. When the first arm 100 and the second arm 200 are folding, if a foreign object is present at the relative folding position of the first arm 100 and the second arm 200, the anti-pinch device 300 can react to the foreign object and control the first arm 100 and the second arm 200 to stop the folding action, effectively preventing the risk of pinching injury and improving the safety of the robotic arm during use. This, in turn, improves the safety of the cleaning device during operation.

[0063] A third aspect of this disclosure also provides a cleaning system (not shown in the figures), including a base station and the aforementioned cleaning equipment. By employing the cleaning equipment equipped with the anti-pinch device 300, the risk of pinching injury can be effectively prevented, improving the safety of the robotic arm during use. This, in turn, enhances the overall safety of the cleaning system during operation.

[0064] The robotic arm disclosed herein is equipped with an anti-pinch device on its first and / or second arms. When the first and second arms are folding, if a foreign object is present at the relative folding position of the first and second arms, the anti-pinch device can react to the object and control the first and second arms to stop the folding action, effectively preventing the risk of pinching injury and improving the safety of the robotic arm during use. Therefore, this disclosure effectively overcomes some practical problems in the prior art, thus having high utilization value and practical significance.

[0065] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.

Claims

1. A robotic arm, characterized in that, include: First arm (100); The second arm (200) is hinged to the first arm (100) so that the first arm (100) and the second arm (200) can be unfolded and folded; The first arm (100) and / or the second arm (200) are provided with an anti-pinch device (300). When there is a foreign object at the relative folding position, the anti-pinch device (300) controls the first arm (100) and the second arm (200) to stop the folding action.

2. The robotic arm according to claim 1, characterized in that, The anti-pinch device (300) further includes at least one sensing mechanism (310) and a floating plate (320); The sensing mechanism (310) is disposed on the first arm (100), and the floating plate (320) is slidably connected to the first arm (100). When the first arm (100) and the second arm (200) are in a folded state, the floating plate (320) is located between the sensing mechanism (310) and the second arm (200). And / or, the sensing mechanism (310) is disposed on the second arm (200), and the floating plate (320) is slidably connected to the second arm (200). When the first arm (100) and the second arm (200) are in a folded state, the floating plate (320) is located between the sensing mechanism (310) and the first arm (100).

3. The robotic arm according to claim 2, characterized in that, The floating plate (320) has at least one protrusion (321) on the side facing the sensing mechanism (310). The protrusion (321) is provided corresponding to the sensing part of the sensing mechanism (310). The protrusion (321) can contact the sensing part when there is a foreign object between the first arm (100) and the second arm (200) to control the first arm (100) and the second arm (200) to stop the folding action.

4. The robotic arm according to claim 3, characterized in that, An elastic pad (322) is provided at one end of the protrusion (321) near the sensing part.

5. The robotic arm according to claim 2, characterized in that, The anti-pinch device (300) further includes at least one elastic element (330) located between the floating plate (320) and the first arm (100), and / or between the floating plate (320) and the second arm (200). The floating plate (320) is compressed at least when the foreign object exists between the first arm (100) and the second arm (200), and rebounds after the foreign object is removed.

6. The robotic arm according to claim 5, characterized in that, The anti-pinch device (300) is disposed on the first arm (100), and the elastic element (330) connects the first arm (100) and / or the floating plate (320); And / or, the anti-pinch device (300) is disposed on the second arm (200), and the elastic element (330) connects the second arm (200) and / or the floating plate (320).

7. The robotic arm according to claim 2, characterized in that, The anti-pinch device (300) further includes at least one anti-detachment mechanism (340), wherein the floating plate (320) is slidably fixedly connected to the first arm (100) and / or slidably fixedly connected to the second arm (200) through the anti-detachment mechanism (340) to prevent the floating plate (320) from detaching from the first arm (100) and / or the second arm (200).

8. The robotic arm according to claim 7, characterized in that, The anti-detachment mechanism (340) includes a limiting part (341), a fixed connecting part (342) and a sliding connecting part (343) that are connected to each other; The anti-pinch device (300) is disposed on the first arm (100), the fixed connection part (342) is detachably fixedly connected to the first arm (100) or the floating plate (320), the sliding connection part (343) passes through the floating plate (320) or the first arm (100) and is slidably connected to the floating plate (320) or the first arm (100), and the limiting part (341) is detachably connected to the end of the sliding connection part (343) away from the fixed connection part (342); And / or, the anti-pinch device (300) is disposed on the second arm (200), the fixed connection part (342) is detachably fixedly connected to the second arm (200) or the floating plate (320), the sliding connection part (343) passes through the floating plate (320) or the second arm (200) and is slidably connected to the floating plate (320) or the second arm (200), and the limiting part (341) is detachably connected to the end of the sliding connection part (343) away from the fixed connection part (342).

9. The robotic arm according to claim 2, characterized in that, The anti-pinch device (300) further includes at least one guide mechanism (350), which connects the floating plate (320) to the first arm (100) and / or connects the floating plate (320) to the second arm (200) so that the floating plate (320) slides along a preset trajectory of the guide mechanism (350).

10. The robotic arm according to claim 9, characterized in that, The guiding mechanism (350) includes a guide rod (351) and a guide sleeve (352) that are slidably connected; The anti-pinch device (300) is disposed on the first arm (100), the guide rod (351) is disposed on the first arm (100) and / or the floating plate (320), and the guide sleeve (352) is disposed on the floating plate (320) and / or the first arm (100); And / or, the anti-pinch device (300) is disposed on the second arm (200), the guide rod (351) is disposed on the second arm (200) and / or the floating plate (320), and the guide sleeve (352) is disposed on the floating plate (320) and / or the second arm (200).

11. The robotic arm according to any one of claims 2 to 10, characterized in that, The anti-pinch device (300) is disposed on the first arm (100), and a first cavity (110) is provided on the folded side of the first arm (100). The sensing mechanism (310) is disposed in the first cavity (110), and the floating plate (320) is at least partially located in the first cavity (110). And / or, the anti-pinch device (300) is disposed on the second arm (200), a second cavity is provided on the folded side of the second arm (200), the sensing mechanism (310) is disposed in the second cavity, and the floating plate (320) is at least partially located in the second cavity.

12. A cleaning device, characterized in that, The robotic arm included in any one of claims 1 to 11.

13. A cleaning system, characterized in that, This includes base stations and the cleaning equipment described in claim 12.

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