Mechanical arm and cleaning equipment
By setting up a camera module inside the cavity in the main body of the robotic arm and using a power mechanism and a guiding mechanism to achieve position switching, the problem of increased cost caused by the need to install camera modules separately for multiple execution tools is solved, thus achieving cost reduction and miniaturization design.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 麦悦未来智能科技(苏州)有限公司
- Filing Date
- 2025-05-23
- Publication Date
- 2026-05-12
AI Technical Summary
Existing cleaning equipment requires multiple camera modules to be installed on the robotic arms when multiple execution tools are configured, which increases costs.
Design a robotic arm with a camera module housed within a cavity in the main body. The camera module can be retracted and its working position switched via a power mechanism and a guiding mechanism, avoiding repeated installation.
Reducing the number of camera modules used lowers production costs and reduces the space requirements for storing robotic arms, which is beneficial for the miniaturization of robotic arms and cleaning equipment.
Smart Images
Figure CN224223888U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of robotic arms for cleaning equipment, specifically to a robotic arm and cleaning equipment. Background Technology
[0002] With the improvement of living standards, the application of cleaning equipment is becoming increasingly widespread, and the functional requirements for cleaning equipment are also increasing. Some cleaning equipment is equipped with robotic arms, which perform corresponding tasks through the execution tools at the end of the robotic arm, such as picking up garbage and cleaning up garbage in areas that cleaning equipment cannot reach. In order to complete the corresponding tasks, the execution tools need to be equipped with camera modules to realize object recognition and thus complete the task.
[0003] The existing camera modules are installed on the execution tools. If one robotic arm corresponds to multiple execution tools, each execution tool needs to be equipped with a camera module, which results in a large number of camera modules and obviously increases the cost. Utility Model Content
[0004] In view of the problems existing in the prior art, this disclosure provides a robotic arm and cleaning equipment to improve the problem of increased costs caused by the need to configure multiple camera modules when the robotic arm is used to perform multiple tasks.
[0005] To achieve the above and other related objectives, a first aspect of this disclosure provides a robotic arm, comprising a main body, a camera module, and a power mechanism. The main body has a receiving cavity with an opening. The camera module is movably disposed within the receiving cavity, and has at least a retracted position and a working position. In the retracted position, the camera module is housed within the receiving cavity, and in the working position, the camera module is at least partially exposed outside the receiving cavity. The power mechanism is disposed between the camera module and the main body to drive the camera module to the working position when the camera module is no longer obstructed by the opening.
[0006] The camera module is housed within the cavity of the main body. When the robotic arm is connected to different execution tools, the camera module can be used, thus avoiding the need to install camera modules separately for multiple execution tools. This effectively reduces the number of camera modules used and lowers production costs.
[0007] The camera module has a retracted position and a working position. When the robotic arm is retracted, the camera module is in the retracted position, thus avoiding the camera module protruding and occupying the storage space of the robotic arm. This effectively reduces the space required for the robotic arm to be stored, which is conducive to the miniaturization design of robotic arms, cleaning equipment, etc.
[0008] The disclosed robotic arm includes a power mechanism that drives the camera module to a working position when the mechanical module is disengaged from the obstruction at the opening, enabling the camera module to perform its functions.
[0009] The obstruction at the opening can be a blockage at the robotic arm's storage location, such as the main body of a cleaning device, where the robotic arm is stored inside the main body, and the main body blocks the opening; the main body of the robotic arm can be foldable, and when the robotic arm is folded and stored, part of the main body covers the opening and blocks it; the obstruction at the opening can also be other limiting structures that prevent the camera module from moving to the working position, so as to block the camera module when it is in the retracted position, so that the camera module remains in the retracted position.
[0010] In an exemplary embodiment of this disclosure, the power mechanism includes an elastic member. The elastic member is disposed between the camera module and the main body to apply a force to the camera module, which drives the camera module to a working position when the camera module is disengaged from the obstruction at the opening.
[0011] The elastic deformation of the elastic element provides force to the camera module. When the camera module is freed from the obstruction at the opening, the elastic element moves the camera module to the working position. The elastic element responds quickly; as the obstruction at the opening is released, the camera module can rapidly change from the retracted position to the working position, enabling rapid state changes. The elastic element does not require an additional power supply and is smaller in size than mechanisms such as motors and telescopic rods, making it easier to install and beneficial for miniaturization of robotic arms, cleaning equipment, and other applications.
[0012] In an exemplary embodiment of this disclosure, the direction from the retracted position to the working position of the camera module is the first direction, and the robotic arm includes at least one guiding mechanism. The guiding mechanism is disposed on the camera module and / or the main body to guide the camera module to move back and forth along the first direction.
[0013] The guiding mechanism can be located on the camera module, or it can be located on the main body. Alternatively, it can be partially located on the camera module and partially on the main body, simply to guide the relative movement of the camera module and the main body. By setting up the guiding mechanism, the relative movement of the camera module and the main body can be guided, allowing the camera module to reciprocate in both directions relative to the main body along a first direction, thus switching between the retracted position and the working position.
[0014] In an exemplary embodiment of this disclosure, the guiding mechanism includes a guide member and a movable member. The guiding direction of the guide member is the same as that of the first direction. The movable member cooperates with the guide member to cause the camera module to reciprocate in both directions along the first direction.
[0015] The camera module reciprocates in both directions along a first direction through the cooperation of the guide and the moving component. One of the guide and the moving component is connected to the main body, and the other is connected to the camera module. Thus, the relative movement of the moving component and the guide causes the camera module to move relative to the main body.
[0016] In an exemplary embodiment of this disclosure, the robotic arm includes a multi-stage guiding mechanism. A guide member of the first-stage guiding mechanism is disposed on the main body, and a movable member of the first-stage guiding mechanism is fixed to a guide member of the next-stage guiding mechanism. A movable member of the final-stage guiding mechanism is connected to a camera module, and a guide member of the final-stage guiding mechanism is fixed to a movable member of the previous-stage guiding mechanism.
[0017] The robotic arm has a multi-stage guiding mechanism. Compared with a single-stage guiding mechanism, the multi-stage guiding mechanism occupies less height when in the retracted position, which is more conducive to saving the space occupied by the camera module and thus making it easier to retract the robotic arm.
[0018] If the guiding mechanism has two levels, the guide component of the final guiding mechanism is fixed to the moving component of the first guiding mechanism. If the guiding mechanism has three or more levels, the guide component of the intermediate guiding mechanism is fixed to the moving component of the previous guiding mechanism, and the moving component is fixed to the guide component of the next guiding mechanism, so as to achieve multi-level guidance.
[0019] In an exemplary embodiment of this disclosure, the guiding mechanism includes a first guiding mechanism and a second guiding mechanism. The first guiding mechanism includes a first guide member and a first movable member, the first guide member being disposed on the main body. The second guiding mechanism includes a second guide member and a second movable member, the second movable member being fixed to the camera module, and the second guide member being fixed to the first movable member.
[0020] The robotic arm used for cleaning equipment is relatively small in height. By using a first guide mechanism and a second guide mechanism to guide the camera module and the main body, it can first ensure the guidance of the relative movement of the camera module and the main body; secondly, it can effectively reduce the height required for the guide mechanism, thereby facilitating the storage of the camera module and reducing the height of the robotic arm; and thirdly, it can avoid the problem of too many assembly parts due to too many levels of the guide mechanism, thus facilitating assembly and reducing the risk of failure.
[0021] In an exemplary embodiment of this disclosure, when the camera module is in the retracted position, the moving member partially overlaps with the previous moving member in a first direction.
[0022] The moving part partially overlaps with the previous moving part in the first direction. For example, the moving part and the previous moving part are arranged side by side, and at least one direction is perpendicular to the first direction. The projection of the moving part along the direction at least partially overlaps with the projection of the previous moving part along the direction. This can effectively reduce the size of the guiding mechanism in the first direction, thereby reducing the size of the robotic arm in the first direction, facilitating the storage of the robotic arm, and promoting the miniaturization of the robotic arm and cleaning equipment.
[0023] In an exemplary embodiment of this disclosure, the power mechanism includes a first elastic member disposed between the guide member and the moving member, and when the first elastic member is compressed, a force is applied to the moving member to move along the guiding direction of the guide member.
[0024] When the first elastic element is compressed, it undergoes elastic deformation, thereby generating elastic force. The elastic force acts on the moving element, causing the moving element to tend to move along the guiding direction of the guide element. Thus, when the camera module is removed from the obstruction at the opening, or when the obstruction force at the opening is less than the elastic force, the elastic force causes the moving element to move along the guiding direction of the guide element. That is, the elastic force causes the moving element to move along the first direction, and the moving element drives the camera module to move from the retracted position to the working position.
[0025] The first elastic element provides the power, eliminating the need for a separate power supply and simplifying design and installation. Once the camera module disengages from the opening, the elastic force of the first elastic element causes the moving component to move, ensuring a stable and reliable ejection of the camera module. The first elastic element is smaller in size compared to mechanisms such as motors and telescopic rods, reducing space requirements and facilitating the spatial design of the robotic arm.
[0026] In an exemplary embodiment of this disclosure, the guide includes a guide groove, and the movable member cooperates with the guide groove.
[0027] The outer wall of the moving part is adapted to the guide groove, and the guide groove provides convenient and reliable guidance for the moving part.
[0028] In an exemplary embodiment of this disclosure, the guiding mechanism includes a limiting post disposed in a guide groove, and a first elastic member sleeved on the limiting post.
[0029] By setting a limiting post, the first elastic element can be limited to prevent it from shifting, twisting, bending, etc., thereby ensuring the function of the first elastic element.
[0030] In an exemplary embodiment of this disclosure, a rotating shaft is included, which is rotatably connected to a receiving cavity and / or a camera module, and the camera module is rotatably disposed in the receiving cavity via the rotating shaft.
[0031] The rotating shaft can be rotatably connected to the receiving cavity and fixedly connected to the camera module to achieve a rotatable connection between the camera module and the receiving cavity. Alternatively, the rotating shaft can be rotatably connected to both the camera module and the receiving cavity separately, allowing for a rotatable connection between the camera module and the receiving cavity.
[0032] The camera module rotates relative to the housing, allowing the camera module to switch between a retracted position and a working position.
[0033] In an exemplary embodiment of this disclosure, the direction of the camera module from the retracted position to the working position is the first rotation direction, and the power mechanism includes a second elastic member disposed between the main body and the camera module, so as to apply a torque to the camera module along the first rotation direction when the second elastic member deforms.
[0034] The second elastic element applies a force to the camera module when it deforms, causing the camera module to move from the retracted position to the working position. The second elastic element acts stably, requires no external power supply, and is easy to install, thus ensuring the stability of the camera module when switching between the retracted and working positions.
[0035] In an exemplary embodiment of this disclosure, a limiting portion is provided at the opening, and the limiting portion is located on the front side of the camera module in the first rotation direction to limit the camera module in the working position.
[0036] The camera module is limited by the limiting part to prevent excessive movement of the camera module when it moves from the retracted position to the working position under the action of the second elastic element, thus ensuring that the camera module stays in the working position.
[0037] In an exemplary embodiment of this disclosure, the main body is a foldable main body, and when the main body is folded, a portion of the main body blocks the opening.
[0038] The foldable main body facilitates the storage of the robotic arm, extending its length and expanding its application scenarios. Part of the main body blocks the opening, ensuring the camera module is in a retracted position when the robotic arm is folded, preventing it from being exposed and reducing the risk of damage from impacts when the robotic arm is retracted.
[0039] In an exemplary embodiment of this disclosure, the robotic arm includes an execution tool, and the execution tool includes a second connecting portion. The main body includes a first connecting portion, a receiving cavity is disposed in the first connecting portion, and the first connecting portion and the second connecting portion are detachably connected.
[0040] The main body and the execution tool are detachably connected via a first connecting part and a second connecting part, allowing the main body to be matched with various execution tools to meet different functions and expand the functionality and application scenarios of the robotic arm. A receiving cavity is located in the first connecting part, close to the execution tool. This cavity serves two purposes: firstly, the camera module can be used for mating and docking between the first and second connecting parts; secondly, its proximity to the execution tool allows it to identify the environment to facilitate the execution tool's work. The camera module achieves these two functions, improving its overall application effectiveness.
[0041] In an exemplary embodiment of this disclosure, the camera module includes a camera bracket and a camera assembly. The camera bracket has a mounting cavity; the camera assembly is mounted within the mounting cavity.
[0042] The camera bracket protects the camera assembly, preventing the obstruction at the opening from contacting the camera assembly and thus protecting the camera module and reducing the risk of damage.
[0043] In an exemplary embodiment of this disclosure, the camera module includes a bracket cover. The bracket cover is detachably connected to the camera bracket to open and close the mounting cavity.
[0044] The mounting cavity can be opened and closed by removing and installing the bracket cover, which facilitates the installation and removal of the camera components.
[0045] In an exemplary embodiment of this disclosure, a slot is provided in the mounting cavity, and the camera assembly cooperates with the slot to realize the assembly and disassembly of the camera assembly and the camera bracket.
[0046] The slots facilitate the positioning and installation of the camera components, improving the efficiency of camera assembly and disassembly.
[0047] A second aspect of this disclosure provides a cleaning device, including a device body and a robotic arm as described above, the robotic arm being mounted on the device body.
[0048] The camera module of the cleaning equipment disclosed herein is housed within the receiving cavity of the main body. The camera module can be used whenever the robotic arm is connected to different execution tools, thus avoiding the need for separate camera modules for multiple execution tools. This effectively reduces the number of camera modules required and lowers production costs. The camera module has a retracted position and a working position. When the robotic arm is retracted, the camera module is in the retracted position, preventing it from protruding and occupying storage space on the robotic arm. This effectively reduces the space required for the robotic arm's storage and facilitates the miniaturization of the cleaning equipment.
[0049] In combination with existing technologies, the beneficial effects of this disclosure are as follows:
[0050] Existing camera modules are typically mounted on the execution tools. When a robotic arm corresponds to multiple execution tools, each tool requires a separate camera module, resulting in high costs. The camera module disclosed in this invention is housed within the receiving cavity of the main body. When the robotic arm is connected to different execution tools, the camera module can be used at any time, thus avoiding the need for separate camera modules for multiple execution tools. This effectively reduces the number of camera modules required and lowers production costs.
[0051] The camera module has a retracted position and a working position. When the robotic arm is retracted, the camera module is in the retracted position, thus avoiding the camera module protruding and occupying the storage space of the robotic arm. This effectively reduces the space required for the robotic arm to be stored, which is conducive to the miniaturization design of robotic arms, cleaning equipment, etc.
[0052] The disclosed robotic arm includes a power mechanism that drives the camera module to a working position when the mechanical module is disengaged from the obstruction at the opening, enabling the camera module to perform its functions.
[0053] The obstruction at the opening can be a blockage at the robotic arm's storage location, such as the main body of a cleaning device, where the robotic arm is stored inside the main body, and the main body blocks the opening; the main body of the robotic arm can be foldable, and when the robotic arm is folded and stored, part of the main body covers the opening and blocks it; the obstruction at the opening can also be other limiting structures that prevent the camera module from moving to the working position, so as to block the camera module when it is in the retracted position, so that the camera module remains in the retracted position. Attached Figure Description
[0054] 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.
[0055] Figure 1 This is a schematic diagram of a portion of an exemplary main body of the present disclosure;
[0056] Figure 2 This is a schematic cross-sectional view of a portion of an exemplary main body of the present disclosure;
[0057] Figure 3 This is a schematic diagram of an exemplary camera module within a receiving cavity according to the present disclosure;
[0058] Figure 4 This is a schematic diagram of a portion of the structure of an exemplary receiving cavity in this disclosure;
[0059] Figure 5 This is a schematic diagram of an exemplary camera module disclosed herein;
[0060] Figure 6 This is a schematic diagram of a partial structure of an exemplary camera module disclosed herein;
[0061] Figure 7 This is a schematic diagram of an exemplary first guide block and second guide part structure disclosed herein;
[0062] Figure 8 This is another exemplary diagram of a camera module in its working position as disclosed herein;
[0063] Figure 9 This is a three-dimensional schematic diagram of another exemplary camera module in the working position according to the present disclosure.
[0064] Component designation explanation:
[0065] 100. Main body; 110. Receiving cavity; 111. Opening;
[0066] 300. Camera module; 310. Camera bracket; 311. Mounting cavity; 312. Slot; 320. Camera assembly; 330. Bracket cover;
[0067] 400. Power mechanism; 410. First elastic element; 420. Second elastic element;
[0068] 500. Guiding mechanism; 510. Guiding component; 511. First guiding component; 512. Second guiding component; 520. Moving component; 521. First moving component; 522. Second moving component; 530. First guiding mechanism; 540. Second guiding mechanism; 550. Limiting post;
[0069] 600. Rotating shaft. Detailed Implementation
[0070] 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.
[0071] 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.
[0072] It should be noted that the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity of description and are not intended to limit the scope of this disclosure. Any changes or adjustments to their relative relationships, without substantially altering the technical content, shall also be considered within the scope of this disclosure.
[0073] Please see Figures 1 to 9The first aspect of this disclosure provides a robotic arm, which includes a main body 100, a camera module 300, and a power mechanism 400. The main body 100 has a receiving cavity 110 with an opening 111. The camera module 300 is movably disposed in the receiving cavity 110, and has at least a retracted position and a working position. In the retracted position, the camera module 300 is housed in the receiving cavity 110, and in the working position, the camera module 300 is at least partially exposed outside the receiving cavity 110. The power mechanism 400 is disposed between the camera module 300 and the main body 100, and drives the camera module 300 to the working position when it is disengaged from the obstruction at the opening 111.
[0074] The camera module 300 is housed in the receiving cavity 110 of the main body 100. When the robotic arm is connected to different execution tools, the camera module 300 can be used, thereby avoiding the need to install the camera module 300 separately for multiple execution tools, effectively reducing the number of camera modules 300 used and reducing production costs.
[0075] The camera module 300 has a retracted position and a working position. When the robotic arm is retracted, the camera module 300 is in the retracted position, thereby avoiding the situation where the camera module 300 protrudes and occupies the storage space of the robotic arm. This effectively reduces the space required for the robotic arm to be stored, which is conducive to the miniaturization design of robotic arms, cleaning equipment, etc.
[0076] When the camera module 300 is in the retracted position, it can be completely housed within the receiving cavity 110, or partially housed within the cavity and partially exposed outside. When the camera module 300 is in the working position, it is at least partially exposed outside the receiving cavity 110 to enable it to function and perceive its environment.
[0077] The camera module 300 is movably disposed within the receiving cavity 110. The movable disposal method can be varied, such as the camera module 300 and the receiving cavity 110 being able to move relative to each other; the camera module 300 and the receiving cavity 110 being able to rotate relative to each other; or the camera module 300 and the receiving cavity 110 being able to both move relative to each other and rotate relative to each other, so that the camera module 300 has a retracted position and a working position within the receiving cavity 110.
[0078] The robotic arm disclosed herein includes a power mechanism 400. When the robotic module is disengaged from the obstruction at the opening 111, the power mechanism 400 drives the camera module 300 to move to the working position, so that the camera module 300 can perform its work.
[0079] The obstruction at opening 111 can be a blockage at the robotic arm's storage location, such as the main body of a cleaning device. The robotic arm is stored inside the main body, and the main body blocks opening 111. The main body 100 of the robotic arm can be foldable; when the robotic arm is folded and stored, part of the main body 100 covers opening 111, blocking it. The obstruction at opening 111 can also be a limiting structure that prevents the camera module 300 from moving to its working position, thus blocking the camera module 300 when it is in the retracted position and keeping it in that position.
[0080] Please see Figure 2 and Figure 8 In one embodiment, the power mechanism 400 includes an elastic element. The elastic element is disposed between the camera module 300 and the main body 100 to apply a force to the camera module 300. The force drives the camera module 300 to move to the working position when the camera module 300 is disengaged from the obstruction at the opening 111.
[0081] Elastic components can be springs or other parts that generate elastic force through compression deformation, or torsion springs or other parts that generate elastic force through torsional deformation. Elastic components can also be other elastic components, such as rubber springs.
[0082] The elastic element provides force to the camera module 300 through elastic deformation. When the camera module 300 is disengaged from the obstruction at opening 111, the elastic element moves the camera module 300 to the working position. The elastic element responds quickly, requiring no other sensing modules; the camera module 300 can be moved from the retracted position to the working position simply by disengaging from the obstruction at opening 111, rapidly realizing the state change of the camera module 300. The elastic element does not require an additional power supply, reducing circuit layout and simplifying installation. Compared to active mechanisms such as motors and telescopic rods, the elastic element is smaller and easier to install, which is beneficial for the miniaturization of robotic arms, cleaning equipment, etc.
[0083] Please see Figure 2 In one embodiment, the camera module 300 moves relative to the main body 100, and the direction of the camera module 300 from the retracted position to the working position is the first direction. The robotic arm includes at least one guiding mechanism 500, which is disposed on the camera module 300 and / or the main body 100 to guide the camera module 300 to reciprocate in both directions along the first direction. The guiding mechanism 500 may be disposed on the camera module 300, or it may be disposed on the main body 100. Alternatively, the guiding mechanism 500 may be partially disposed on the camera module 300 and partially disposed on the main body 100 to guide the relative movement of the camera module 300 and the main body 100.
[0084] By setting the guide mechanism 500, the relative movement between the camera module 300 and the main body 100 can be guided, so that the camera module 300 moves back and forth in the first direction relative to the main body 100, thereby realizing the switching between the retracted position and the working position.
[0085] Please see Figure 2 In one embodiment, the guiding mechanism 500 includes a guide 510 and a moving member 520. The guiding direction of the guide 510 is the same as that of the first direction. The moving member 520 cooperates with the guide 510 to cause the camera module 300 to reciprocate in both directions along the first direction.
[0086] One of the guide member 510 and the moving member 520 is connected to the main body 100, and the other is connected to the camera module 300. The relative movement of the moving member 520 and the guide member 510 causes the camera module 300 to move relative to the main body 100. For example, the guide member 510 is connected to the main body 100, and the moving member 520 is connected to the camera module 300. The moving member 520 cooperates with the guide member, causing the camera module 300 to move relative to the main body 100 in both directions of a first direction. Alternatively, the guide member can be connected to the camera module 300, and the moving member 520 can be connected to the main body 100, thereby guiding the relative movement of the camera module 300 and the main body 100.
[0087] The guide 510 and the moving part 520 can have various matching structures.
[0088] Please see Figure 2 and Figure 7 In one embodiment, the guide member 510 includes a guide groove, and the movable member 520 cooperates with the guide groove. The outer wall of the movable member 520 adapts to the guide groove, and the guide groove provides convenient and reliable guidance for the movable member 520.
[0089] By closing both ends of the guide groove, the moving part 520 is limited, thereby restricting the guiding distance of the guide mechanism 500 and limiting the movement position of the camera module 300.
[0090] Of course, as an alternative, the moving part 520 can also be limited by setting a limiting block in the guide groove.
[0091] The guide groove has an opening 111 on at least one side to accommodate the movable member 520 connected through the rear camera module 300, or the movable member 520 connected to the adjacent guide mechanism 500.
[0092] In another embodiment, the guide 510 is a guide rod, and the moving member 520 is a slider that cooperates with the guide rod. The slider slides along the guide rod, guiding the camera module 300 and the main body 100 to move in the forward and reverse directions along the first direction.
[0093] By sealing both ends of the guide rod to limit the slider, the movement position of the camera module 300 is restricted.
[0094] In another embodiment, the guide 510 is a track, and the moving member 520 is a slider that cooperates with the track. The slider moves along the guide rod, guiding the camera module 300 and the main body 100 to move in the forward and reverse directions in the first direction.
[0095] By limiting the length of the track to restrict the slider, the movement position of the camera module 300 is limited.
[0096] Of course, as some alternatives, the guide 510 and the moving part 520 can also have various options to guide the relative movement of the camera module 300 and the main body 100. For example, the guide 510 can be a guide hole, and the moving part 520 can be a slide bar that matches the guide hole, etc.
[0097] Please see Figure 2 In one embodiment, the robotic arm includes a multi-stage guiding mechanism 500. A guide member 510 of the first-stage guiding mechanism 500 is disposed on the main body 100, and a movable member 520 of the first-stage guiding mechanism 500 is fixed to the guide member 510 of the next-stage guiding mechanism 500. The movable member 520 of the last-stage guiding mechanism 500 is connected to the camera module 300, and the guide member 510 of the last-stage guiding mechanism 500 is fixed to the movable member 520 of the previous-stage guiding mechanism 500.
[0098] There are various options for the way the guide 510 of the primary guide mechanism 500 is set on the main body 100. For example, the guide 510 is fixed to the main body 100 by welding, gluing or other means, the guide 510 is set on the main body 100 by integral molding, the guide 510 is set on the main body 100 by snap-fit or other means, etc. This disclosure will not elaborate on these.
[0099] Similarly, there are multiple options for connecting the moving part 520 of the final stage guide mechanism 500 to the camera module 300. For example, the moving part 520 can be fixed to the camera module 300 by welding, gluing, or other methods; the moving part 520 can be connected to the camera module 300 by integral molding; or the moving part 520 can be connected to the camera module 300 by snap-fit or other methods.
[0100] The robotic arm has a multi-stage guide mechanism 500. Compared with the single-stage guide mechanism 500, the multi-stage guide mechanism 500 occupies a smaller size in the first direction when in the retracted position, which is more conducive to saving the space occupied by the camera module 300, and thus facilitates the retraction of the robotic arm and the spatial layout of the robotic arm.
[0101] If the guide mechanism 500 has two levels, the guide member 510 of the final guide mechanism 500 is fixed to the moving member 520 of the first guide mechanism 500. If the guide mechanism 500 has three or more levels, the guide member 510 of the intermediate guide mechanism 500 is fixed to the moving member 520 of the previous guide mechanism 500, and the moving member 520 is fixed to the guide member 510 of the next guide mechanism 500, so as to achieve multi-level guidance.
[0102] Of course, as an option, the guide mechanism 500 can be a single-stage guide mechanism 500, which has a simple structure and is easy to assemble.
[0103] Please see Figure 2 , Figure 5 and Figure 7 In one embodiment, the guide mechanism 500 includes a first guide mechanism 530 and a second guide mechanism 540.
[0104] Please see Figure 2 and Figure 7 The first guiding mechanism 530 includes a first guide member 511 and a first moving member 521. The first guide member 511 is disposed on the main body 100. The first guide member 511 can be mounted on the main body 100 or integrally formed on the main body 100. The first moving member 521 cooperates with the first guide member 511.
[0105] Please see Figure 2 and Figure 7 The second guiding mechanism 540 includes a second guide member 512 and a second movable member 522 that cooperates with the second guide member 512. The second movable member 522 is fixed to the camera module 300. The first movable member 521 cooperates with the first guide member 511 to move in both directions along a first direction. By fixing the first movable member 521 to the second guide member 512, the second guiding mechanism 540 and the camera module 300 move together. The second movable member 522 cooperates with the second guide member 512 to move the camera module 300 relative to the second guide member 512, thereby achieving two-stage guidance for the camera module 300.
[0106] Taking the guide member 510 including the guide groove as an example, the first moving member 521 partially passes through the first guide groove and is fixed to the second guide member 512. The fixing method between the first moving member 521 and the second guide member 512 can be welding, gluing, integral molding, etc. A second guide groove is formed inside the second guide member 512, and the outer wall of the second moving member 522 is adapted to the second guide groove so that the second moving member 522 slides along the second guide groove. An opening 111 is provided on the side wall of the second guide groove so that the second moving member 522 passes through the opening 111 and is fixed to the camera module 300, thereby driving the camera module 300 to move through the movement of the second moving member 522.
[0107] The robotic arm used for cleaning equipment is relatively small in the first direction. The camera module 300 and the main body 100 are guided by the first guide mechanism 530 and the second guide mechanism 540. First, it can ensure the guidance of the relative movement of the camera module 300 and the main body 100. Second, it can effectively reduce the height required by the guide mechanism 500, thereby facilitating the storage of the camera module 300 and reducing the height of the robotic arm. Third, it can avoid the problem of too many assembly parts due to too many layers in the guide mechanism 500, thereby facilitating assembly and reducing the risk of failure.
[0108] Please see Figure 2 In one embodiment, when the camera module 300 is in the retracted position, the moving member 520 partially overlaps with the previous moving member 520 in the first direction.
[0109] The movable component 520 is arranged side-by-side with the previous-level movable component 520, and has at least one direction perpendicular to the first direction. The projection of the movable component 520 along this direction at least partially overlaps with the projection of the previous-level movable component 520 along this direction. The partial overlap between the movable component 520 and the previous-level movable component 520 in the first direction can effectively reduce the size of the guide mechanism 500 in the first direction, thereby reducing the size of the robotic arm in the first direction, facilitating the storage of the robotic arm, and contributing to the miniaturization of the robotic arm and cleaning equipment.
[0110] Please see Figure 2 and Figure 7 In one embodiment, the power mechanism 400 includes a first elastic member 410 disposed between the guide member 510 and the moving member 520. When the first elastic member 410 is compressed, a force is applied to the moving member 520 to move along the guiding direction of the guide member 510.
[0111] When the first elastic element 410 is compressed, it undergoes elastic deformation, thereby generating elastic force. The elastic force acts on the moving element 520, causing the moving element 520 to tend to move along the guiding direction of the guide element 510. Thus, when the camera module 300 is disengaged from the obstruction at the opening 111, or when the force of the obstruction at the opening 111 is less than the elastic force, the elastic force causes the moving element 520 to move along the guiding direction of the guide element 510. That is, the elastic force causes the moving element 520 to move along the first direction, and the moving element 520 drives the camera module 300 to move from the retracted position to the working position.
[0112] The first elastic element 410 provides the power, eliminating the need for a separate power supply and simplifying design and installation. Once the camera module 300 disengages from the obstruction at the opening 111, the elastic force of the first elastic element 410 causes the moving part 520 to move, ensuring a stable and reliable ejection of the camera module 300. The first elastic element 410 is smaller in size compared to mechanisms such as motors and telescopic rods, reducing space requirements and facilitating the spatial design of the robotic arm.
[0113] The first elastic element 410 includes, but is not limited to, springs, rubber springs, and other components that can be compressed and deformed to generate elastic force.
[0114] Taking the guide member 510 including the guide groove as an example, the first elastic member 410 is disposed in the guide groove. When the moving member 520 squeezes the first elastic member 410, the first elastic member 410 deforms and generates elastic force. When the camera module 300 is removed from the obstruction at the opening 111, the elastic force of the first elastic member 410 causes the moving member 520 to move along the guide groove, thereby causing the camera module 300 to move relative to the main body 100 in the first direction.
[0115] One end of the first elastic member 410 can be fixedly disposed in the guide groove or movably disposed in the guide groove. The other end of the first elastic member 410 can be fixed to the movable member 520 or abut against the movable member 520.
[0116] Please see Figure 2 In one embodiment, a cavity is provided on the contact side between the movable member 520 and the first elastic member 410, and the first elastic member 410 extends into the cavity. The cavity limits the first elastic member 410, reduces the torsional deformation of the first elastic member 410, and restricts the position of the first elastic member 410.
[0117] In one embodiment, when the camera module 300 is in the retracted position, the movable member 520 abuts against the bottom wall of the guide groove, and the end of the cavity abuts against the bottom wall of the guide groove, thereby restricting the position of the movable member 520 in the guide groove and ensuring that the movable member 520 is in the expected position.
[0118] Please see Figure 2 and Figure 7 In one embodiment, the guide mechanism 500 includes a limiting post 550 disposed in a guide groove, and a first elastic member 410 sleeved on the limiting post 550. By setting the limiting post 550, the first elastic member 410 can be limited to avoid displacement, torsion, bending, etc. of the first elastic member 410, thereby ensuring the function of the first elastic member 410.
[0119] Please see Figure 8 and Figure 9In another embodiment, the robotic arm includes a rotating shaft 600, which is rotatably connected to the receiving cavity 110 and / or the camera module 300. The camera module 300 is rotatably disposed in the receiving cavity 110 via the rotating shaft 600. By setting the rotating shaft 600, the camera module 300 rotates relative to the receiving cavity 110, and the camera module 300 switches between a retracted mode and a working mode by rotating.
[0120] In one embodiment, the rotating shaft 600 is rotatably connected to the receiving cavity 110 and fixedly connected to the camera module 300, thereby realizing the rotatable connection between the camera module 300 and the receiving cavity 110.
[0121] In another embodiment, the rotating shaft 600 is rotatably connected to the camera module 300 and fixedly connected to the receiving cavity 110, thereby realizing the rotatable connection between the camera module 300 and the receiving cavity 110.
[0122] In another embodiment, the rotating shaft 600 is rotatably connected to both the camera module 300 and the receiving cavity 110, thereby making the camera module 300 and the receiving cavity 110 rotatably connected.
[0123] The camera module 300 rotates relative to the receiving cavity 110, thereby allowing the camera module 300 to switch between a retracted position and a working position.
[0124] Please see Figure 8 In one embodiment, the direction of the camera module 300 from the retracted position to the working position is the first rotation direction. The power mechanism 400 includes a second elastic member 420, which is disposed between the main body 100 and the camera module 300, so as to apply a torque to the camera module 300 along the first rotation direction when the second elastic member 420 deforms.
[0125] The second elastic element 420 includes, but is not limited to, a torsion spring.
[0126] One end of the second elastic member 420 is disposed on the main body 100, and the other end is disposed on the camera module 300. When there is an obstruction at the opening 111, the camera module 300 exerts a force on the second elastic member 420, causing the second elastic member 420 to elastically deform. When the camera module 300 disengages from the obstruction at the opening 111, the elastic force of the second elastic member 420 acts on the camera module 300, causing the camera module 300 to move from the retracted position to the working position.
[0127] The second elastic element 420 provides stable operation, requires no external power supply, is easy to install, and ensures the stability of the camera module 300 when switching between the retracted and working positions. The small size of the second elastic element 420 facilitates installation and reduces the size of the robotic arm, contributing to the miniaturization of cleaning equipment.
[0128] Please see Figure 8 In one embodiment, the second elastic member 420 is sleeved on the rotating shaft 600, one end of the second elastic member 420 is inserted into the camera module 300, and the other end of the second elastic member 420 abuts against the main body 100, thereby realizing the installation and limiting of the second elastic member 420.
[0129] In one embodiment, a limiting part is provided at the opening 111. The limiting part is located in front of the camera module 300 in the first rotation direction. When the camera module 300 is in the working position, the camera module 300 abuts against the limiting part, thereby limiting the camera module 300 in the working position through the limiting part.
[0130] The camera module 300 is limited by the limiting part to prevent it from moving too much when it moves from the retracted position to the working position under the action of the second elastic member 420. The combined action of the second elastic member 420 and the limiting part ensures that the camera module 300 stays in the working position.
[0131] In one embodiment, the main body 100 is a foldable main body 100, and when the main body 100 is folded, a portion of the main body 100 is blocked by the opening 111.
[0132] The foldable main body 100 facilitates the storage of the robotic arm, which helps to extend the length of the robotic arm and enrich its application scenarios. Part of the main body 100 blocks the opening 111, thus ensuring that the camera module 300 is in the retracted position when the robotic arm is folded and stored, avoiding the situation where the camera module 300 is exposed when the robotic arm is folded, thereby reducing the risk of the camera module 300 being bumped and damaged when the robotic arm is retracted.
[0133] When the main body 100 is folded, part of the main body 100 comes into contact with the camera module 300, and drives the camera module 300 from the working position to the retracted position. By using the drive of the robotic arm to store the main body 100 to retract the camera module 300, the function of the robotic arm to store the main body 100 is expanded, the number of active drives on the robotic arm is reduced, and the cost is reduced.
[0134] In one embodiment, the robotic arm includes an execution tool, which includes a second connecting portion. The main body 100 includes a first connecting portion, and a receiving cavity 110 is disposed in the first connecting portion. The first connecting portion and the second connecting portion are detachably connected.
[0135] The main body 100 and the execution tool are detachably connected via a first connecting part and a second connecting part, allowing the main body 100 to be matched with various execution tools to meet different functions and expand the functionality and application scenarios of the robotic arm. A receiving cavity 110 is located in the first connecting part, close to the execution tool. On one hand, the camera module 300 can be used for matching and docking between the first and second connecting parts; on the other hand, the proximity of the camera module 300 to the execution tool allows it to identify the environment to facilitate the execution tool's work. The camera module 300 achieves two functions, expanding its applications.
[0136] In one embodiment, the first connecting part and the second connecting part are quick-release structures, which facilitates the connection and disconnection of the main body 100 and the execution tool, and makes it convenient for the main body 100 to replace different execution tools according to different application scenarios. This is beneficial for the robotic arm to achieve multiple functions and expand the application scenarios of the robotic arm.
[0137] Please see Figure 5 and Figure 6 In one embodiment, the camera module 300 includes a camera bracket 310 and a camera assembly 320.
[0138] Please see Figure 5 and Figure 6 The camera bracket 310 has a mounting cavity 311, and the camera assembly 320 is installed in the mounting cavity 311. The camera bracket 310 provides protection for the camera assembly 320, so that the obstruction at the opening 111 does not come into contact with the camera assembly 320, thereby protecting the camera module and reducing the risk of damage to the camera module.
[0139] The camera bracket 310 can be a shell-like structure that covers the camera assembly 320 while exposing the lens and other components of the camera assembly 320. Alternatively, the camera bracket 310 can be a frame-like structure to protect the camera assembly 320.
[0140] The camera assembly 320 includes a camera, a circuit board, etc. Depending on the needs of the scenario, the camera assembly 320 may also include structures such as a flash to fulfill the functions of the camera assembly 320.
[0141] Please see Figure 5 and Figure 6 In one embodiment, the camera module 300 includes a bracket cover 330. The bracket cover 330 is detachably connected to the camera bracket 310 to open and close the mounting cavity 311. The mounting cavity 311 is opened and closed by removing and installing the bracket cover 330, which facilitates the installation and removal of the camera assembly 320.
[0142] In one embodiment, the camera module 300 moves relative to the receiving cavity 110, and the bracket cover 330 is disposed on the side of the camera bracket 310 near the opening 111. When the opening 111 is exposed, it is not necessary to disassemble the camera bracket 310; only the bracket cover 330 needs to be removed and installed to open and close the mounting cavity 311, which facilitates the disassembly and assembly of the camera assembly 320.
[0143] Please see Figure 5 and Figure 6 In one embodiment, a slot 312 is provided in the mounting cavity 311, and the camera assembly 320 cooperates with the slot 312 to realize the assembly and disassembly of the camera assembly 320 and the camera bracket 310. The cooperation between the slot 312 and the camera assembly 320 facilitates the positioning and installation of the camera assembly 320, thereby improving the efficiency of the assembly and disassembly of the camera assembly 320.
[0144] A second aspect of this disclosure provides a cleaning device, including a device body and a robotic arm as described above, the robotic arm being mounted on the device body.
[0145] Cleaning equipment can include sweeping robots, mopping robots, and vacuum-mopping robots, etc., which are used to clean surfaces.
[0146] The cleaning equipment disclosed herein is equipped with a robotic arm, which extends the functionality of the cleaning equipment through the execution tools of the robotic arm, such as cleaning areas that the cleaning equipment cannot reach, and organizing items that need to be organized.
[0147] The camera module 300 of the robotic arm is installed in the receiving cavity 110 of the main body 100. The camera module 300 is used to collect environmental information so that different functions of the cleaning equipment can be realized.
[0148] When the robotic arm of this disclosure is connected to different execution tools, the camera module 300 can be used, thus avoiding the need to install a separate camera module 300 for each execution tool, effectively reducing the number of camera modules 300 used and lowering production costs. The camera module 300 has a retracted position and a working position. When the robotic arm is retracted, the camera module 300 is in the retracted position, thus avoiding the camera module 300 protruding and occupying storage space on the robotic arm, effectively reducing the space required for the robotic arm's storage, and facilitating the miniaturization design of cleaning equipment. Switching between the retracted and working positions of the camera module 300 in this disclosure does not require a separate active drive device; the switching of the camera module 300 position is achieved using elastic components and the robotic arm's built-in drive device, reducing production costs and ensuring stable and reliable position switching. Therefore, this disclosure effectively overcomes some practical problems in the prior art, thus having high utilization value and practical significance.
[0149] 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: The main body (100) is provided with a receiving cavity (110) having an opening (111); A camera module (300) is movably disposed in the receiving cavity (110). The camera module (300) has at least a retracted position and a working position. In the retracted position, the camera module (300) is housed in the receiving cavity (110). In the working position, the camera module (300) is at least partially exposed outside the receiving cavity (110). A power mechanism (400) is disposed between the camera module (300) and the main body (100) to drive the camera module (300) to the working position when the camera module (300) is disengaged from the opening (111).
2. The robotic arm according to claim 1, characterized in that, The power mechanism (400) includes: An elastic element is disposed between the camera module (300) and the main body (100) to apply a force to the camera module (300). The force causes the camera module (300) to move to the working position when it is disengaged from the opening (111).
3. The robotic arm according to claim 1, characterized in that, The camera module (300) has a first direction from the retracted position to the working position, and the robotic arm includes: At least one guiding mechanism (500) is provided on the camera module (300) and / or the main body (100) to guide the camera module (300) to move back and forth along the first direction.
4. The robotic arm according to claim 3, characterized in that, The guiding mechanism (500) includes: Guide (510), the guiding direction of the guide (510) is the same as the first direction; The movable element (520) cooperates with the guide element (510) to cause the camera module (300) to reciprocate in both directions along the first direction.
5. The robotic arm according to claim 4, characterized in that, The robotic arm includes a multi-stage guide mechanism (500); The guide member (510) of the first-level guide mechanism (500) is disposed on the main body (100), and the movable member (520) of the first-level guide mechanism (500) is fixed to the guide member (510) of the next-level guide mechanism (500). The movable part (520) of the final stage guide mechanism (500) is connected to the camera module (300), and the guide part (510) of the final stage guide mechanism (500) is fixed to the movable part (520) of the previous stage guide mechanism (500).
6. The robotic arm according to claim 4, characterized in that, The guiding mechanism (500) includes: The first guiding mechanism (530) includes a first guide (511) and a first moving member (521), wherein the first guide (511) is disposed on the main body; The second guiding mechanism (540) includes a second guide (512) and a second moving member (522), the second moving member (522) being fixed to the camera module (300), and the second guide (512) being fixed to the first moving member (521).
7. The robotic arm according to claim 5 or 6, characterized in that, When the camera module (300) is in the retracted position, the moving part (520) partially overlaps with the moving part (520) of the previous level in the first direction.
8. The robotic arm according to any one of claims 4 to 6, characterized in that, The power mechanism includes: A first elastic element (410) is disposed between the guide (510) and the moving element (520), and when the first elastic element (410) is compressed, a force is applied to the moving element (520) to move along the guiding direction of the guide (510).
9. The robotic arm according to claim 8, characterized in that, The guide (510) includes a guide groove, and the moving part (520) cooperates with the guide groove.
10. The robotic arm according to claim 9, characterized in that, The guiding mechanism (500) includes: A limiting post (550) is disposed in the guide groove, and the first elastic element (410) is sleeved on the limiting post (550).
11. The robotic arm according to claim 1, characterized in that, include: A rotating shaft (600) is rotatably connected to the receiving cavity (110) and / or the camera module (300), wherein the camera module (300) is rotatably disposed in the receiving cavity (110) via the rotating shaft (600).
12. The robotic arm according to claim 11, characterized in that, The camera module (300) rotates in the direction between the retracted position and the working position, with the first rotation direction being the direction between these two positions. The power mechanism (400) includes: A second elastic element (420) is disposed between the main body (100) and the camera module (300) to apply a torque to the camera module (300) along the first rotation direction when the second elastic element (420) deforms.
13. The robotic arm according to claim 12, characterized in that, A limiting part is provided at the opening (111), and the limiting part is located on the front side of the camera module (300) in the first rotation direction to limit the camera module (300) in the working position.
14. The robotic arm according to claim 1, characterized in that, The main body (100) is a foldable main body (100). When the main body (100) is folded, a portion of the main body (100) is blocked by the opening (111).
15. The robotic arm according to claim 1, characterized in that, The robotic arm includes: The execution tool includes a second connecting part; The main body (100) includes a first connecting part, and the receiving cavity (110) is disposed on the first connecting part. The first connecting part and the second connecting part are detachably connected.
16. The robotic arm according to claim 1, characterized in that, The camera module (300) includes: The camera bracket (310) has a mounting cavity (311); The camera assembly (320) is installed in the mounting cavity (311).
17. The robotic arm according to claim 16, characterized in that, The camera module (300) includes: The bracket cover (330) is detachably connected to the camera bracket (310) to open and close the mounting cavity (311).
18. The robotic arm according to claim 17, characterized in that, The mounting cavity (311) is provided with a slot (312), and the camera assembly (320) cooperates with the slot (312) to realize the assembly and disassembly of the camera assembly (320) and the camera bracket (310).
19. A cleaning device, characterized in that, include: Equipment body; The robotic arm according to any one of claims 1 to 18, wherein the robotic arm is mounted on the main body of the device.