Manipulator, execution arm assembly, working assembly and cleaning equipment

Abstract

The utility model provides a manipulator, an execution arm assembly, a working component and cleaning equipment. The manipulator comprises a base, a clamping jaw driving part and a clamping mechanism, the clamping jaw driving part is mounted on the base; the clamping mechanism comprises two clamping parts which are oppositely arranged, and the two clamping parts are both in transmission connection with the clamping jaw driving part and can be driven by the clamping jaw driving part to get close to or get away from each other; wherein one clamping part comprises at least two clamping jaws, and when the two clamping parts get close to each other, the clamping jaws on the two sides get close to each other to clamp an object. The technical problem that an existing mechanical arm is poor in clamping action stability can be solved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a robotic hand, an actuator arm assembly, a working component, and a cleaning device. Background Technology

[0002] Current cleaning equipment typically incorporates working components to grasp or move obstacles or debris in order to better perform its cleaning function. These components usually consist of a robotic arm and a robotic hand; the robotic arm moves, causing the robotic hand to grasp or move obstacles or debris during the cleaning process. However, existing robotic hand structures on the market often suffer from poor gripping stability, which can easily lead to gripping failures. Therefore, improving the stability of robotic hand gripping actions is a pressing technical problem that needs to be solved. Utility Model Content

[0003] In view of the problems existing in the prior art, the present invention provides a robotic arm, an actuator assembly, a working component, and a cleaning device to improve the technical problem of poor stability of the gripping action of the existing robotic arm.

[0004] To achieve the above and other related objectives, the first aspect of this utility model provides a robotic arm, which includes: a base, a gripper drive unit, and a gripping mechanism; the gripper drive unit is mounted on the base; the gripping mechanism includes two gripping parts arranged opposite to each other, both gripping parts being tractively connected to the gripper drive unit and being able to move closer or further apart under the drive of the gripper drive unit; wherein, one gripping part includes at least two grippers, and when the two gripping parts move closer together, the grippers on both sides clamp the object.

[0005] The advantages of this design are as follows: Since each gripper has at least two jaws, multiple contact points are created between the gripper and the object during gripping. This multi-point contact method distributes the gripping force more evenly, reducing slippage or instability caused by single-point contact, thus improving the gripping stability of the robot. Furthermore, the design of at least two jaws allows the gripping mechanism to better adapt to objects of different shapes and sizes. For example, for irregularly shaped objects, the multi-jaw design allows for more flexible adjustment of the contact position to ensure a secure grip.

[0006] In one embodiment of the robotic arm of this utility model, the gripper includes a gripping surface for abutting against the surface of the object to be gripped; at least one gripper has a pressure sensor on its gripping surface, the pressure sensor being configured to detect the abutting pressure between the gripping surface and the object to be gripped.

[0007] The beneficial effects of this design are as follows: By placing pressure sensors on the gripping surfaces of the jaws, the clamping pressure between the gripping surfaces and the object being clamped can be monitored in real time. This ensures that the grippers apply appropriate force during clamping, preventing the object from slipping due to insufficient clamping force, while also preventing damage due to excessive clamping force. This precise clamping force control is particularly effective for fragile or surface-sensitive objects, effectively preventing damage caused by improper clamping. Furthermore, real-time monitoring of the clamping force can promptly detect anomalies, such as sudden changes in clamping force. This allows for timely adjustments to the gripper's movement when abnormalities in the contact pressure are detected, thus preventing safety accidents caused by unstable clamping. This not only improves the reliability and safety of clamping but also enhances the adaptability and stability of the robotic arm in complex operating environments.

[0008] In one embodiment of the robotic arm of this utility model, the gripper includes a gripping surface for abutting against the surface of the object to be gripped; a protective sleeve is provided at the end of the gripper, and the gripping surface is disposed inside the protective sleeve.

[0009] The beneficial effects of this design are twofold: First, the flexible material of the protective sleeve acts as a buffer when gripping objects, reducing hard contact between the grippers and the objects, thus protecting the object's surface from damage. This is especially important when gripping fragile or sensitive objects, effectively preventing damage caused by hard contact. Second, the protective sleeve also protects the grippers, reducing the probability of wear and tear during prolonged use, thereby extending the grippers' lifespan.

[0010] In one embodiment of the robotic arm of this utility model, the outer side of the protective sleeve is provided with anti-slip ribs, which are located on one side wall covering the clamping surface.

[0011] The beneficial effects of this design are: the anti-slip ribs can significantly improve the anti-slip performance of the protective sleeve at the clamping surface, further reducing the possibility of slippage between the gripper and the object, thereby further improving the stability and reliability of clamping.

[0012] In one embodiment of the manipulator of this utility model, the gripping part further includes a column part and a rod part. The column part is rotatably connected to the base, and the gripper and the rod part are fixedly connected to the column part. The manipulator also includes a connecting rod. The rod part is connected to the gripper driving part through the connecting rod. When the gripper driving part is running, the connecting rod drives the column part to rotate so as to make the grippers on both sides move closer or further apart.

[0013] The advantages of this design are as follows: Since the column is directly rotatably connected to the base, the gripper and rod are fixedly connected to the column, and the connecting rod connects the rod and gripper drive unit, this design allows the entire gripping unit to be driven by a single connecting rod. This reduces the complexity of traditional multi-link structures, resulting in a more compact overall layout and a reduction in the overall size of the robot. Simultaneously, because the gripper drive unit directly pushes the rod through the connecting rod, causing the column to rotate, linear or rotational motion is efficiently converted into the opening and closing action of the gripper. Therefore, the entire transmission chain is shorter, energy loss is lower, and the gripper's response speed is improved.

[0014] In one embodiment of the robotic arm of this utility model, the robotic arm further includes a rotating shaft, and the base includes a boss. One end of the rotating shaft is fixedly connected to the boss, and the other end is rotatably connected to the column part. The column part has a countersunk hole at one end facing the boss, and the boss is correspondingly inserted into the countersunk hole.

[0015] The beneficial effects of this design are as follows: By incorporating countersunk holes and bosses, and ensuring their mating installation, the column body can act as a guide when rotating relative to the base. This design helps reduce the probability of significant swaying or jamming of the column body relative to the rotation axis during rotation, thereby ensuring smooth operation of the grippers and guaranteeing the stability and accuracy of clamping.

[0016] In one embodiment of the robotic arm of this utility model, the gripper drive unit includes a gripper drive component, a gear assembly, a lead screw, and a lead screw nut; the fixed end of the gripper drive component is connected to the base, the lead screw is connected to the output end of the gripper drive component through the gear assembly, the lead screw nut is threadedly connected to the lead screw, and the connecting rod is rotatably connected to the lead screw nut.

[0017] The beneficial effects of this design are as follows: Through the transmission of the gear assembly and the lead screw and nut, the power of the gripper drive can be precisely transmitted to the connecting rod, thus ensuring the accuracy of the gripper's operation. This transmission method not only ensures the positional accuracy of the gripper during the clamping process but also enables effective control of the clamping force, thereby improving clamping accuracy and clamping effect. Furthermore, because the lead screw and nut transmission provides stable linear output, it reduces vibration and wobbling during gripper movement, thereby improving the stability of the clamping action.

[0018] In one embodiment of the manipulator of this utility model, the nut is provided with a first protrusion, the rod body is provided with a second protrusion, one end of the connecting rod is rotatably connected to the first protrusion, and the other end is rotatably connected to the second protrusion.

[0019] The advantages of this design are: by setting a first protrusion and a second protrusion, and by inserting the first protrusion and the second protrusion into the first through hole and the second through hole at both ends of the connecting rod respectively, the complex fastening steps required by traditional hinges (such as pin insertion or bolt adjustment) can be eliminated, thereby simplifying the assembly steps and improving assembly efficiency.

[0020] In one embodiment of the robotic arm of this utility model, the robotic arm further includes an upper cover plate and a side cover plate. The upper cover plate, the side cover plate and the base enclose a third receiving cavity, and the gripper driving part is disposed in the third receiving cavity. The side cover plate is located on the side of the base facing the gripper and is provided with a clearance notch for the gripper to pass through.

[0021] The advantages of this design are as follows: the containment cavity effectively prevents dust, liquids, and other impurities from entering, thus protecting the gripper drive unit from contamination and corrosion and extending its service life. Furthermore, the clearance notch design on the side cover not only ensures that the gripper can freely pass through, but also prevents accidental contact between the operator or external objects and the gripper drive unit, improving operational safety.

[0022] In one embodiment of the robotic arm of this utility model, the robotic arm further includes a vision sensor configured to identify the category characteristics and spatial position of the object to be gripped.

[0023] The benefits of this setup are as follows: By incorporating vision sensors into the robotic arm, the sensors can accurately identify the category and spatial position of the object to be gripped, ensuring that the grippers can accurately locate and grasp the object. Furthermore, the real-time feedback from the vision sensors allows the robotic arm to adjust the position and orientation of the grippers promptly, reducing gripping failures or object damage caused by inaccurate positioning, thereby improving the reliability of the gripping process.

[0024] In one embodiment of the robotic arm of this utility model, the vision sensor includes a camera device and a supplementary light source. The camera device and the supplementary light source are disposed on the side of the gripper near the base, and the supplementary light source is used to provide auxiliary lighting for the camera device.

[0025] The advantages of this setup are as follows: Because the camera device can identify the category characteristics and spatial position of the object to be gripped, it ensures that the gripper can accurately locate and grasp the object. This precise recognition capability allows the robotic arm to adapt to high-precision gripping actions. Furthermore, since the supplementary lighting source can provide auxiliary illumination for the camera device, it ensures that clear images can still be obtained under low-light or no-light conditions, improving the accuracy and reliability of recognition.

[0026] In one embodiment of the robotic arm of this utility model, the robotic arm further includes a charging module, which includes a charging control board and electrical contacts. The electrical contacts are used to electrically connect with the electrical components gripped by the clamping part to realize the charging of the electrical components and / or data transmission.

[0027] The beneficial effects of this setup are as follows: By incorporating a charging module into the robotic arm, charging of the held electrical components or data transmission can be achieved simultaneously through contact charging while the grippers are grasping the object. This automatic charging function reduces manual intervention and enables automated charging of electrical components during the gripping process. Simultaneously, the charging module can automatically complete data transmission during gripping, eliminating the need for manual data cable connection, thus improving the convenience and efficiency of data transmission operations. Furthermore, by incorporating the charging module, the robotic arm not only enriches the functionality of its grippers but also enhances its adaptability and flexibility.

[0028] In one embodiment of the robotic arm of this utility model, a side cover plate is installed on the base on the side facing the gripper. The charging module also includes a positioning structure and a positioning detection component. The positioning structure is disposed on the outer side of the side cover plate and is used to position the electrical device for charging or data transmission. The positioning detection component is used to detect the positioning state of the electrical device relative to the electrical contact.

[0029] The beneficial effects of this design are as follows: By setting up a positioning structure, the accuracy of the mating position between the electrical components and electrical contacts can be ensured, reducing poor contact or data transmission failures caused by positional deviations. The positioning detection component can monitor the contact status between the electrical components and electrical contacts, triggering charging or data transmission only when complete positioning is detected, preventing erroneous operations and thus improving the reliability of electrical component charging and data transmission.

[0030] The second aspect of this utility model provides an actuator arm assembly, which includes an actuator arm structure and a robotic arm as described in any of the above embodiments, wherein the robotic arm is mounted on the actuator arm structure.

[0031] In one embodiment of the actuator arm assembly of this utility model, the actuator arm structure includes: a first actuator arm, a first arm body drive unit, a second actuator arm, and a second arm body drive unit; the first arm body drive unit is disposed on the first actuator arm; the second actuator arm is connected to the first arm body drive unit, and the first arm body drive unit drives the second actuator arm to rotate relative to the first actuator arm around a first rotation center axis; the second arm body drive unit is disposed on the second actuator arm and connected to a base; wherein, the second arm body drive unit drives the manipulator to rotate relative to the second actuator arm around a second rotation center axis, and the second rotation center axis is perpendicular to the first rotation center axis.

[0032] The beneficial effects of this design are as follows: Since the first arm drive unit can drive the second actuator arm to rotate around the first rotational axis, and the drive end of the second arm drive unit can rotate around the second rotational axis, and these two rotational axes are perpendicular to each other, the actuator arm structure possesses two independent and perpendicular rotational degrees of freedom. This design enhances the actuator arm structure's operational capability within a spatial range, allowing the robotic arm to operate flexibly from more angles and positions, thereby improving its operational flexibility. Simultaneously, this dual-degree-of-freedom structure allows the actuator arm to adjust its operating posture more flexibly to better adapt to the position and angle requirements of various objects to be manipulated, thus enabling more efficient completion of complex operational tasks. In particular, when the drive end of the second arm drive unit rotates around the second rotational axis, it can drive the robotic hand to rotate around the second rotational axis, thereby enabling the robotic hand to grasp objects in the pitch direction, improving the robotic hand's operational flexibility. This allows the robotic hand to better adapt to the position and angle requirements of various objects to be manipulated, thus enabling more efficient completion of complex operational tasks.

[0033] A third aspect of this utility model provides a working assembly, which includes a robotic arm and a robotic hand as described in any of the above embodiments, with the robotic hand mounted at the end of the robotic arm.

[0034] The fourth aspect of this utility model provides a cleaning device, which includes the working components described in the above embodiments. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the deployed state of the robotic arm of this utility model in one embodiment;

[0037] Figure 2 This is a schematic diagram of the folded state of the robotic arm of this utility model in one embodiment;

[0038] Figure 3 This is a schematic diagram showing the support arm assembly of the robotic arm of the present invention in a raised state in one embodiment;

[0039] Figure 4 This is a schematic diagram showing the support arm assembly in a lowered state in one embodiment of the robotic arm of this utility model;

[0040] Figure 5This is a schematic diagram of the structure of the robotic arm of this utility model after the support base is removed from the box body in one embodiment;

[0041] Figure 6 This is a schematic diagram of the support arm assembly in one embodiment of the robotic arm of this utility model;

[0042] Figure 7 This is a schematic diagram of the connection structure between the second drive unit and the support arm in one embodiment of the robotic arm of this utility model;

[0043] Figure 8 This is a schematic diagram of the connection structure between the second drive unit and the first connecting member in one embodiment of the robotic arm of this utility model;

[0044] Figure 9 This is a schematic diagram of the structure of the robotic arm of the present invention when the support arm assembly is in the raised position in one embodiment;

[0045] Figure 10 for Figure 9 B-direction projection view;

[0046] Figure 11 This is a schematic diagram showing the installation of the first drive unit in the first mounting cavity of the robotic arm of this utility model in one embodiment;

[0047] Figure 12 This is a schematic diagram showing the installation position between the first connecting member and the support base in one embodiment of the robotic arm of this utility model;

[0048] Figure 13 This is a schematic diagram showing another installation position between the first connecting member and the support base in one embodiment of the robotic arm of this utility model;

[0049] Figure 14 This is a schematic diagram of a robotic arm of the present invention, in one embodiment, having an avoidance groove provided on the support base.

[0050] Figure 15 This is a schematic diagram of the structure of the robotic arm of the present invention in one embodiment, showing the first connecting member abutting against the side of the clearance groove.

[0051] Figure 16 This is a schematic diagram of the structure of the robotic arm of the present invention, in one embodiment, where a first limiting component is provided between the first connecting member and the support arm;

[0052] Figure 17 This is a schematic diagram of the structure of the first connecting member of the robotic arm of this utility model in one embodiment;

[0053] Figure 18 This is a schematic diagram of the structure of the robotic arm of the present invention, in one embodiment, where the support arm is provided with a first limiting groove;

[0054] Figure 19 This is a schematic diagram of the structure of the robotic arm of the present invention, in one embodiment, in which the second drive unit is disposed in the second mounting cavity;

[0055] Figure 20 This is a schematic diagram of the actuator arm structure of this utility model in one embodiment;

[0056] Figure 21 This is a schematic diagram of the actuator arm structure of this utility model in another embodiment;

[0057] Figure 22 for Figure 20 Top view of the embodiment shown;

[0058] Figure 23 This is a schematic diagram of the internal structure of the actuator arm structure of this utility model in one embodiment;

[0059] Figure 24 This is a top view of the internal structure of the actuator arm structure of this utility model in one embodiment;

[0060] Figure 25 This is a schematic diagram of the structure of the actuator arm structure of the present invention, showing the first arm body driving part extending out of the first receiving cavity in one embodiment;

[0061] Figure 26 This is a schematic diagram of the structure of the actuator arm structure of the present invention, in one embodiment, showing the first arm body drive unit installed inside the first actuator arm;

[0062] Figure 27 This is a schematic diagram of the structure of the actuator arm structure of the present invention after the control board assembly has been removed from the first receiving cavity in one embodiment;

[0063] Figure 28 This is a schematic diagram of the gear shaft structure in one embodiment of the actuator arm structure of this utility model;

[0064] Figure 29 This is a schematic diagram of the end structure of the second actuator arm in one embodiment of the actuator arm structure of this utility model;

[0065] Figure 30 This is a schematic diagram of the structure of the execution arm structure of the present invention, in one embodiment, showing the second arm body driving part located inside the second execution arm;

[0066] Figure 31 This is a schematic diagram of the structure of the actuator arm of the present invention, in one embodiment, showing a sheet metal part disposed inside the first actuator arm;

[0067] Figure 32 This is a partial cross-sectional view of the first actuator arm and the first arm body drive unit in one embodiment of the actuator arm structure of this utility model;

[0068] Figure 33 This is a schematic diagram of a partial connection between the gear shaft and the second actuator arm in one embodiment of the actuator arm structure of this utility model;

[0069] Figure 34 for Figure 33 Side view of the embodiment shown;

[0070] Figure 35 for Figure 34 A cross-sectional view along the AA direction;

[0071] Figure 36 This is a schematic diagram of the structure of the actuator arm of the present invention in one embodiment, wherein a second limiting block is provided at the end of the first actuator arm;

[0072] Figure 37 This is a schematic diagram of the structure of the actuator arm of the present invention, in one embodiment, a second limiting component is provided between the first actuator arm and the second actuator arm;

[0073] Figure 38 This is a schematic diagram of the actuator arm structure of the present invention in one embodiment, wherein a rotation gap is provided between the first actuator arm and the second actuator arm;

[0074] Figure 39 This is a schematic diagram of the structure of the actuator arm structure of the present invention in one embodiment, wherein a first positioning detection component is provided between the first actuator arm and the second actuator arm;

[0075] Figure 40 for Figure 39 A magnified view of a portion of region C in the middle;

[0076] Figure 41 This is a schematic diagram of the actuator assembly of the present invention in one embodiment;

[0077] Figure 42 This is a schematic diagram of the actuator assembly of this utility model in another embodiment;

[0078] Figure 43 This is a schematic diagram of the internal structure of the actuator assembly of this utility model in one embodiment;

[0079] Figure 44 This is a schematic diagram of the overall structure of the execution tool of this utility model in one embodiment;

[0080] Figure 45 This is a schematic diagram of the connection structure between the execution tool and the second execution arm in one embodiment of the execution arm assembly of this utility model;

[0081] Figure 46 for Figure 45 A magnified view of a portion of region E in the middle;

[0082] Figure 47 for Figure 45 A magnified view of a portion of region D in the middle;

[0083] Figure 48 This is a schematic diagram of the structure of the actuator arm assembly of the present invention, in which the first connecting arm is provided with a metal part in one embodiment;

[0084] Figure 49 This is a partial structural diagram of an embodiment of the actuator assembly of the present invention, in which a second positioning detection component is provided between the second actuator arm and the actuator tool;

[0085] Figure 50 This is a schematic diagram of the structure of the actuator arm assembly of the present invention, in one embodiment, having a detection switch provided on the actuator tool;

[0086] Figure 51 This is a schematic diagram of the structure of the actuator arm assembly of the present invention, in one embodiment, in which a stop is provided on the second actuator arm;

[0087] Figure 52 This is a schematic diagram showing the position of the reference plane in one embodiment of the actuator assembly of this utility model;

[0088] Figure 53 This is a schematic diagram of the structure of the execution tool of this utility model in one embodiment;

[0089] Figure 54 This is a schematic diagram of the structure of the execution tool of this utility model in another embodiment;

[0090] Figure 55 This is a schematic diagram of the internal structure of the execution tool of this utility model in one embodiment;

[0091] Figure 56 This is a schematic diagram of the internal partial structure of the execution tool of this utility model in one embodiment;

[0092] Figure 57 This is a schematic diagram of the installation structure of the gripper drive unit on the base in one embodiment of the execution tool of this utility model;

[0093] Figure 58 This is a schematic diagram of the clamping part in one embodiment of the execution tool of this utility model;

[0094] Figure 59 This is a schematic diagram of the structure of the execution tool of the present invention, in which the gripper is fitted with an anti-slip sleeve;

[0095] Figure 60 This is a schematic diagram of the structure of the execution tool of this utility model, in one embodiment, having a countersunk hole in the cylindrical part;

[0096] Figure 61This is a partial cross-sectional view of the connection position between the column and the base in one embodiment of the execution tool of this utility model;

[0097] Figure 62 This is a schematic diagram of the connecting rod structure in one embodiment of the execution tool of this utility model;

[0098] Figure 63 This is a schematic diagram of the structure of the execution tool of this utility model, which is provided with a charging module in one embodiment;

[0099] Figure 64 This is a schematic diagram showing the installation positions of the charging module and the vision sensor inside the base in one embodiment of the execution tool of this utility model;

[0100] Figure 65 This is a schematic diagram of the structure of the execution tool of the present invention in the deployed state of the working components in one embodiment;

[0101] Figure 66 This is a schematic diagram of the structure of the execution tool of the present invention in the folded state of the working component in one embodiment;

[0102] Figure 67 This is a schematic diagram of the working components of the cleaning equipment in a folded state according to an embodiment of the present invention;

[0103] Figure 68 This is a schematic diagram of the working components of the cleaning equipment in an unfolded state according to an embodiment of the present invention.

[0104] Component designation explanation:

[0105] 1000. Working component; 100. Robotic arm; 10. Support base; 11. First mounting cavity; 12. Upper surface of base; 13. First support surface; 14. First housing; 15. First housing cover; 151. Clearance groove; 160. First limiting component; 161. First limiting groove; 162. First limiting block; 20. First drive unit; 21. First fixed end; 22. First drive end; 23. First axis; 24. First drive component; 25. First connecting component; 251. Connecting part; 252. Support leg; 261. Worm gear; 262. Worm; 27. Transmission base; 30. Support arm assembly; 301. Upper surface of support arm; 31. Second mounting cavity; 32. Second housing; 33. Second housing cover; 34. First... 35. Second end; 36. Support arm; 40. Working arm module; 41. First mechanical joint; 42. Second mechanical joint; 50. Second drive unit; 51. Second fixed end; 52. Second drive end; 53. Second axis; 60. Connecting arm; 61. First connecting end; 62. Second connecting end; 70. Execution arm structure; 71. First execution arm; 711. First receiving cavity; 7111. First cavity; 7112. Second cavity; 7113. Third hole; 712. Sheet metal part; 7121. First hole; 7122. Second hole; 7123. Connecting channel; 713. Control board assembly; 7131. First control board; 7132. Second control board; 714. Bearing; 715. Third housing; 716. Third Box lid; 7161, First cover body; 7162, Second cover body; 72, First arm drive part; 721, Third fixed end; 722, Third drive end; 723, First arm drive component; 724, First gear; 725, Gear shaft; 7251, Second gear; 7252, Support shaft; 72521, Second through hole; 7253, Cable channel; 7254, First support end; 7255, Second support end; 7255; 73, Second actuator arm; 731, First rotation center shaft; 732, Second receiving cavity; 7321, Fourth hole; 7322, First through hole; 7323, Adapter; 73231, Boss part; 74, Flat contact surface; 75, Connecting rod; 76, Second limiting component; 7 61. Second limiting groove; 762. Second limiting block; 77. Rotation clearance; 771. Protruding structure; 78. First positioning detection component; 781. Infrared emitting end; 782. Infrared receiving end; 783. Optical path; 790. Second positioning detection component; 791. Detection switch; 792. Stop; 80. Second arm body drive unit; 81. Fourth fixed end; 82. Fourth drive end; 84. Second rotation center shaft; 90. Execution tool; 910. Main body; 920. Connecting end; 901. First connecting arm; 902. Second connecting arm; 9021. Insertion hole; 903. Metal part; 904. Connecting rod; 9041. First through hole; 9042. Second through hole; 905. Rotation shaft; 906. Top cover plate;907. Side cover plate; 9071. Clearance notch; 908. Third receiving cavity; 91. Base; 911. Boss; 92. Gripper drive unit; 921. Fifth fixed end; 922. Fifth drive end; 923. Gripper drive component; 924. Gear assembly; 925. Lead screw; 926. Lead nut; 9261. First protrusion; 93. Clamping mechanism; 931. Clamping part; 9311. Column part; 9312. Rod part; 9313. Countersunk hole; 9314. Second protrusion; 932. Gripper; 9321. Clamping surface; 933, Protective sleeve; 934, Anti-slip ribs; 94, Pressure sensor; 95, Charging module; 951, Charging control board; 952, Electrical contact; 96, Positioning structure; 97, Fourth positioning detection component; 98, Vision sensor; 981, Camera device; 982, Supplementary lighting source; 200, Actuating arm assembly; 201, Reference plane; 2011, First plane; 2012, Second plane; 2013, Third plane; 300, Cleaning equipment; 310, Equipment body; 320, Receiving cavity. Detailed Implementation

[0106] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. It should also be understood that the terminology used in the embodiments of this utility model is for describing specific implementation schemes and not for limiting the scope of protection of this utility model. 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.

[0107] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise specified in this invention, 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 invention, as well as the prior art known to those skilled in the art and the description of this invention, may be implemented using any prior art methods, equipment, and materials similar to or equivalent to those in the embodiments of this invention.

[0108] 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 implementation of this utility model. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of implementation of this utility model.

[0109] Please see Figures 1 to 68 This utility model provides a cleaning device 300, which can be a robot vacuum cleaner, a mop, or a combined sweeper and mop, etc. Exemplarily, the following embodiments use a robot vacuum cleaner as an example for illustration.

[0110] In one embodiment, the cleaning device 300 includes, but is not limited to, a device body 310, a cleaning system, a drive system, a sensing system, a control system, an energy system, and a human-machine interaction system. These systems coordinate with each other, enabling the cleaning device 300 to move autonomously to clean the surface to be cleaned. The functional components constituting these systems are integrated within the device body 310.

[0111] Please see Figure 67 and Figure 68 The cleaning equipment 300 includes a working component 1000, which includes a robotic arm 100 and an execution tool 90. The robotic arm 100 is mounted on the equipment body 310, and the execution tool 90 is mounted on the end of the robotic arm 100. The execution tool 90 can be any device that can improve the cleaning effect of the cleaning equipment 300, such as a robotic hand, a vacuuming device, a spraying device, or a blow-suction device. For example, in an embodiment of the utility model, the execution tool 90 is a robotic hand. During the operation of the cleaning equipment 300, the movement of the robotic arm 100 can drive the robotic hand to grasp or move obstacles, objects, and garbage near the cleaning equipment 300, thereby better realizing the cleaning function and improving the cleaning effect. For details, please refer to... Figure 67 The device body 310 is provided with a receiving cavity 320, and the working component 1000 can be folded and stored in the receiving cavity 320.

[0112] Please see Figure 1 and Figure 2 In one embodiment of the present invention, the robotic arm 100 includes a support base 10, a first drive unit 20, a support arm assembly 30, and a working arm module 40.

[0113] Please see Figures 3 to 5 The first drive unit 20 includes a first fixed end 21 and a first drive end 22. The first fixed end 21 is fixedly connected to the support base 10, and the fixed connection method can be bolted connection, snap-fit ​​connection, etc. The first drive unit 20 can be a combination of a motor and a worm gear, with the motor body forming the first fixed end 21 and the worm gear forming the first drive end 22. The first drive unit 20 can also be a combination of a motor and a gear assembly, with the motor body forming the first fixed end 21 and the output gear of the gear assembly forming the first drive end 22.

[0114] Please see Figure 5 and Figure 6The support arm assembly 30 includes a first end 34 and a second end 35, with the first end 34 connected to the first drive end 22. In this embodiment, the first end 34 can be directly connected to the first drive end 22, or it can be indirectly connected to the first drive end 22 through other connecting components. Please refer to [link to previous section]. Figure 7 The support arm assembly 30 includes a support arm 36 and a second drive unit 50. The second drive unit 50 includes a second drive end 52 and a second fixed end 51, with the support arm 36 fixedly connected to the second drive end 52. The second fixed end 51 can be directly fixedly connected to the first drive end 22, or it can be fixedly connected to the first drive end 22 through other connecting parts. The structure of the second drive unit 50 can be varied. For example, the second drive unit 50 can be a motor, with the motor body serving as the second fixed end 51 and the motor's output shaft serving as the second drive end 52. The second drive unit 50 can also be a combination of a motor and a gear assembly, with the motor body serving as the second fixed end 51 and the output gear of the gear assembly serving as the second drive end 52. This embodiment is not limited to this. It should be noted that the first end 34 being connected to the first drive end 22 can refer to the support arm 36 being connected to the first drive end 22, or it can refer to the second fixed end 51 being connected to the first drive end 22.

[0115] Please see Figure 1 and Figure 6 The working arm module 40 is rotatably connected to the second end 35 of the support arm assembly 30 for performing end-effector operations. The working arm module 40 can be a single-segment structure, such as consisting of a single rigid or flexible arm body. The working arm module 40 can also be a multi-segment structure, such as consisting of two or more arm bodies connected in series via rotary joints, forming multiple degrees of freedom of movement.

[0116] Please see Figure 5 , Figure 9 and Figure 10 When the first drive unit 20 is running, the first drive end 22 rotates around the first axis 23 (rotation direction as follows). Figure 9 As indicated by the arrow, this drives the support arm assembly 30 to rotate in the vertical plane, thereby enabling the support arm assembly 30 to swing between the raised and lowered positions. The first axis 23 is perpendicular to the vertical plane. Specifically, the direction of the first axis 23 is as follows: Figure 10 As shown, Figure 10 for Figure 9 The B-direction projection view. The raised position refers to the state of the support arm assembly 30 when it swings upward around the first axis 23 to its limit position under the action of the first drive unit 20, such as... Figure 9As shown. At this time, along the height direction of the support base 10, the second end 35 of the support arm assembly 30 reaches its maximum height. In the raised position, the working arm module 40 can perform operations requiring a higher elevation or move above the target position. The lowered position refers to the state when the support arm assembly 30, under the action of the first drive unit 20, swings downward around the first axis 23 to its limit position, as shown. Figure 4 As shown. At this time, along the height direction of the support base 10, the second end 35 of the support arm assembly 30 is lowered to its lowest position. In the lowered position, the working arm module 40 can perform operations that require lowering the height or moving below the target position.

[0117] It should be noted that the swing angle of the support arm assembly 30 between the raised and lowered positions is not limited. For example, the swing angle can be less than 90°, equal to 90°, or greater than 90°, etc., and needs to be determined according to the execution requirements of the robotic arm 100. In one embodiment, the swing angle of the support arm assembly 30 between the raised and lowered positions is 90°. The support base 10 is set to a horizontal installation configuration, such as... Figure 9 As shown, when the support arm assembly 30 is in the raised position, the support arm assembly 30 is vertical relative to the support base 10.

[0118] Please participate Figure 1 , Figure 7 and Figure 10 When the second drive unit 50 is running, the second drive end 52 drives the support arm 36 to rotate around the second axis 53, thereby driving the working arm module 40 to rotate synchronously. The second axis 53 is perpendicular to the first axis 23 and is consistent with the extension direction of the support arm 36. The range of rotation angle of the support arm 36 around the second axis 53 is unlimited and needs to be determined according to the operating posture range of the robotic arm 100.

[0119] In this embodiment, the first drive unit 20 drives the support arm assembly 30 to swing around the first axis 23 in a vertical plane, thereby achieving vertical height adjustment of the working arm module 40. This design allows the robotic arm 100 to flexibly adjust its working height according to operational needs, thus better adapting to operational requirements at different heights. Simultaneously, the second drive unit 50 drives the support arm 36 to rotate around the second axis 53, with the first axis 23 perpendicular to the second axis 53. This design improves the rotational capability of the working arm module 40 in the horizontal plane, increasing the horizontal operating space of the robotic arm 100 and enabling it to perform operations over a wider horizontal range. The perpendicular arrangement of the two axes makes it easier to control the operating posture of the robotic arm 100. By combining vertical swing with horizontal rotation, the robotic arm 100 not only meets the requirements of multi-degree-of-freedom design but also expands its working space. Therefore, this structural design improves the operational flexibility of the robotic arm 100, enabling it to better adapt to operational requirements in complex environments.

[0120] To facilitate the connection between the support arm assembly 30 and the first drive end 22, optionally, please refer to Figure 5 and Figure 8 In one embodiment of the robotic arm 100 of this utility model, the second fixed end 51 is connected to the first driving end 22 to realize the connection between the support arm assembly 30 and the first driving end 22. Please refer to Figure 6 and Figure 7 The second fixed end 51 corresponds to the first end 34 of the support arm assembly 30. The fixing connection between the second fixed end 51 and the first driving end 22 can be achieved in various ways, such as bolt fixing, snap-fit ​​fixing, or welding fixing. By connecting the second fixed end 51 to the first driving end 22, both the connection between the second fixed end 51 and the first driving end 22 and the connection between the support arm 36 and the first driving end 22 can be achieved simultaneously in a single connection operation. Therefore, the connection structure can be simplified, and assembly efficiency can be improved.

[0121] The second fixed end 51 and the first driving end 22 can be directly connected, or they can be indirectly connected through other connecting parts. Optionally, please refer to [link / reference needed]. Figure 8 , Figure 9 and Figure 11 In one embodiment of the robotic arm 100 of this utility model, the support base 10 includes a first mounting cavity 11, and a first driving part 20 is disposed in the first mounting cavity 11. The first driving end 22 and the second fixed end 51 are connected by a first connecting member 25. The specific structure of the first connecting member 25 is not limited, and it can be any structure such as a T-shaped plate, an L-shaped plate, or a U-shaped plate, as long as it meets the connection strength requirements of the first connecting member 25.

[0122] Please see Figure 8, Figure 11 , Figure 12 The first mounting cavity 11 has a clearance groove 151 on the side near the first connector 25. One end of the first connector 25 is located inside the first mounting cavity 11 and is fixedly connected to the first drive end 22. The other end of the first connector 25 extends out of the clearance groove 151 to the outside of the first mounting cavity 11 and is connected to the second fixed end 51. When the first drive unit 20 rotates, the first drive end 22 drives the first connector 25 to rotate, the first connector 25 drives the second fixed end 51 to rotate, thereby causing the support arm assembly 30 to swing between the raised position and the lowered position. The sidewall of the clearance groove 151 limits the rotation angle of the first connector 25. For details, please refer to [link to relevant documentation]. Figure 12 When the support arm assembly 30 is in the raised position, one side wall of the first connector 25 abuts against one end side wall of the clearance groove 151 to restrict the first connector 25 from continuing to rotate upward. Please refer to Figure 13 When the support arm assembly 30 is in the lowered position, the other side wall of the first connector 25 abuts against the other side wall of the clearance groove 151 to restrict the first connector 25 from continuing to rotate downward.

[0123] By setting up the first mounting cavity 11 and placing the first drive unit 20 within it, the contamination of the first drive unit 20 by dust and impurities from the external environment can be reduced, thus extending its service life. Simultaneously, by setting up the first connecting member 25, a stable mechanical structure can be formed between the support arm assembly 30 and the first drive unit 20, reducing the probability of vibration and swaying of the support arm assembly 30 during operation, thereby improving the operating accuracy of the robotic arm 100. Furthermore, since the sidewall of the clearance groove 151 can limit the rotation angle of the first connecting member 25, no additional limiting structures are needed, thus simplifying the number of parts in the robotic arm 100 and reducing structural complexity and manufacturing costs.

[0124] Please see Figure 6 , Figure 9In one embodiment of the robotic arm 100 of this utility model, the first driving unit 20 includes a first driving member 24, a worm gear 261, and a worm 262. The first driving member 24 drives the worm 262 to rotate, and the worm gear 262 drives the worm gear 261 to rotate. The worm gear 261 is fixedly connected to the first end 34. The first driving member 24 can be any mechanism capable of driving the worm 262 to rotate, such as a motor or a hydraulic pump. Optionally, in this embodiment, the first driving member 24 is a motor. For ease of description, this motor is referred to as the first motor. The first motor is fixedly installed on the support base 10, and the output shaft of the first motor is fixedly connected to the worm 262. The worm gear 261 is rotatably installed on the support base 10 and is fixedly connected to the first end 34. The worm gear 261 can be directly fixedly connected to the first end 34 or indirectly fixedly connected. The first end 34 can be the wall of the support arm 36 or the second fixed end 51. Optionally, please refer to... Figures 6 to 8 In this embodiment, the first end 34 is the second fixed end 51, and the second fixed end 51 is fixedly connected to the worm gear 261 through the first connector 25. For details, please refer to... Figure 15 and Figure 16 The first connecting member 25 includes a connecting part 251 and two support legs 252. The two support legs 252 are respectively fixedly connected to both sides of the worm gear 261, and the connecting part 251 is fixedly connected to the second fixed end 51.

[0125] Because of the self-locking characteristic of worm gear drives, the support arm assembly 30 can maintain its current swing position when it stops swinging, preventing accidental movement due to external forces. Therefore, it not only improves the accuracy and reliability of the swing angle control of the support arm assembly 30, but also prevents accidental swinging of the support arm assembly 30 due to external forces (such as gravity, collisions, etc.) when the robotic arm 100 stops working or malfunctions, thus protecting the safety of the equipment and operators.

[0126] Please see Figure 11 and Figure 15In one embodiment of the robotic arm 100 of this utility model, a transmission base 27 is further provided inside the first mounting cavity 11. The first driving component 24, the worm gear 262, and the worm wheel 261 are all mounted on the transmission base 27. The transmission base 27 is fixedly connected to the support base 10. The transmission base 27 includes a receiving cavity, and the worm gear 262 and the worm wheel 261 are disposed within the receiving cavity. This design of the transmission base 27 makes the first driving part 20 an independent module. This modular design facilitates maintenance and replacement. When the first driving part 20 needs repair or replacement, the entire module can be quickly disassembled and installed without the need for complex disassembly of the entire robotic arm 100. Furthermore, since the transmission base 27 and the first mounting cavity 11 are separate components, the materials of the first mounting cavity 11 and the transmission base 27 can be different to better meet their respective strength requirements. For example, the transmission base 27 can be made of a metal material with high support strength to meet the installation strength requirements of the second driving part 50. The first mounting cavity 11 can be made of plastic to meet lightweight design requirements.

[0127] Please see Figure 10 and Figure 16 In one embodiment of the robotic arm 100 of this utility model, a first limiting component 160 is provided between the first connecting member 25 and the support arm 36. The first limiting component 160 is used to limit the rotation angle of the support arm 36 around the second axis 53. The first limiting component 160 can be a mechanical limiting structure, such as a limiting block. The limiting block is fixed on the first connecting member 25, and its installation position matches the rotation path of the first connecting member 25. When the support arm 36 rotates around the second axis 53 to a set angle, the limiting block abuts against the first connecting member 25 to prevent further rotation of the support arm 36. The first limiting component 160 can also be an electrical limiting structure, such as a limit switch and a stop block. The limit switch and the stop block are respectively provided on the first connecting member 25 and the support arm 36. When the support arm 36 rotates around the second axis 53 to a set angle, the stop block triggers the limit switch, generating a stop signal, thereby controlling the second drive unit 50 to stop rotating.

[0128] Since the first limiting component 160 restricts the rotation angle of the support arm 36 around the second axis 53, it ensures that the movement range of the support arm 36 is always within a preset safety range, effectively preventing excessive rotation due to misoperation or abnormal control signals, thereby improving the safety performance of the robotic arm 100. Furthermore, by adjusting the installation position of the limiting component, different rotation angle ranges can be matched, thus improving the versatility and flexibility of the robotic arm 100.

[0129] Please see Figures 16 to 18In one embodiment of the robotic arm 100 of this utility model, the first limiting component 160 includes a first limiting groove 161 and a first limiting block 162. The first limiting groove 161 is disposed on the first connecting member 25, and the first limiting block 162 is disposed on the support arm 36. When the support arm 36 rotates around the second axis 53, the first limiting block 162 slides within the first limiting groove 161. For details, please refer to... Figure 17 and Figure 18 A first limiting groove 161 is disposed on the connecting portion 251, and a first limiting block 162 is disposed on the wall of the support arm 36 facing the connecting portion 251. The first limiting groove 161 is an arc-shaped groove structure surrounding the second axis 53, with both ends of its arc-shaped extension direction being closed ends. During the rotation of the support arm 36 around the second axis 53, when the first limiting block 162 abuts against the closed end, the rotation of the support arm 36 will stop, thereby limiting the rotation angle of the support arm 36. In another embodiment, the first limiting groove 161 can also be disposed on the support arm 36, and the first limiting block 162 can be correspondingly disposed on the first connecting member 25. This design also allows the first limiting block 162 to slide within the first limiting groove 161 when the support arm 36 rotates around the second axis 53, thereby limiting the rotation angle of the support arm 36.

[0130] By setting a first limiting groove 161 and a first limiting block 162, and allowing the first limiting block 162 to slide within the first limiting groove 161, the mechanical forced stop formed between the first limiting block 162 and the side wall of the first limiting groove 161 can effectively limit the rotation angle range of the support arm 36, thereby achieving a more stable and reliable stopping effect. Furthermore, since the first limiting groove 161 and the first limiting block 162 can be directly formed using common machining methods (such as milling, stamping, or injection molding), there is no need for complex transmission mechanisms or additional sensors, which not only reduces machining difficulty but also reduces machining costs.

[0131] Please see Figures 7 to 9In one embodiment of the robotic arm 100 of this utility model, the support arm 36 includes a second mounting cavity 31, and a second drive unit 50 is disposed within the second mounting cavity 31. The second drive unit 50 is fixedly connected to the wall of the second mounting cavity 31, and the fixed connection method includes, but is not limited to, bolt fixing. The second fixed end 51 extends to the outside of the second mounting cavity 31 and is fixedly connected to the first drive end 22. The second fixed end 51 can be any suitable structural form such as a connecting shaft, a connecting flange, or a connecting bracket, and is not specifically limited here. Specifically, in this embodiment, the first drive end 22 is fixedly connected to a first connecting member 25, and the second fixed end 51 is fixedly connected to the first connecting member 25. By placing the second drive unit 50 within the second mounting cavity 31 of the support arm 36, the structure of the entire support arm assembly 30 becomes more compact. This design can reduce the overall external dimensions of the support arm assembly 30, reduce the occupation of external space, and make the overall volume of the robotic arm 100 smaller, which is convenient for installation and operation in space-constrained environments. Meanwhile, the cavity structure design can also enhance the support strength and rigidity of the support arm 36 itself, which in turn helps to improve the operational stability of the robotic arm 100.

[0132] While the structure of the second drive unit 50 can have various options, such as a motor, a motor and gear assembly, alternatively, please refer to [link to relevant documentation]. Figures 7 to 9 In one embodiment of the robotic arm 100 of this utility model, the second drive unit 50 is a motor, which is referred to as the second motor for ease of description. The base of the second motor constitutes the second drive end 52, and the output shaft of the second motor constitutes the second fixed end 51. Since the output shaft of the motor is directly connected to the first connecting member 25, the intermediate transmission link can be omitted, realizing the direct motor connection design between the first connecting member 25 and the support arm 36. Therefore, the output of the motor can be more accurately converted into the rotation of the support arm 36, which is beneficial to improving the response speed and control accuracy of the robotic arm 100. At the same time, since the direct motor connection structure can directly transmit the torque of the motor to the support arm 36 without the need for a reduction device to amplify the torque, the robotic arm 100 can obtain a more stable power output during operation, reducing motion jamming or instability caused by insufficient torque.

[0133] Please see Figure 4 and Figure 11 In one embodiment of the robotic arm 100 of this utility model, the support base 10 includes a base upper plane 12 exposed outside the first mounting cavity 11. Specifically, the support base 10 includes a first housing 14 and a first housing cover 15, the first housing cover 15 covering the first housing 14 to form the first mounting cavity 11. The side surface of the first housing cover 15 facing away from the first mounting cavity 11 forms the base upper plane 12. When the support arm 36 is in the retracted position, the first drive unit 20 is accommodated in the first mounting cavity 11. Along the height direction of the support base 10 (e.g. Figure 4 As shown on the Z1 axis, the upper surface 301 of the support arm is flush with the upper plane 12 of the base to form the first support surface 13.

[0134] The robotic arm 100 typically has a folded configuration for easy storage on the cleaning equipment 300. In the folded state, the support arm assembly 30 is in a retracted position, and correspondingly, the working arm module 40 is also folded above the support arm assembly 30. In this embodiment, as... Figure 2 As shown, when the support arm assembly 30 is in the retracted position, the upper surface 301 of the support arm is flush with the upper plane 12 of the base of the support base 10, forming a first support surface 13. Therefore, this first support surface 13 can provide a large area of ​​support for the working arm module 40 folded above the support arm assembly 30, thereby improving the stability of the robotic arm 100 in the folded state. At the same time, the upper surface 301 of the support arm is flush with the upper plane 12 of the base of the support base 10, which can further reduce the height of the robotic arm 100 above the support base 10 in the folded state, making the overall structure of the robotic arm 100 more compact and easier to store.

[0135] Please see Figures 6 to 8 In one embodiment of the robotic arm 100 of this utility model, the support arm 36 includes a second housing 32 and a second housing cover 33. The second housing cover 33 and the second housing 32 are closed to form a second mounting cavity 31, and a second drive unit 50 is disposed within the second mounting cavity 31. Specifically, in this embodiment, the second drive unit 50 is a second motor, which is fixedly disposed within the second mounting cavity 31. The output shaft of the second motor extends to the outside of the second mounting cavity 31 and is fixedly connected to the first connecting member 25. Please refer to [link / reference]. Figure 4 When the support arm 36 is in the lowered position, the surface of the second cover 33 facing away from the second housing 32 forms the upper surface 301 of the support arm. By making the surface of the second cover 33 facing away from the second housing 32 form the upper surface 301 of the support arm, when a leveling error occurs between the upper surface 301 of the support arm and the upper plane 12 of the base, the leveling accuracy can be adjusted by replacing the second cover 33 with one of different thicknesses without modifying the main structure of the second housing 32. Therefore, leveling accuracy adjustment is more convenient and faster. At the same time, by controlling the thickness of the second cover 33, not only can the upper surface 301 of the support arm be leveled with the upper plane 12 of the base, but the upper surface 301 of the support arm can also obtain a support strength that matches the support requirements, thereby meeting the support needs of the robotic arm 100 in different working scenarios, thus providing greater design flexibility.

[0136] Please see Figure 1 and Figure 6In one embodiment of the robotic arm 100 of this utility model, the working arm module 40 includes a connecting arm 60 and an execution arm structure 70. The connecting arm 60 includes a first connecting end 61 and a second connecting end 62, which are located at opposite ends of the connecting arm 60 along its length. The first connecting end 61 is connected to the support arm 36 via a first mechanical joint 41 to achieve a rotational connection between the first connecting end 61 and the support arm 36. Specifically, the first connecting end 61 is connected to the second end 35 of the support arm 36 via the first mechanical joint 41. The second connecting end 62 is connected to the execution arm structure 70 via a second mechanical joint 42 to achieve a rotational connection between the second connecting end 62 and the execution arm structure 70. The first mechanical joint 41 and the second mechanical joint 42 can be a combination of a motor and a planetary gearbox in a conventional structure, or other mechanisms capable of achieving rotary output, such as a combination of a motor and a harmonic gear reducer, or a combination of a motor and an RV reducer. The connection structure of the first mechanical joint 41 between the first connecting end 61 and the support arm 36, and the connection structure of the second mechanical joint 42 between the second connecting end 62 and the execution arm structure 70, can be referred to the relevant structural descriptions in the existing robotic arm 100 structure, and will not be repeated here.

[0137] Please see Figure 2 When the robotic arm 100 is in the folded state, the support arm assembly 30 is in the corresponding retracted position, and the connecting arm 60 is folded relative to the support arm 36 and supported on the first support surface 13. The actuator arm structure 70 is folded relative to the connecting arm 60 and supported on the side of the connecting arm 60 facing away from the support arm 36. By placing the support arm assembly 30 in the retracted position and having the connecting arm 60 and actuator arm structure 70 sequentially supported on the first support surface 13 and the connecting arm 60, the robotic arm 100 can achieve a more compact spatial layout in the folded state. This compact spatial layout makes it easier for the robotic arm 100 to be embedded in the narrow storage compartment of the cleaning device 300 after folding, avoiding interference with other components on the cleaning device 300.

[0138] Please see Figures 20 to 24 In one embodiment of the robotic arm 100 of this utility model, the actuator arm structure 70 includes a first actuator arm 71, a first arm body drive unit 72, a second actuator arm 73, and a second arm body drive unit 80. Please refer to... Figure 1 The first actuator arm 71 is rotatably connected to the second connecting end 62. Specifically, the first actuator arm 71 is rotatably connected to the second connecting end 62 via a second mechanical joint 42. A first arm drive unit 72 is disposed on the first actuator arm 71, and a second actuator arm 73 is disposed on the side of the first actuator arm 71 away from the second mechanical joint 42. The second actuator arm 73 is connected to the first arm drive unit 72. For details, please refer to [link to details]. Figure 24The fixed end of the first arm drive unit 72 is fixedly connected to the first actuator arm 71, and the drive end of the first arm drive unit 72 is fixedly connected to the second actuator arm 73. For ease of description, the fixed end of the first arm drive unit 72 is defined as the third fixed end 721, and the drive end of the first arm drive unit 72 is defined as the third drive end 722. Please refer to [link / reference]. Figure 20 and Figure 24 The first arm drive unit 72 drives the second actuator arm 73 to rotate relative to the first actuator arm 71 about the first rotation center axis 731. The extension direction of the first rotation center axis 731 is consistent with the length direction of the first actuator arm 71, such as... Figure 25 As shown on the X1 axis. It should be noted that the first arm drive unit 72 can be any mechanism capable of driving the second actuator arm 73 to rotate around the first rotation center axis 731, such as a motor, a combination of a motor and a gear assembly. This embodiment does not limit this.

[0139] Please see Figure 23 and Figure 24 The second arm drive unit 80 is disposed on the second actuator arm 73. Specifically, the fixed end of the second arm drive unit 80 is disposed on the second actuator arm 73 and fixedly connected to the second actuator arm 73. The drive end of the second arm drive unit 80 rotates relative to the second actuator arm 73 around the second rotation center axis 84, and the second rotation center axis 84 is perpendicular to the first rotation center axis 731. The extending direction of the second rotation center axis 84 is consistent with the width direction of the second actuator arm 73. Figure 24 As shown in the Y1 axis direction. For ease of description, the fixed end of the second arm drive unit 80 is defined as the fourth fixed end 81, and the drive end of the second arm drive unit 80 is defined as the fourth drive end 82. Similarly, the second arm drive unit 80 can be any mechanism with a rotating output end, such as a motor, a combination of a motor and a gear assembly, etc., and this embodiment does not limit it.

[0140] Since the first arm drive unit 72 can drive the second actuator arm 73 to rotate around the first rotation center axis 731, and the drive end of the second arm drive unit 80 can rotate around the second rotation center axis 84, and these two rotation center axes are perpendicular to each other, this gives the actuator arm structure 70 two independent and perpendicular rotational degrees of freedom. This design can improve the actuator arm structure 70's operational capability within a spatial range, allowing the robotic arm 100 to operate flexibly from more angles and positions, thereby improving the operational flexibility of the robotic arm 100's end effector. Simultaneously, this dual-degree-of-freedom structure allows the actuator arm structure 70 to adjust its operating posture more flexibly to better adapt to the position and angle requirements of various objects to be operated, thus enabling more efficient completion of complex operational tasks. Furthermore, compared to the single-degree-of-freedom actuator arm structure 70, this structure can expand the workspace range of the robotic arm 100's end effector, especially enabling the execution tool 90 mounted on the actuator arm structure 70 to perform pitch-direction operations on objects, such as pitch gripping, thereby enhancing the applicability and flexibility of the actuator arm structure 70's operation.

[0141] It should be noted that the pitch grasping here refers to the function of the execution tool 90 (such as a robotic hand) at the end of the robotic arm 100 to approach and grasp the object vertically downward or tilted downward from above by means of pitch freedom (rotation of the driving end of the second arm body drive unit 80 around the second rotation center axis 84 in the above embodiment).

[0142] The following embodiments provide a detailed structural description of the actuator arm structure 70 in the above embodiments.

[0143] Please see Figure 24 and Figure 27 In one embodiment of the actuator arm structure 70 of this utility model, the first actuator arm 71 includes a first receiving cavity 711, and the fixed end of the first arm body driving part 72 is disposed in the first receiving cavity 711, that is, the third fixed end 721 is disposed in the first receiving cavity 711. The specific structural shape of the first actuator arm 71 is not limited, for example, it can be a cuboid structure, a cube structure, or a cylindrical structure. Optionally, in this embodiment, the first actuator arm 71 is an approximately cuboid structure, and the first receiving cavity 711 is an approximately cuboid cavity. The driving end (i.e., the third driving end 722) of the first arm body driving part 72 extends to the outside of the first receiving cavity 711 and is fixedly connected to the second actuator arm 73. The fixed connection method is not limited, for example, the third driving end 722 can be provided with a first flange, and the second actuator arm 73 can be provided with a second flange at a corresponding position, and the first flange and the second flange are connected by bolts after docking. Alternatively, the third drive end 722 may have an output shaft, and the second actuator 73 may have a corresponding connection hole, with the output shaft fixedly inserted into the connection hole to achieve a fixed connection.

[0144] By providing a first receiving cavity 711 within the first actuator arm 71, and placing the fixed end of the first arm drive unit 72 within the first receiving cavity 711, the external space occupied by the first arm drive unit 72 on the first actuator arm 71 can be reduced, thereby optimizing the overall structural compactness between the first actuator arm 71 and the first arm drive unit 72. Simultaneously, the structural design of the first receiving cavity 711 can also provide higher rigidity support for the fixed end of the first arm drive unit 72, helping to reduce the risk of vibration or displacement of the actuator arm structure 70 during operation, making it more suitable for stable operation under high-speed or high-load conditions.

[0145] Please see Figure 23 and Figure 27 In one embodiment of the actuator arm structure 70 of this utility model, the first actuator arm drive unit 72 includes a first actuator arm drive component 723, a first gear 724, and a gear shaft 725. The first gear 724 is connected to the output end of the first actuator arm drive component 723. The first actuator arm drive component 723 can be a motor, a hydraulic motor, etc. Optionally, in this embodiment, the first actuator arm drive component 723 is a motor. For ease of description, this motor is designated as the third motor. The body of the third motor is fixedly connected to the first actuator arm 71, and the output shaft of the third motor is fixedly connected to the first gear 724.

[0146] Please see Figure 26 The gear shaft 725 is parallel to the rotation axis of the first gear 724. The gear shaft 725 includes a support shaft 7252 and a second gear 7251, which meshes with the first gear 724. The second gear 7251 is fixedly connected to the support shaft 7252, and the fixed connection method can be an integral molding connection, a keyed connection, etc. Optionally, in this embodiment, please refer to... Figure 25 , Figure 27 and Figure 28 The support shaft 7252 and the second gear 7251 are integrally formed. Along the axial direction of the support shaft 7252, both ends of the support shaft 7252 extend to the outside of the second gear 7251, forming a first support end 7254 and a second support end 7255, respectively. The first support end 7254 is rotatably connected to the first actuating arm 71 and located inside the first receiving cavity 711. The second support end 7255 extends to the outside of the first receiving cavity 711 and is fixedly connected to the second actuating arm 73.

[0147] By adopting the above structural design, a direct connection can be achieved between the gear shaft 725 and the second actuator arm 73, thereby simplifying the transmission structure and reducing the use of intermediate transmission components. This not only saves installation space but also reduces the complexity and weight of the entire actuator arm structure 70, making the robotic arm 100 operate more easily and flexibly. Simultaneously, because the direct connection between the gear shaft 725 and the second actuator arm 73 reduces intermediate transmission links, the second actuator arm 73 can respond to rotation control commands more quickly, thus improving the execution efficiency and operational accuracy of the actuator arm structure 70.

[0148] Please see Figure 29 and Figure 30 In one embodiment of the actuator arm structure 70 of this utility model, the second actuator arm 73 includes a second receiving cavity 732, and a second arm body driving part 80 is disposed within the second receiving cavity 732. Specifically, a fourth fixed end 81 is disposed within the second receiving cavity 732, and a fourth driving end 82 extends to the outside of the second receiving cavity 732. The specific structural shape of the second actuator arm 73 is not limited, for example, it can be a cuboid structure, a cube structure, or a cylindrical structure. Optionally, in this embodiment, the second actuator arm 73 is an approximately cuboid structure, and the second receiving cavity 732 is an approximately cuboid cavity. Please refer to... Figure 23 The first arm drive unit 72 includes a cable channel 7253, which connects the first receiving cavity 711 and the second receiving cavity 732. For details, please refer to... Figure 26 The gear shaft 725 is a hollow shaft structure, forming a cable channel 7253. It should be noted that the cross-sectional shape and size of the cable channel 7253 are not limited; for example, the cross-sectional shape can be circular, elliptical, polygonal, etc., as long as it meets the requirement of the area for cable passage between the first receiving cavity 711 and the second receiving cavity 732. The cable running through the cable channel 7253 can be any cable that needs to exit from the first receiving cavity 711, such as the control cable or signal cable of the second drive unit 50.

[0149] By providing cable channel 7253, a dedicated installation channel is provided for cables entering and exiting the first receiving cavity 711 from the second receiving cavity 732. This allows the cables to pass directly through the gear shaft 725 from the first receiving cavity 711 to the second receiving cavity 732. This centralized cabling method avoids messy cable arrangement inside the robotic arm 100, reducing the risk of mutual interference and tangling between cables. Simultaneously, the design of cable channel 7253 allows the cables to rotate and extend freely with the movement of the robotic arm 100, reducing the constraints of the cables on the movement of the robotic arm 100. This allows the robotic arm 100 to perform complex movements more flexibly, without being restricted by cable pulling or tangling.

[0150] Please see Figure 27 , Figure 28 and Figure 31 In one embodiment of the actuator arm structure 70 of this utility model, a sheet metal part 712 is fixedly disposed inside the first receiving cavity 711, and a first arm body drive component 723 is fixedly connected to the sheet metal part 712. The sheet metal part 712 is provided with a first hole 7121, and one end of the support shaft 7252 (i.e., the first support end 7254) is rotatably connected to the first hole 7121. The rotatable connection method is not limited; it can be a shaft-hole mating connection, or a bearing can be provided in the first hole 7121, and the first support end 7254 can be rotatably connected to the bearing.

[0151] Optionally, in this embodiment, the diameter of the first hole 7121 matches the outer diameter of the first support end 7254, and the first support end 7254 passes through the first hole 7121, thereby achieving a rotational fit connection between the two. The sheet metal part 712 can be embedded in the wall of the first receiving cavity 711, or it can be fixedly connected to the wall of the first receiving cavity 711 by bolts.

[0152] Optionally, in this embodiment, the sheet metal part 712 is embedded in the wall of the first receiving cavity 711. This arrangement not only facilitates the fixing of the sheet metal part 712 within the first receiving cavity 711 but also achieves better connection strength. Since the sheet metal part 712 is typically made of metal, it has high strength and rigidity. Fixing the first arm drive 723 to the sheet metal part 712 ensures that the first arm drive 723 can withstand large torques and loads during operation, thereby providing stable support for the entire actuator arm structure 70. Simultaneously, due to the high strength and rigidity of the sheet metal part 712, the first hole 7121 on the sheet metal part 712 can provide stable and reliable support for the support shaft 7252, thereby ensuring the stability and reliability of the gear shaft 725 support.

[0153] Please participate Figure 26 In one embodiment of the actuator arm structure 70 of this utility model, the first receiving cavity 711 includes a first cavity 7111 and a second cavity 7112, and the first actuator arm 71 further includes a control board assembly 713. Specifically, the sheet metal part 712 divides the first receiving cavity 711 into the first cavity 7111 and the second cavity 7112. The control board assembly 713 can be used to control the operation of the first drive unit 20, or it can be used to simultaneously control the operation of multiple drive units such as the first drive unit 20 and the second drive unit 50.

[0154] The control board assembly 713 and the first arm drive component 723 (i.e., the third motor) are mounted in the first cavity 7111, and the first gear 724 and the second gear 7251 are mounted in the second cavity 7112, meaning the meshing position of the first gear 724 and the second gear 7251 is located in the second cavity 7112. Since the control board assembly 713 and the first arm drive component 723 typically involve electronic components and electrical connections, and mechanical vibration and heat are generated during gear meshing, installing these two parts in separate cavities effectively reduces the interference of mechanical vibration on the electronic components and avoids the impact of heat generated by the electronic components on the gear transmission system, thereby improving the reliability and stability of the entire system.

[0155] Please see Figure 26 and Figure 32 In one embodiment of the actuator arm structure 70 of this utility model, the control board assembly 713 includes a first control board 7131 and a second control board 7132, which are arranged along the height direction of the first receiving cavity 711. The height direction of the first receiving cavity 711 is as follows: Figure 32 As shown on the Z2 axis. Since the first control plate 7131 and the second control plate 7132 are arranged along the height direction of the first receiving cavity 711, this arrangement can make full use of the height space of the first receiving cavity 711. Compared with horizontal arrangement or other layout methods, this arrangement can arrange the control plate assembly 713 more compactly in a limited space, thereby helping to reduce the volume and size of the entire first actuator arm 71, making it lighter and more flexible.

[0156] Please see Figure 27 and Figure 31In one embodiment of the actuator arm structure 70 of this utility model, the sheet metal part 712 is further provided with a second hole 7122 and a connecting channel 7123. The second hole 7122 is used for the output end of the first arm body drive member 723 to pass through. Specifically, the second hole 7122 is used for the output shaft of the third motor to pass through. The connecting channel 7123 connects the first hole 7121 and the second hole 7122, and is configured to allow the output end of the first arm body drive member 723 to slide between the second hole 7122 and the first hole 7121. The output shaft of the third motor is connected to a first gear 724, which is located in the second cavity 7112. The diameter of the second hole 7122 is smaller than the diameter of the first hole 7121, and the diameter of the second hole 7122 is larger than the outer diameter of the first gear 724, so as to allow the first gear 724 to pass through the second hole 7122. By providing a second hole 7122 and a connecting channel 7123, the output end of the first arm drive component 723, on which the first gear 724 is mounted, can be inserted through the larger diameter first hole 7121. Then, the first gear 724 can be moved to the corresponding position in the second hole 7122 via the connecting channel 7123. This design utilizes the larger diameter first hole 7121 to install the first gear 724, thereby reducing the diameter of the second hole 7122 without affecting the installation. The smaller diameter of the second hole 7122 helps improve the overall support strength of the sheet metal part 712 and enhances structural stability.

[0157] Please see Figure 25 and Figure 32 In one embodiment of the actuator arm structure 70 of this utility model, a third hole 7113 is provided on the cavity wall of the first receiving cavity 711 near the second actuator arm 73, and the end of the support shaft 7252 away from the sheet metal part 712 is rotatably connected to the third hole 7113 through a bearing 714. Specifically, the first actuator arm 71 includes a third housing 715 and a third housing cover 716, which are closed together to form the first receiving cavity 711. The third housing cover 716 includes a first cover portion 7161 and a second cover portion 7162, which are connected to each other to form an approximately L-shaped plate structure. The first cover portion 7161 covers the upper opening of the first receiving cavity 711, and the second cover portion 7162 covers the side opening of the first receiving cavity 711, that is, it is provided on the side of the second cavity 7112 facing the second actuator arm 73, and forms one side wall of the second cavity 7112. The third hole 7113 is provided in the second cover portion 7162.

[0158] Since the third cover 716 is typically made of plastic, while the gear shaft 725 is made of metal, their hardness differs significantly. If the second support end 7255 directly rotates in contact with the third hole 7113, it can easily lead to excessive wear of the third hole 7113. Therefore, in this embodiment, by installing a bearing 714 inside the third hole 7113, the friction between the support shaft 7252 and the third hole 7113 can be significantly reduced, thereby reducing wear. This ensures the installation accuracy and rotational accuracy of the gear shaft 725, and further improves the accuracy and stability of the meshing transmission between the first gear 724 and the second gear 7251.

[0159] Please see Figure 29 , Figure 30 and Figure 33 In one embodiment of the actuator arm structure 70 of this utility model, a fourth hole 7321 is provided on the side wall of the second receiving cavity 732 facing the first actuator arm 71. The portion of the support shaft 7252 extending outside the first receiving cavity 711 is correspondingly inserted into the fourth hole 7321. Please refer to... Figures 33 to 35 The outer peripheral surface of the support shaft 7252 contacts the wall of the fourth hole 7321, and at least one planar contact surface 74 is formed in the circumferential direction of the fourth hole 7321. Optionally, in this embodiment, please refer to... Figure 35 Two sets of planar contact surfaces 74 are provided, and the two sets of planar contact surfaces 74 are respectively arranged opposite to each other on the hole wall of the fourth hole 7321.

[0160] By providing at least one planar contact surface 74 in the circumferential direction of the fourth hole 7321, an effective rotation stop can be achieved between the second support end 7255 and the fourth hole 7321. This stop structure not only provides a stable and reliable stopping effect, but also simplifies the installation steps between the support shaft 7252 and the fourth hole 7321 since no additional rotation stop components are required, thereby improving the overall installation efficiency.

[0161] Please see Figure 30 , Figure 33 , Figure 35 and Figure 36In one embodiment of the actuator arm structure 70 of this utility model, the second actuator arm 73 further includes a connecting rod 75, a first through hole 7322 is provided in the fourth hole 7321, and a second through hole 72521 is provided in the support shaft 7252. The first through hole 7322 and the second through hole 72521 are coaxially arranged and extend along the radial direction of the fourth hole 7321. The connecting rod 75 is inserted into the first through hole 7322 and the second through hole 72521. By inserting the connecting rod 75 into the first through hole 7322 and the second through hole 72521, the support shaft 7252 and the fourth hole 7321 can be axially fixed. This fixing method can effectively prevent the support shaft 7252 from moving axially, ensuring that the support shaft 7252 remains stable during movement, thereby reducing vibration and shaking caused by axial displacement.

[0162] Please see Figure 29 , Figure 36 and 37 In one embodiment of the actuator arm structure 70 of this utility model, a limiting component is provided between the second actuator arm 73 and the first actuator arm 71. The limiting component is used to limit the rotation angle of the second actuator arm 73 around the first rotation center axis 731. For ease of description, this limiting component is defined as the second limiting component 76. The second limiting component 76 can be a mechanical limiting structure, such as a limiting block. The limiting block is fixed on the first actuator arm 71, and its installation position matches the rotation path of the second actuator arm 73. When the second actuator arm 73 rotates around the first rotation center axis 731 to a set angle, the limiting block abuts against the second actuator arm 73 to prevent further rotation of the second actuator arm 73. The second limiting component 76 can also be an electrical limiting structure, such as a limit switch and a stop block. The limit switch and the stop block are respectively provided on the first actuator arm 71 and the second actuator arm 73. When the second actuator arm 73 rotates around the first rotation center axis 731 to a set angle, the stop block triggers the limit switch, generating a stop signal, thereby controlling the second actuator arm 73 to stop rotating.

[0163] Because the second limiting component 76 restricts the rotation angle of the second actuator 73 around the first rotation center axis 731, it ensures that the rotation range of the second actuator 73 is always within a preset safety range, effectively preventing excessive rotation due to misoperation or abnormal control signals, thereby improving the safety of the robotic arm 100 operation. Furthermore, since different rotation angle ranges can be matched by adjusting the installation position of the limiting component, the versatility and flexibility of the robotic arm 100 can be improved.

[0164] Please see Figure 29 , Figure 36 and 37In one embodiment of the actuator arm structure 70 of this utility model, the second limiting component 76 includes a second limiting groove 761 and a second limiting block 762. The second limiting groove 761 is disposed on the second actuator arm 73, and the second limiting block 762 is disposed on the first actuator arm 71. When the second actuator arm 73 rotates around the first rotation center axis 731, the second limiting block 762 slides within the second limiting groove 761. Specifically, the second limiting groove 761 is disposed on the wall of the second actuator arm 73 facing the first actuator arm 71, and the second limiting block 762 is disposed on the wall of the first actuator arm 71 facing the second actuator arm 73. The second limiting groove 761 is an approximately arc-shaped groove structure arranged around the second axis 53, with both ends of its arc-shaped extension direction being closed ends. During the rotation of the second actuator arm 73 around the first rotation center axis 731, when the second limiting block 762 abuts against the closed ends, the rotation of the second actuator arm 73 will stop, thereby limiting the rotation angle of the second actuator arm 73. In another embodiment, the second limiting groove 761 may be disposed on the first actuator arm 71, and the second limiting block 762 may be disposed on the second actuator arm 73. This design can also limit the rotation angle of the second actuator arm 73 by sliding the second limiting block 762 in the second limiting groove 761 when the second actuator arm 73 rotates around the first rotation center axis 731.

[0165] By setting a second limiting groove 761 and a second limiting block 762, and allowing the second limiting block 762 to slide within the second limiting groove 761, the mechanical forced stop formed between the second limiting block 762 and the side wall of the second limiting groove 761 can effectively limit the rotation angle range of the second actuator 73, thereby achieving a more stable and reliable stopping effect. Furthermore, since the second limiting groove 761 and the second limiting block 762 can be directly formed using common machining methods (such as milling, stamping, or injection molding), there is no need for complex transmission mechanisms or additional sensors, which not only reduces machining difficulty but also lowers machining costs.

[0166] Please see Figure 38 In one embodiment of the actuator arm structure 70 of this utility model, a rotational gap 77 is formed between the first actuator arm 71 and the second actuator arm 73, and the second actuator arm 73 is provided with a protrusion structure 771. Along the extending direction of the first rotation center axis 731, the protrusion structure 771 at least partially fills the rotational gap 77. Specifically, please refer to... Figure 29The protruding structure 771 is disposed on the wall of the second actuator 73 facing the first actuator 71. It should be noted that the protruding structure 771 can be a ring-shaped protrusion, a block-shaped protrusion, or multiple dot-shaped protrusions, etc., and this embodiment is not limited to this. In another embodiment, the protruding structure 771 can also be disposed on the wall of the first actuator 71 facing the second actuator 73. In other embodiments, the protruding structure 771 can also be disposed on the sidewalls of the first actuator 71 and the second actuator 73 that are opposite to each other. For example, the protruding structure 771 can be dot-shaped protrusions, with some dot-shaped protrusions disposed on the first actuator 71 and others disposed on the second actuator 73.

[0167] By providing a protruding structure 771 that at least partially fills the rotation gap 77, local contact can be achieved between the walls of the first and second actuator arms 71 and 73 when the second actuator arm 73 deflects during operation. This reduces the probability of significant friction between the second and first actuator arms 71, thereby reducing heat and wear caused by friction and lowering the rotation failure rate. Simultaneously, the protruding structure 771 effectively limits the deflection degree of the second actuator arm 73, thus improving its operational accuracy.

[0168] Please see Figure 29 , Figure 36 and Figure 37 In one embodiment of the actuator arm structure 70 of this utility model, a second limiting groove 761 is disposed on the second actuator arm 73, and a second limiting block 762 is disposed on the first actuator arm 71. A protruding structure 771 is disposed on the second actuator arm 73, and is an annular protruding structure surrounding the first rotation center axis 731, forming the inner groove wall of the second limiting groove 761. By disposing of the second limiting groove 761 on the second actuator arm 73 and the second limiting block 762 on the first actuator arm 71, this structure can achieve precise limiting of the rotation angle of the second actuator arm 73. At the same time, the protruding structure 771 serves as the inner groove wall of the second limiting groove 761, which not only facilitates the placement of the protruding structure 771, but also further enhances the accuracy and stability of the limiting of the second limiting groove 761, ensuring that the second actuator arm 73 rotates smoothly within a predetermined angle range.

[0169] Please see Figure 39 and Figure 40In one embodiment of the actuator arm structure 70 of this utility model, a first positioning detection component is provided between the first actuator arm 71 and the second actuator arm 73. The first positioning detection component 78 includes an infrared transmitter 781 and an infrared receiver 782. The positions of the infrared transmitter 781 and the infrared receiver 782 are not limited. In one embodiment, the infrared transmitter 781 is mounted on the first actuator arm 71, and the infrared receiver 782 is mounted on the second actuator arm 73, with the bending position corresponding to the infrared transmitter 781, ensuring that when the second actuator arm 73 returns to its original position, the infrared transmitter 781 and the infrared receiver 782 can be aligned and form an optical path 783. In another embodiment, the infrared transmitter 781 is mounted on the second actuator arm 73, and the infrared receiver 782 is mounted on the first actuator arm 71, with the position corresponding to the infrared transmitter 781, ensuring that when the second actuator arm 73 returns to its original position, the infrared transmitter 781 and the receiver can be aligned and form an optical path 783. The return position can refer to the position where the second actuator 73 is at its minimum rotation angle relative to the first actuator 71, i.e., the zero position. The return position can also refer to the position where the second actuator 73 is at its maximum rotation angle relative to the first actuator 71. Alternatively, the return position can be any position within the range of rotation angles for the second actuator 73 relative to the first actuator 71.

[0170] When the second actuator arm 73 rotates to the return position, the infrared light emitted by the infrared transmitter 781 can directly illuminate the infrared receiver 782, forming an optical path 783. At this time, the infrared receiver 782 receives the infrared light signal, indicating that the second actuator arm 73 has accurately returned to its original position. If the second actuator arm 73 has not fully returned to its original position, the optical path 783 cannot be formed between the infrared transmitter 781 and the receiver, and the infrared receiver 782 cannot receive the infrared light signal, thus indicating that the second actuator arm 73 has not reached the predetermined position. Through the optical path 783 between the infrared transmitter 781 and the infrared receiver 782, it is possible to accurately detect whether the second actuator arm 73 has accurately returned to its original position. This detection method has high precision and high reliability, ensuring that the second actuator arm 73 can accurately reach the return position after each movement, thereby improving the repeatability accuracy of the robotic arm 100. At the same time, the fast response characteristics of the infrared detection component can also improve the motion control accuracy and response speed of the robotic arm 100, thus helping to ensure the efficient operation of the robotic arm 100.

[0171] Please see Figures 41 to 43In one embodiment of this utility model, an execution arm assembly 200 is also provided. The execution arm assembly 200 includes an execution tool 90 and an execution arm structure 70 as described in any of the above embodiments. The execution tool 90 is fixedly connected to the drive end of the second arm body drive unit 80, that is, the execution tool 90 is fixedly connected to the fourth drive end 82. Specifically, in this embodiment, the second arm body drive unit 80 is a fourth motor, and the output shaft of the fourth motor is fixedly connected to the execution tool 90. Since the execution arm structure 70 has two independent and perpendicular rotational degrees of freedom, it can drive the execution tool 90 to operate flexibly from more angles and positions, thereby improving the operational flexibility of the execution tool 90. In particular, when the drive end (i.e., the fourth drive end 82) of the second arm body drive unit 80 rotates around the second rotation center axis 84, it can drive the execution tool 90 to rotate around the second rotation center axis 84, thereby realizing the operation of the execution tool 90 on the object in the pitch direction, such as pitch grasping. This allows the execution tool 90 to better adapt to the position and angle requirements of various objects to be operated, thereby completing complex operation tasks more efficiently.

[0172] Please see Figure 44 In one embodiment of the actuator arm assembly 200 of this utility model, the second actuator arm 73 includes a second receiving cavity 732. The fixed end (i.e., the fourth fixed end 81) of the second arm body driving part 80 is disposed within the second receiving cavity 732, and the driving end (i.e., the fourth driving end 82) of the second arm body driving part 80 extends to the outside of the second receiving cavity 732 and is fixedly connected to the actuator tool 90. There are various ways to fix the fourth driving end 82 to the actuator tool 90. In one embodiment, the fourth driving end 82 may be provided with a connecting flange, and the actuator tool 90 may be fixedly connected to the fourth driving end 82 through the connecting flange. In another embodiment, the fourth driving end 82 may be provided with a snap-fit ​​structure, and the actuator tool 90 may be provided with a matching slot. When it is necessary to connect the actuator tool 90 to the driving end, the connecting end of the actuator tool 90 is aligned with the snap-fit ​​structure of the driving end, so that the snap-fit ​​structure snaps into the slot, thereby achieving a fixed connection between the two.

[0173] By placing the fixed end of the second arm drive unit 80 within the second receiving cavity 732, the overall size of the actuator arm assembly 200 is reduced, making it lighter and more flexible, facilitating complex mechanical movements within a limited space. Simultaneously, the drive end of the second arm drive unit 80 extends outside the second receiving cavity 732 and is fixedly connected to the actuator 90. This design allows the drive end to act directly on the actuator 90 without a complex transmission mechanism, thereby reducing energy loss and transmission errors. This not only improves the operating accuracy of the actuator 90 but also enables it to achieve faster and more flexible action response, meeting the speed and accuracy requirements of different operational tasks.

[0174] In one embodiment of the actuator arm assembly 200 of this utility model, the second arm drive unit 80 is a motor. For ease of description, this motor is defined as the fourth motor. The body of the fourth motor is disposed within the second receiving cavity 732 and is fixedly connected to the second actuator arm 73. The output shaft of the fourth motor is fixedly connected to the actuator tool 90. Since the output shaft of the fourth motor is directly fixedly connected to the actuator tool 90, the intermediate transmission link is omitted. This arrangement allows the output of the fourth motor to be more accurately converted into the rotation of the actuator tool 90, thereby improving the response speed and control accuracy of the actuator tool 90. At the same time, due to the reduction of torque loss caused by the intermediate transmission link, the actuator tool 90 can obtain a more stable power output during rotation, avoiding motion jamming or instability caused by insufficient torque.

[0175] Please see Figure 43 and Figure 44 In one embodiment of the actuator arm assembly 200 of this utility model, the actuator 90 includes a main body 910 and a connecting end 920. The connecting end 920 includes a first connecting arm 901 and a second connecting arm 902. The first connecting arm 901 and the second connecting arm 902 are respectively disposed on both sides of the second arm body driving part 80. One end of the first connecting arm 901 is fixedly connected to the main body 910, and the other end is fixedly connected to the driving end (i.e., the fourth driving end 82) of the second arm body driving part 80. One end of the second connecting arm 902 is fixedly connected to the main body 910, and the other end is rotatably connected to the fixed end (i.e., the fourth fixed end 81) of the second arm body driving part 80. Specifically, in this embodiment, the second arm body driving part 80 is a fourth motor. The fourth motor is disposed in the second receiving cavity 732, and the output shaft of the fourth motor is fixedly connected to the first connecting arm 901. The end of the fourth motor body facing away from the output shaft is rotatably connected to the second connecting arm 902. The second connecting arm 902 can be directly rotatably connected to the fourth fixed end 81, or it can be indirectly rotatably connected to the fourth fixed end 81 through other adapters.

[0176] By configuring a first connecting arm 901 and a second connecting arm 902, and positioning them on opposite sides of the second arm drive unit 80, the load of the actuator 90 is evenly distributed across the two connecting arms. This not only increases the load capacity of the actuator 90 but also reduces structural deformation or damage caused by excessive load on one side. Furthermore, the coordinated support of the first connecting arm 901 and the second connecting arm 902 further strengthens the connection between the actuator 90 and the second actuator arm 73. This allows the actuator 90 to maintain good operational stability while bearing a large load.

[0177] Please see Figure 45 and Figure 46In one embodiment of the actuator arm assembly 200 of this utility model, a transition piece 7323 is provided on the side of the second receiving cavity 732 near the second connecting arm 902. The second connecting arm 902 is rotatably connected to the transition piece 7323, and the transition piece 7323 is detachably connected to the cavity wall of the second receiving cavity 732. Various detachable connection methods can be selected, such as bolted connections or snap-fit ​​connections, but are not limited to these methods. For details, please refer to... Figure 46 The adapter 7323 is fixedly connected to the fourth fixed end 81 on the side facing the inside of the second receiving cavity 732, and forms an end support for the side of the fourth motor away from the output shaft. The adapter 7323 has a boss 73231 on the side facing the outside of the second receiving cavity 732, and the second connecting arm 902 has a corresponding insertion hole 9021. The boss 73231 can be inserted into the insertion hole 9021 and can rotate relative to the insertion hole 9021.

[0178] By providing the adapter 7323, on the one hand, by changing the size of the adapter 7323, the second connecting arm 902 can be rotatably connected to the second arm drive unit 80 of different specifications, thereby adapting to various sizes of the second arm drive unit 80. On the other hand, the adapter 7323 not only enables rotatable connection, but also provides end support for the second arm drive unit 80, making its fixation within the second receiving cavity 732 more stable and effectively reducing vibration or displacement during operation.

[0179] Please see Figure 45 , Figure 47 and Figure 48 In one embodiment of the actuator arm assembly 200 of this utility model, a metal part 903 is embedded in the second connecting arm 902, and the driving end (i.e., the fourth driving end 82) of the second arm body driving part 80 is fixedly connected to the metal part 903. The material of the metal part 903 is not limited; for example, it can be any material with a certain hardness, such as copper, stainless steel, or aluminum. Optionally, in this embodiment, the metal part 903 is copper. One end of the metal part 903 is embedded inside the second connecting arm 902, and the other end extends to the outside of the second connecting arm 902 and is provided with a shaft hole, into which the output shaft of the fourth motor is fixedly inserted. Since the second connecting arm 902 is usually made of plastic, its hardness is relatively low. If it is directly connected to the output shaft of the fourth motor, it is prone to significant wear during use, thereby affecting the stability and reliability of the connection position. Therefore, in this embodiment, by embedding a metal part 903 on the second connecting arm 902, direct contact between the second connecting arm 902 and the output shaft of the fourth motor can be avoided, thereby reducing wear at the connection position, enhancing the stability and reliability of the connection, extending the service life of the components, and ensuring the efficient operation and precise operation of the execution tool 90 during long-term use.

[0180] Please see Figures 49 to 51 In one embodiment of the actuator arm assembly 200 of this utility model, a second positioning detection component 790 is provided between the second actuator arm 73 and the actuator 90. The second positioning detection component 790 includes a detection switch 791 and a stop 792. When the actuator 90 rotates to the return position relative to the second actuator arm 73, the stop 792 triggers the detection switch 791 and generates a positioning signal. It should be noted that the return position here refers to a preset initial position or safe position to which the actuator 90 needs to return after completing the operation task. When the actuator 90 rotates to this return position relative to the second actuator arm 73, the stop 792 triggers the detection switch 791, thereby generating a positioning signal, indicating that the actuator 90 has accurately returned to the predetermined initial position and is ready to perform the next operation or is in a safe standby state.

[0181] The specific locations of the detection switch 791 and the stop 792 are not limited. In one embodiment, the detection switch 791 can be located on the second actuator arm 73, and the stop 792 can be located on the actuator tool 90. In another embodiment, the detection switch 791 can be located on the actuator tool 90, and the stop 792 can be located on the second actuator arm 73. The detection switch 791 can be any structure that meets the position detection requirements, such as a mechanical position detection switch, a photoelectric position detection switch, or a Hall sensor detection switch. In this embodiment, please refer to... Figure 50 and Figure 51 A detection switch 791 is positioned on the side of the actuator 90 facing the second actuator arm 73, and a stop block 792 is positioned on the second actuator arm 73. The detection switch 791 is an optocoupler detection switch. Because optocoupler detection switches have advantages such as strong anti-interference capability, fast response speed, and high reliability, they can achieve better positioning detection accuracy and stability. By setting the second positioning detection component 790, it is possible to accurately detect whether the actuator 90 has accurately reached the return position. When the actuator 90 rotates relative to the second actuator arm 73 to the return position, the stop block 792 triggers the detection switch 791 to generate a positioning signal, thereby ensuring that the actuator 90 accurately returns to the preset initial position after each operation. This not only improves the repeatability of the operation but also enhances the reliability of the actuator 90's operation.

[0182] Please see Figure 52In one embodiment of the actuator arm assembly 200 of this utility model, the actuator arm assembly 200 has an initial position. In the initial position, the actuator arm assembly 200 has a reference plane 201, which is configured as the external support plane of the actuator arm assembly 200. The reference plane 201 includes a first plane 2011 disposed on the first actuator arm 71, a second plane 2012 disposed on the second actuator arm 73, and a third plane 2013 disposed on the execution tool 90. The initial position refers to the fixed position returned to by the actuator arm assembly 200 in a non-working state. In the initial position of the actuator arm assembly 200, the second actuator arm 73 is in a returned position relative to the first actuator arm 71, and the execution tool 90 is also in a returned position relative to the second actuator arm 73. The first actuator arm 71, the second actuator arm 73, and the actuator tool 90 are arranged in a roughly flush configuration, with the bottom surfaces of the first actuator arm 71, the second actuator arm 73, and the actuator tool 90 aligned to form a reference plane 201 for the actuator arm assembly 200. Specifically, the bottom surface of the first actuator arm 71 forms a first plane 2011, the bottom surface of the second actuator arm 73 forms a second plane 2012, and the bottom surface of the actuator tool 90 forms a third plane 2013. The first plane 2011, the second plane 2012, and the third plane 2013 can be connected or spaced apart, as long as they collectively form a stable reference plane 201 to support the actuator arm assembly 200 and ensure its stability and positioning accuracy in its initial position.

[0183] Because the actuator arm assembly 200 has a reference plane 201 in its initial position, and this reference plane 201 is configured as the external support plane of the actuator arm assembly 200, the actuator arm assembly 200 can be stably supported on other arm structures with the help of the reference plane 201 when it is in its initial position. This not only improves the attitude stability of the actuator arm assembly 200 in its initial position, but also ensures that the actuator arm assembly 200 can accurately return to the preset initial position after each operation, thereby helping to improve the repeatability of the actuator arm assembly 200's operation and ensuring the consistency of each operation.

[0184] Please see Figures 53 to 55This utility model provides a robotic arm, corresponding to the execution tool 90 in the above embodiments. In this embodiment, the robotic arm includes a base 91, a gripper drive unit 92, and a gripping mechanism 93. The gripper drive unit 92 is mounted on the base 91. The gripping mechanism 93 includes two gripping parts 931 arranged opposite each other. Both gripping parts 931 are driveably connected to the gripper drive unit 92 and can move closer or further apart under the drive of the gripper drive unit 92. The transmission connection between the gripping parts 931 and the gripper drive unit 92 is not limited. For example, the gripper drive unit 92 can be a motor and a lead screw and nut structure, where the motor drives the lead screw to rotate, the lead screw and nut move along the lead screw, and the lead screw and nut drive the two gripping parts 931 closer or further apart through a linkage mechanism. Alternatively, the gripper drive unit 92 can be a motor and a gear and rack structure, where the motor drives the gear to rotate, the gear drives the rack to move, and the rack drive the two gripping parts 931 closer or further apart through a linkage mechanism. This embodiment does not limit this.

[0185] The two clamping portions 931 can be symmetrically arranged on the base 91 or asymmetrically arranged on the base 91. In this embodiment, please refer to... Figure 54 Two clamping portions 931 are symmetrically arranged on the base 91. Each clamping portion 931 includes at least two grippers 932. When the two clamping portions 931 approach each other, the grippers 932 on both sides approach each other to clamp the object. The grippers 932 on both sides can be symmetrically arranged or asymmetrically arranged. In this embodiment, the grippers 932 on the two clamping portions 931 are symmetrically arranged. Specifically, each clamping portion 931 is provided with two grippers 932, and the two grippers 932 are arranged vertically along the height direction of the base 91. The height direction of the base 91 is as follows: Figure 52 As shown along the Z3 axis. Since each gripping part 931 has at least two grippers 932, multiple contact points are created between the gripping part 931 and the object when gripping it. This multi-point contact method can distribute the gripping force more evenly, reducing slippage or instability caused by single-point contact, thereby improving the gripping stability of the robot. Furthermore, the design of at least two grippers 932 allows the gripping mechanism 93 to better adapt to objects of different shapes and sizes. For example, for irregularly shaped objects, the multi-gripper 932 design allows for more flexible adjustment of the contact position to ensure a firm grip.

[0186] Please see Figure 56In one embodiment of the robotic arm of this utility model, the gripper 932 includes a gripping surface 9321, which is used to abut against the surface of the object to be gripped. The gripping surface 9321 is located at the end of the gripper 932, and can be any shape suitable for gripping the object, such as a plane, arc, or curved surface. At least one gripper 932 has a pressure sensor 94 on its gripping surface 9321, which is configured to detect the abutment pressure between the gripping surface 9321 and the object to be gripped. The pressure sensor 94 can be mounted on the gripping surface 9321 by bonding, screw fixing, or embedding. One pressure sensor 94 or multiple pressure sensors 94 can be provided on one gripping surface 9321, as long as the accuracy requirement of abutment pressure detection is met. There are various options for the location of the pressure sensor 94, for example, it can be provided on one of the grippers 932 on a gripping part 931. Alternatively, pressure sensors 94 can be provided on all the grippers 932 on one gripping part 931. Alternatively, pressure sensors 94 can be provided on all the grippers 932 on both gripping parts 931.

[0187] By installing a pressure sensor 94 on the clamping surface 9321 of the gripper 932, the abutment pressure between the clamping surface 9321 and the object to be clamped can be monitored in real time. This ensures that the gripper 932 applies appropriate force during clamping, preventing the object from slipping due to insufficient clamping force or damaging the object due to excessive clamping force. Especially for fragile or surface-sensitive objects, this precise clamping force control can effectively prevent damage caused by improper clamping. In addition, real-time monitoring of the clamping force can also detect abnormalities in a timely manner, such as sudden changes in clamping force. Consequently, the action of the gripper 932 can be adjusted promptly when abnormal abutment pressure is detected, thereby avoiding safety accidents caused by unstable clamping. Therefore, this not only improves the reliability and safety of clamping but also enhances the adaptability and stability of the robot in complex operating environments.

[0188] Please see Figure 57 and Figure 58In one embodiment of the robotic arm of this utility model, a protective sleeve 933 is fitted over the end of the gripper 932, and the gripping surface 9321 is disposed within the protective sleeve 933. The shape of the protective sleeve 933 is adapted to the shape of the gripper 932, and the material of the protective sleeve 933 is not limited, and can be selected according to the type of object being gripped. For example, it can be a flexible material, such as silicone, rubber, or soft plastic. The protective sleeve 933 can provide a cushioning effect, reducing hard contact between the gripper 932 and the object, and protecting the object's surface from damage. By setting the protective sleeve 933, on the one hand, the flexible material of the protective sleeve 933 can act as a cushion when gripping the object, reducing hard contact between the gripper 932 and the object, thereby protecting the object's surface from damage. This is especially important when gripping fragile or surface-sensitive objects, effectively avoiding damage caused by hard contact. On the other hand, the protective sleeve 933 can also protect the gripper 932, reducing the probability of wear and tear on the gripper 932 during long-term use, thus helping to extend the service life of the gripper 932.

[0189] Please see Figure 58 In one embodiment of the robotic arm of this utility model, the outer surface of the protective sleeve 933 is provided with anti-slip ribs 934, which are located on one side wall covering the clamping surface 9321. The anti-slip ribs 934 can be any shape, such as straight ribs, grid ribs, etc. The anti-slip ribs 934 can be integrally formed with the protective sleeve 933 through injection molding, or they can be fixed to the outer surface of the protective sleeve 933 through adhesive bonding. The anti-slip ribs 934 significantly improve the anti-slip performance of the protective sleeve 933 at the clamping surface 9321, further reducing the possibility of slippage between the gripper 932 and the object, thereby further improving the stability and reliability of the clamping.

[0190] Please see Figure 57 and Figure 60 In one embodiment of the robotic arm of this utility model, the gripping part 931 further includes a column part 9311 and a rod part 9312. The column part 9311 is rotatably connected to the base 91, and the gripper 932 and the rod part 9312 are fixedly connected to the column part 9311. The column part 9311 can be rotatably connected to the base 91 via a bearing or via a shaft hole. This embodiment does not limit this. The gripper 932 and the rod part 9312 are respectively fixedly connected to the outer periphery of the column part 9311. Specifically, along the axial direction of the column part 9311, two grippers 932 are respectively disposed at both ends of the column part 9311, and the rod part 9312 is located between the two grippers 932. Along the circumferential direction of the column part 9311, the rod part 9312 and the gripper 932 are arranged at an angle. The column part 9311, the rod part 9312 and the clamp 932 can be integrally formed structures, or they can be fixedly connected by assembly methods such as bolts or snap-fit.

[0191] Please see Figure 55 and Figure 57 The robotic arm also includes a connecting rod 904, with the rod body 9312 connected to the gripper drive unit 92 via the connecting rod 904. When the gripper drive unit 92 operates, the connecting rod 904 drives the column body 9311 to rotate, thereby causing the grippers 932 on both sides to move closer or further apart. Please refer to [link / reference]. Figure 55 and Figure 57 The gripper drive unit 92 includes a fixed end and a drive end. For ease of description, the fixed end is defined as the fifth fixed end 921, and the drive end is defined as the fifth drive end 922. The fifth fixed end 921 is fixedly connected to the base 91, and the fifth drive end 922 is rotatably connected to one end of the connecting rod 904. The other end of the connecting rod 904 is rotatably connected to the rod body 9312. The fifth drive end 922 can be a rotary drive end or a linear movement drive end, as long as it can drive the connecting rod 904 to move when the gripper drive unit 92 is running, thereby driving the column body 9311 to rotate, so as to realize the mutual approach or distance of the grippers 932 on both sides.

[0192] Since the column portion 9311 is directly rotatably connected to the base 91, and the gripper 932 and the rod portion 9312 are fixedly connected to the column portion 9311, and the connecting rod 904 connects the rod portion 9312 and the gripper drive portion 92, this configuration allows the entire gripping portion 931 to be driven by a single connecting rod 904. This reduces the complexity of traditional multi-link structures, resulting in a more compact overall layout and a reduction in the overall size of the robot. Simultaneously, because the gripper drive portion 92 directly pushes the rod portion 9312 via the connecting rod 904, causing the column portion 9311 to rotate, linear or rotary motion is efficiently converted into the opening and closing action of the gripper 932. Therefore, the entire transmission chain is shorter, energy loss is lower, and the response speed of the gripper 932 is improved.

[0193] Please see Figure 55 , Figure 56 , Figure 60 and Figure 61In one embodiment of the robotic arm of this utility model, the robotic arm further includes a rotating shaft 905, and a base 91 including a boss 911. One end of the rotating shaft 905 is fixedly connected to the boss 911, and the other end is rotatably connected to the column portion 9311. The column portion 9311 has a countersunk hole 9313 at one end facing the boss 911. The diameter of the countersunk hole 9313 matches the outer diameter of the boss 911, and the boss 911 is rotatably inserted into the countersunk hole 9313. By providing the countersunk hole 9313 and the boss 911, and ensuring that the countersunk hole 9313 and the boss 911 form a rotatable fit, the column portion 9311 can act as a guide when rotating relative to the base 91. This design helps reduce the probability of large swings or jamming of the column portion 9311 relative to the rotating shaft 905 during rotation, thereby ensuring the smooth operation of the gripper 932 and guaranteeing the stability and accuracy of gripping.

[0194] Please see Figure 55 In one embodiment of the robotic arm of this utility model, the gripper drive unit 92 includes a gripper drive component 923, a gear assembly 924, a lead screw 925, and a lead screw nut 926. The fixed end of the gripper drive component 923 is connected to the base 91. The lead screw 925 is connected to the output end of the gripper drive component 923 through the gear assembly 924. The lead screw nut 926 is threadedly connected to the lead screw 925, and the connecting rod 904 is rotatably connected to the lead screw nut 926. The gripper drive component 923 can be a motor, a hydraulic motor, etc. Exemplarily, in this embodiment, the gripper drive component 923 is a motor. For ease of description, this motor is positioned as the fifth motor. The body of the fifth motor is fixedly connected to the base 91, and the output shaft of the fifth motor is fixedly connected to the lead screw 925. The gear assembly 924 can be a single-stage gear transmission structure, or a two-stage or multi-stage gear transmission structure, which needs to be determined according to the transmission ratio of the gear assembly 924.

[0195] Through the transmission structure of gear assembly 924 and lead screw and nut, the power of gripper drive 923 can be precisely transmitted to connecting rod 904, thereby ensuring the accuracy of gripper 932 operation. This transmission method not only ensures the positional accuracy of gripper 932 during clamping, but also enables effective control of clamping force, thus improving clamping accuracy and clamping effect. In addition, since the lead screw and nut transmission can provide stable linear output, it can reduce vibration and wobbling during gripper 932 movement, thereby improving the stability of clamping action.

[0196] Please see Figure 55 , Figure 56 , Figure 58 and Figure 62In one embodiment of the robotic arm of this utility model, the nut 926 is provided with a first protrusion 9261, and the rod body 9312 is provided with a second protrusion 9314. The connecting rod 904 has a first through hole 9041 and a second through hole 9042 at both ends along its length. The first protrusion 9261 is inserted into the first through hole 9041 and can rotate relative to it. The second protrusion 9314 is inserted into the second through hole 9042 and can rotate relative to it. The first protrusion 9261 can be integrally formed on the nut 926 or threadedly connected to it. The second protrusion 9314 can be integrally formed on the rod body 9312 or threadedly connected to it. By setting a first protrusion 9261 and a second protrusion 9314, and inserting the first protrusion 9261 and the second protrusion 9314 into the first through hole 9041 and the second through hole 9042 at both ends of the connecting rod 904, the complex fastening steps required by traditional hinges (such as pin insertion or bolt adjustment) can be eliminated, thereby simplifying the assembly steps and improving assembly efficiency.

[0197] Please see Figure 53 and Figure 55 In one embodiment of the robotic arm of this utility model, the robotic arm further includes an upper cover plate 906 and a side cover plate 907. The upper cover plate 906 and the side cover plate 907 are fixedly connected to the base 91, and the upper cover plate 906, the side cover plate 907, and the base 91 enclose a receiving cavity, in which the gripper drive unit 92 is disposed. For ease of description, this receiving cavity is designated as the third receiving cavity 908. The side cover plate 907 is located on the side of the base 91 facing the gripper 932 and is provided with a clearance notch 9071 for the gripper 932 to pass through. The receiving cavity effectively prevents dust, liquids, and other impurities from entering, thereby protecting the gripper drive unit 92 from contamination and corrosion and extending its service life. In addition, the clearance notch 9071 on the side cover plate 907 not only ensures that the gripper 932 can pass through freely, but also prevents accidental contact between the operator or external objects and the gripper drive unit 92, improving operational safety.

[0198] Please see Figure 62In one embodiment of the robotic arm of this utility model, the robotic arm further includes a vision sensor 98, which is configured to identify the category characteristics and spatial position of the object to be gripped. The vision sensor 98 can be a high-resolution industrial camera capable of capturing detailed image information of the object to be gripped. The vision sensor 98 can also be a 3D camera capable of acquiring three-dimensional spatial information of the object to be gripped. The vision sensor 98 can also be combined with an infrared sensor for object identification under low light or no light conditions. The vision sensor 98 can be mounted in multiple locations, such as on the gripper 932, the side cover 907, and the top cover 906. Optionally, in this embodiment, the vision sensor 98 is a camera device mounted on the side cover 907. This reduces the vertical space occupied by the robotic arm and also provides a more stable mounting position. It should be noted that the category characteristics of the object to be gripped can be features such as the object's shape, color, size, material, and texture used to distinguish different objects. The spatial position of the object to be clamped can be its specific coordinates in three-dimensional space, its posture, the distance between the object and the gripper 932, and other positional information.

[0199] By incorporating a vision sensor 98 into the robotic arm, the vision sensor 98 can accurately identify the category characteristics and spatial position of the object to be gripped, thereby ensuring that the gripper 932 can accurately position and grasp the object. Furthermore, the real-time feedback from the vision sensor 98 allows the robotic arm to adjust the position and orientation of the gripper 932 in a timely manner, reducing gripping failures or object damage caused by inaccurate positioning, thus improving the reliability of gripping.

[0200] Please see Figure 62 In one embodiment of the robotic arm of this invention, the vision sensor 98 includes a camera device 981 and a supplementary light source 982. The camera device 981 and the supplementary light source 982 are disposed on the side of the gripper 932 near the base 91. The supplementary light source 982 is used to provide auxiliary illumination for the camera device 981. The supplementary light source 982 can be any light source capable of providing auxiliary illumination for the camera device 981, such as an LED light source or an infrared light source. Since the camera device 981 can identify the category characteristics and spatial position of the object to be gripped, it can ensure that the gripper 932 can accurately position and grasp the object. This precise recognition capability enables the robotic arm to adapt to high-precision gripping actions. In addition, since the supplementary light source 982 can provide auxiliary illumination for the camera device 981, it can ensure that a clear image can still be obtained under low light or no light conditions, improving the accuracy and reliability of recognition.

[0201] Please see Figure 63 and Figure 64In one embodiment of the robotic arm of this utility model, the robotic arm further includes a charging module 95, which includes a charging control board 951 and an electrical contact 952. The electrical contact 952 is used to electrically connect with the electrical device held by the clamping part 931 to realize the charging of the electrical device. In another embodiment, the electrical contact 952 is used to electrically connect with the electrical device held by the clamping part 931 to realize the data transmission of the electrical device. In other embodiments, the electrical contact 952 is used to electrically connect with the electrical device held by the clamping part 931, realizing both the charging and data transmission of the electrical device. The electrical contact 952 can be of various types, such as spring contacts, conductive rubber, metal probes, or any structure that can ensure a stable electrical connection with the electrical device.

[0202] By incorporating a charging module 95 into the robotic arm, charging of the held electrical components or data transmission can be achieved simultaneously with the gripper 932 grasping an object via contact charging. This automatic charging function reduces manual intervention and enables automated charging of electrical components during the gripping process. Simultaneously, the charging module 95 can automatically complete data transmission during gripping, eliminating the need for manual data cable connection, thus improving the convenience and efficiency of data transmission operations. Furthermore, by incorporating the charging module 95, the robotic arm not only enriches the functionality of the gripper 932 but also enhances its adaptability and flexibility.

[0203] Please see Figure 63 In one embodiment of the robotic arm of this utility model, the charging module 95 further includes a positioning structure 96 and a position detection component. The positioning structure 96 is disposed on the outer surface of the side cover plate 907, that is, on the side of the side cover plate 907 facing the gripper 932. The positioning structure 96 is used to position the electrical device for charging or data transmission. The positioning structure 96 can be a positioning block, positioning groove, etc. The positioning structure 96 can accurately fix the electrical device in a predetermined position, ensuring accurate contact between the electrical contact 952 and the electrode of the electrical device. For example, in this embodiment, the positioning structure 96 is two spaced protrusions. The protrusions can match the positioning grooves provided on the electrical device, thereby achieving accurate positioning of the electrical device in the clamping state. The position detection component is used to detect the position status of the electrical device relative to the electrical contact 952. For ease of description, this position detection component is defined as the fourth position detection component 97. The fourth position detection component 97 can be a limit switch, which detects whether the electrical device has reached the predetermined position through physical contact. The fourth position detection component 97 can also be a photoelectric sensor, which detects the position of the electrical device through light signals. For example, in this embodiment, the fourth positioning detection component 97 is an optocoupler detection switch. The fourth positioning detection component 97 can be set with multiple detection points to detect the positioning status of the electrical device from different angles, thereby improving the reliability of the detection. This embodiment does not limit this aspect.

[0204] By setting the positioning structure 96, the accuracy of the mating position between the electrical component and the electrical contact 952 can be ensured, reducing poor contact or data transmission failure caused by positional deviation. The fourth positioning detection component 97 can monitor the contact status between the electrical component and the electrical contact 952, triggering charging or data transmission only when it is detected that the component is fully positioned, preventing erroneous operation, thereby improving the reliability of electrical component charging and data transmission.

[0205] Please see Figure 65 and Figure 66 In one embodiment of the working component 1000 of this utility model, the working component 1000 includes a robotic arm 100 and an execution tool 90, with the execution tool 90 mounted at the end of the robotic arm 100. The specific structures of the robotic arm 100 and the execution tool 90 can be referred to the structures of the robotic arm 100 and the execution tool 90 in the above embodiments, and will not be repeated here. The working component 1000 has an unfolded state and a folded state, such as... Figure 64 The image shows a schematic diagram of the expanded state of the working component 1000. Figure 65 The diagram shown is a schematic representation of the folded state of the working component 1000. The robotic arm 100 and the execution tool 90 in this embodiment adopt the structure of the robotic arm 100 and the execution tool 90 in the above embodiments, and therefore also possess the beneficial effects of the robotic arm 100 and the execution tool 90 produced in the above embodiments.

[0206] Please see Figure 6 , Figure 9 , Figure 43 and Figure 65 This utility model also provides a working component 1000, which is used to install on the side of the cleaning device 300 away from the surface to be cleaned. The working component 1000 includes a robotic arm 100 and an execution tool 90. The robotic arm 100 includes a support base 10, a first drive unit 20, a support arm assembly 30, a first mechanical joint 41, a connecting arm 60, a second mechanical joint 42, a first execution arm 71, a first arm body drive unit 72, a second execution arm 73, and a second arm body drive unit 80.

[0207] When the working component 1000 is in the deployed state, the support base 10 is mounted on the device body 310 of the cleaning device 300. The first end 34 of the support arm assembly 30 is rotatably connected to the support base 10 via the first drive unit 20, and the second end 35 of the support arm assembly 30 is rotatably connected to the first connecting end 61 of the connecting arm 60 via the first mechanical joint 41. The second connecting end 62 of the connecting arm 60 is rotatably connected to the first actuating arm 71 via the second mechanical joint 42. The first arm body drive unit 72 is disposed on the first actuating arm 71, and the second actuating arm 73 is disposed on the side of the first actuating arm 71 opposite to the second mechanical joint 42, and is rotatably connected to the second actuating arm 73 via the first arm body drive unit 72. The second arm body drive unit 80 is disposed on the second actuating arm 73, and the second actuating arm 73 is rotatably connected to the actuating tool 90 via the second arm body drive unit 80.

[0208] Please see Figure 5 , Figure 7 , Figure 9 and Figure 10 In one embodiment of the working component 1000 of this utility model, the first driving part 20 includes a first fixed end 21 and a first driving end 22, with the first fixed end 21 fixedly connected to the support base 10. The first end 34 of the support arm assembly 30 is connected to the first driving end 22. The support arm assembly 30 includes a support arm 36 and a second driving part 50, with the second driving part 50 including a second driving end 52, and the support arm 36 fixedly connected to the second driving end 52. When the first driving part 20 is running, the first driving end 22 rotates around a first axis 23 to drive the support arm assembly 30 to swing between a raised position and a lowered position. When the second driving part 50 is running, the second driving end 52 drives the support arm 36 to rotate around a second axis 53, which is perpendicular to the first axis 23.

[0209] Please see Figure 20 , Figure 24 and Figure 43 In one embodiment of the working component 1000 of this utility model, the first arm drive unit 72 drives the second execution arm 73 to rotate relative to the first execution arm 71 around the first rotation center axis 731. The drive end of the second arm drive unit 80 rotates relative to the second execution arm 73 around the second rotation center axis 84, and the second rotation center axis 84 is perpendicular to the first rotation center axis 731. The execution tool 90 is fixedly connected to the drive end of the second arm drive unit 80. When the drive end of the second arm drive unit 80 is running, it drives the execution tool 90 to perform pitching and gripping of an object.

[0210] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A robotic arm (90), characterized in that, include: Base (91); A gripper drive unit (92) is mounted on the base (91); The clamping mechanism (93) includes two clamping parts (931) arranged opposite to each other. Both clamping parts (931) are connected to the gripper drive part (92) and can move closer or further apart under the drive of the gripper drive part (92). One of the clamping parts (931) includes at least two jaws (932), and when the two clamping parts (931) are close to each other, the jaws (932) on both sides clamp the object close to each other.

2. The robotic arm (90) according to claim 1, characterized in that, The gripper (932) includes a gripping surface (9321) for abutting against the surface of the object to be gripped; at least one gripper (932) has a pressure sensor (94) provided on its gripping surface (9321), the pressure sensor (94) being configured to detect the abutting pressure between the gripping surface (9321) and the object to be gripped.

3. The robotic arm (90) according to claim 1, characterized in that, The gripper (932) includes a gripping surface (9321) for abutting against the surface of the object to be gripped; a protective sleeve (933) is provided at the end of the gripper (932), and the gripping surface (9321) is disposed inside the protective sleeve (933).

4. The robotic arm (90) according to claim 3, characterized in that, The outer side of the protective sleeve (933) is provided with anti-slip ribs (934), which are located on one side wall covering the clamping surface (9321).

5. The robotic arm (90) according to claim 1, characterized in that, The clamping part (931) further includes a column part (9311) and a rod part (9312). The column part (9311) is rotatably connected to the base (91), and the gripper (932) and the rod part (9312) are fixedly connected to the column part (9311). The manipulator (90) further includes a connecting rod (904). The rod part (9312) is connected to the gripper drive part (92) through the connecting rod (904). In response to the operation of the gripper drive part (92), the connecting rod (904) drives the column part (9311) to rotate, so as to realize that the grippers (932) on both sides move closer or further apart.

6. The robotic arm (90) according to claim 5, characterized in that, The robotic arm (90) also includes a rotating shaft (905), and the base (91) includes a boss (911). One end of the rotating shaft (905) is fixedly connected to the boss (911), and the other end is rotatably connected to the column part (9311). The column part (9311) has a countersunk hole (9313) at one end facing the boss (911), and the boss (911) is correspondingly inserted into the countersunk hole (9313).

7. The robotic arm (90) according to claim 5, characterized in that, The gripper drive unit (92) includes a gripper drive component (923), a gear assembly (924), a lead screw (925), and a lead screw nut (926); the fixed end of the gripper drive component (923) is connected to the base (91), the lead screw (925) is connected to the output end of the gripper drive component (923) through the gear assembly (924), the lead screw nut (926) is threadedly connected to the lead screw (925), and the connecting rod (904) is rotatably connected to the lead screw nut (926).

8. The robotic arm (90) according to claim 7, characterized in that, The nut (926) is provided with a first protrusion (9261), the rod body (9312) is provided with a second protrusion (9314), one end of the connecting rod (904) is rotatably connected to the first protrusion (9261), and the other end is rotatably connected to the second protrusion (9314).

9. The robotic arm (90) according to claim 1, characterized in that, The robotic arm (90) also includes an upper cover plate (906) and a side cover plate (907). The upper cover plate (906), the side cover plate (907), and the base (91) together form a third receiving cavity (908). The gripper driving part (92) is disposed in the third receiving cavity (908). The side cover plate (907) is located on the side of the base (91) facing the gripper (932) and is provided with a clearance notch (9071) for the gripper (932) to pass through.

10. The robotic arm (90) according to claim 1, characterized in that, The robotic arm (90) also includes a vision sensor (98) configured to identify the category characteristics and spatial position of the object to be gripped.

11. The robotic arm (90) according to claim 10, characterized in that, The vision sensor (98) includes a camera device (981) and a supplementary light source (982). The camera device (981) and the supplementary light source (982) are disposed on the side of the gripper (932) near the base (91). The supplementary light source (982) is used to provide auxiliary lighting for the camera device (981).

12. The robotic arm (90) according to claim 1, characterized in that, The robotic arm (90) also includes a charging module (95), which includes a charging control board (951) and an electrical contact (9511). The electrical contact (9511) is used to electrically connect with the electrical device held by the clamping part (931) to realize the charging and / or data transmission of the electrical device.

13. The robotic arm (90) according to claim 12, characterized in that, The base (91) has a side cover plate (907) installed on the side facing the gripper (932). The charging module (95) also includes a positioning structure (96) and a positioning detection component. The positioning structure (96) is disposed on the outer side of the side cover plate (907) and is used to position the electrical device for charging or data transmission. The positioning detection component is used to detect the positioning state of the electrical device relative to the electrical contact (9511).

14. An actuator arm assembly (200), characterized in that, The actuator arm assembly (200) includes an actuator arm structure (70) and a robotic arm (90) as described in any one of claims 1 to 13, the robotic arm (90) being mounted on the actuator arm structure (70).

15. The actuator arm assembly (200) according to claim 14, characterized in that, The actuator arm structure (70) includes: First execution arm (71); The first arm drive unit (72) is disposed on the first execution arm (71); The second actuator (73) is connected to the first arm body drive unit (72), and the first arm body drive unit (72) drives the second actuator (73) to rotate relative to the first actuator (71) around the first rotation center axis (731); The second arm drive unit (80) is disposed on the second actuator arm (73) and connected to the base (91); The second arm drive unit (80) drives the robotic arm (90) to rotate relative to the second execution arm (73) around the second rotation center axis (84), and the second rotation center axis (84) is perpendicular to the first rotation center axis (731).

16. A working component (1000), characterized in that, It includes a robotic arm (100) and a robotic hand (90) according to any one of claims 1 to 13, the robotic hand (90) being mounted at the end of the robotic arm (100).

17. A cleaning device, characterized in that, Includes the working component (1000) as described in claim 16.

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